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Mars Exploration Rover Opportunity End of Mission Report

The Mars Exploration Rover (MER) Opportunity landed on Meridiani Planum on 25 January 2004 for a prime mission designed to last three months (90 sols). After more than fourteen years operating on the surface of Mars, the last communication from Opportunity occurred on sol 5111 (10 June, 2018) when a major dust storm reduced power on the solar panels to the point where further communications were not possible. Following the cessation of the dust storm several weeks later, the MER project radiated over 1000 commands to Mars in an attempt to elicit a response from the rover. Attempts were made utilizing the Deep Space Network X-Band and UHF relay via both Mars Odyssey and the Mars Reconnaissance Orbiter. Search and recovery efforts concluded on 12 February, 2019. It is the MER project’s assessment that the environmental window in which it would be most probable to recover Opportunity had passed by that time and that the rover would succumb to the extreme environmental conditions experienced during a winter on Mars. This report summarizes the major science accomplishments throughout the fourteen years of this mission, with a detailed focused on recent science accomplishments during the last extended mission (EM-11). This report also describes the mission engineering accomplishments and specific actions taken during the attempt to recover the vehicle after communications were lost during the major dust storm.

Callas, John L.↗

Human Mars Entry, Descent, and Landing Architecture Study: Phase 3 Summary

Over the past four years, NASA has directed the Entry, Descent and Landing Architecture Study (EDLAS) team to evaluate candidate technologies to deliver human-scale vehicles (carrying 20t payloads) to a precise location on the surface of Mars. The study, which initially considered four candidate vehicles, narrowed the design space to focus on two vehicles in Phase 3, one low and one mid lift-to-drag vehicle. Key design challenges exist for both, and the purpose of the Phase 3 analysis was to identify specific technology investment areas and opportunities to mature the vehicle designs beyond simulations to include ground and flight tests. This paper summarizes the detailed analyses performed on the two vehicle configurations, including aerodynamic and propulsive interference effects during the powered flight phase, vehicle packaging, as well as outer mold line and parametric mass model upgrades. The analyses were used to update models in the vehicle performance simulations. The simulation results showing the impact of the Phase 3 analyses on vehicle performance are also presented. Finally, a summary of the technology investment recommendations, including opportunities to validate models using wind tunnel tests and evaluate technologies at the moon, are presented. This paper offers a systems level overview of the more detailed analysis that will be presented in this special session.

Alicia Dwyer Cianciolo↗

The F1 Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) : a Power Subsystem Enabler for the Mars Science Laboratory (MSL) Mission

The Mars Science Laboratory (MSL) spacecraft carrying the Curiosity rover launched from Cape Canaveral Air Force Station (CCAFS) on November 26, 2011. Following an 8.5-month cruise and after a successful Entry, Descent and Landing (EDL) phase, the Curiosity rover arrived at the surface of Mars on August 6, 2012 UTC. At the core of the Curiosity rover power subsystem is the F1 Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) supplied by the Department of Energy. Integration of the F1 MMRTG into the MSL spacecraft has provided the first opportunity to architect a power subsystem that also included a Solar Array (during the cruise phase of the mission and up to the initial stage of the EDL phase) and secondary Li-ion batteries for operation during the planned one Martian year surface phase of the mission. This paper describes the F1 MMRTG functional features as an enabler of the MSL mission and as a novel component of the MSL power subsystem architecture.

Curiosity rover↗

Albedo Variations on the Martian Northern Polar Cap as Seen by MGS

The Viking Orbiters determined that the surface of Mars northern residual cap is water ice. Many researchers have related observed atmospheric water vapor abundances to seasonal exchange between reservoirs such as the polar caps, but the extent to which the exchange between the surface and the atmosphere remains uncertain. Early studies of the ice coverage and albedo of the northern residual Martian polar cap using Mariner 9 and Viking images reported that there were substantial internannual differences in ice deposition on the polar cap, a result that suggested a highly variable Martian climate. However, some of the data used in these studies were obtained at differing values of heliocentric solar longitude (Ls). Reevaluation of this dataset in indicated that the residual cap undergoes seasonal brightening throughout the summer, and indicated that this process repeats from year to year. In this study we continue this work with data acquired with Mars Global Surveyor s Mars Orbiter Camera (MOC) and Thermal Emission Spectrometer (TES) instruments. We use MOC Wide Angel (WA) red filter images

Hale, A. S.↗

Water Ice Albedo Variations on the Martian Northern Polar Cap

The Viking Orbiters determined that the surface of Mars northern residual cap is water ice. Many researchers have related observed atmospheric water vapor abundances to seasonal exchange between reservoirs such as the polar caps, but the extent to which the exchange between the surface and the atmosphere remains uncertain. Early studies of the ice coverage and albedo of the northern residual Martian polar cap using Mariner 9 and Viking images reported that there were substantial internannual differences in ice deposition on the polar cap, a result which suggested a highly variable Martian climate. However, some of the data used in these studies were obtained at differing values of heliocentric solar longitude (L(sub s)). Reevaluation of this dataset indicated that the residual cap undergoes seasonal brightening throughout the summer, and indicated that this process repeats from year to year. In this study we continue to compare Mariner 9 and Viking Orbiter imaging observations and thermal data of the north residual polar cap to data acquired with Mars Global Surveyor s Mars Orbiter Camera (MOC) instrument. In the current study, our goal is to examine all released data from MGS MOC in the northern summer season, along with applicable TES data in order to better understand the albedo variations in the northern summer and their implications on water transport. To date, work has focused primarily on the MOC dataset. In 1999, data acquisition of the northern polar regions began at L(sub s) = 107, although there was little north polar data acquired from L(sub s)= 107 to L(sub s) = 109. We examined a total of 409 images from L(sub s) = 107 to L(sub s)=148. We have also examined data from 2000 from L(sub s)= 93 to L(sub s)= 110; additional progress is ongoing. Here we present a progress report of our observations, and continue to determine their implications for the Martian water cycle.

Hale, A. S.↗

Conduct of Geologic Field Work During Planetary Exploration: Why Geology Matters

The science of field geology is the investigative process of determining the distribution of rock units and structures on a planet fs surface, and it is the first-order data set that informs all subsequent studies of a planet, such as geochemistry, geochronology, geophysics, or remote sensing. For future missions to the Moon and Mars, the surface systems deployed must support the conduct of field geology if these endeavors are to be scientifically useful. This lecture discussed what field geology is all about.why it is important, how it is done, how conducting field geology informs many other sciences, and how it affects the design of surface systems and the implementation of operations in the future.

Eppler, Dean B.↗

NASA Mars 2020 Rover Mission: New Frontiers in Science

The Mars 2020 rover mission is the next step in NASAs robotic exploration of the red planet. The rover, based on the Mars Science Laboratory Curiosity rover now on Mars, will address key questions about the potential for life on Mars. The mission would also provide opportunities to gather knowledge and demonstrate technologies that address the challenges of future human expeditions to Mars.Like the Mars Science Laboratory rover, which has been exploring Mars since 2012, the Mars 2020 spacecraft will use a guided entry, descent, and landing system which includes a parachute, descent vehicle, and, during the provides the ability to land a very large, heavy rover on the surface of Mars in a more precise landing area. The Mars 2020 mission is designed to accomplish several high-priority planetary science goals and will be an important step toward meeting NASAs challenge to send humans to Mars in the 2030s. The mission will conduct geological assessments of the rover's landing site, determine the habitability of the environment, search for signs of ancient Martian life, and assess natural resources and hazards for future human explorers. The science instruments aboard the rover also will enable scientists to identify and select a collection of rock and soil samples that will be stored for potential return to Earth in the future. The rover also may help designers of a human expedition understand the hazards posed by Martian dust and demonstrate how to collect carbon dioxide from the atmosphere, which could be a valuable resource for producing oxygen and rocket fuel.

Regolith electrostatics↗

Mars 2020 Rover Adaptive Caching Assembly: Caching Martian Samples for Potential Earth Return

The Adaptive Caching Assembly, part of the Sampling and Caching System on the Mars 2020 Rover, consists of multiple stations that together process sample tubes containing collected Martian material, either rock cores or soil samples, and prepares hermetically-sealed sample tubes for caching on the surface of Mars. There are 7 active degrees-of-freedom, as well as a large number of passive mechanisms within the Adaptive Caching Assembly that must operate in extreme Mars conditions (i.e., temperature and pressure). Hardware cleanliness requirements significantly drove design, assembly, and test operations of the Adaptive Caching Assembly, and were found to adversely affect hardware in some cases such that late design changes and revised cleanliness operations had to be implemented. While Adaptive Caching Assembly hardware was designed to accommodate dust, testing in a representative environment is important to validate functionality is not compromised.

Silverman, Milo↗

Mars 2020 Rover Adaptive Caching Assembly: Caching Martian Samples for Potential Earth Return

The Adaptive Caching Assembly (ACA) is part of the Sampling and Caching System on the Mars 2020 Perseverance Rover, and consists of multiple stations that process, hermetically seal, and store sample tubes containing collected Martian material, either rock cores or regolith samples, in preparation for caching on the surface of Mars. The ACA stations consist of seven active degrees-of-freedom, as well as a large number of passive mechanisms that must operate in extreme Mars temperature and pressure conditions. A robotic arm within the Rover manipulates the sample tubes between ACA stations as part of an end-to-end sampling sequence, and utilizes a compliant end effector to accommodate misalignments during station interactions. Stringent hardware cleanliness requirements were dictated to ensure collected samples would not be compromised, which significantly impacted the design, assembly, and test operations of the ACA. Three ACAs were assembled to support ground testing and flight operations, which were exposed to environmental testing to validate functionality in Mars-like conditions. A number of challenges existed from design through test, including volume constraints, mechanism controllability and operation, the effects of tight tolerances, and cleanliness requirements.

Lin, Justin↗

Powered Flight Design and Reconstructed Performance Summary for the Mars Science Laboratory Mission

The Powered Flight segment of Mars Science Laboratory's (MSL) Entry, Descent, and Landing (EDL) system extends from backshell separation through landing. This segment is responsible for removing the final 0.1% of the kinetic energy dissipated during EDL and culminating with the successful touchdown of the rover on the surface of Mars. Many challenges exist in the Powered Flight segment: extraction of Powered Descent Vehicle from the backshell, performing a 300m divert maneuver to avoid the backshell and parachute, slowing the descent from 85 m/s to 0.75 m/s and successfully lowering the rover on a 7.5m bridle beneath the rocket-powered Descent Stage and gently placing it on the surface using the Sky Crane Maneuver. Finally, the nearly-spent Descent Stage must execute a Flyaway maneuver to ensure surface impact a safe distance from the Rover. This paper provides an overview of the powered flight design, key features, and event timeline. It also summarizes Curiosity's as flown performance on the night of August 5th as reconstructed by the flight team.

Mars Science Laboratory (MSL)↗

Dark material in the polar layered deposits on Mars

The Martian polar layered deposits probably record periodic variations in the deposition of dust and ice caused by climate changes over the past 10 to 100 million years. The polar layered deposits appear to be the source of dark, saltating material that has been distributed over the surface of Mars, but the mechanisms by which this material is incorporated and eroded from the layered deposits is unknown. These mechanisms must be understood before the processes that formed and modified the layered deposits can be inferred and related to Martian climate changes. In summary, weathering of the Martian layered deposits by sublimation of water ice may account for the geologic relationships observed in the Martian polar regions. The non-volatile components of the layered deposits appears to consist mainly of bright red dust, with small amounts of dark dust or sand. Alternatively, dark sand-sized basaltic particles may occasionally be transported onto the layered deposits, forming thin layers. Once eroded, particles of either type may saltate to form the dark dunes found in both polar regions.

Herkenhoff, Ken↗

Mars Pathfinder meteorological observations on the basis of results of an atmospheric global circulation model

The Mars Pathfinder Meteorological Package (ASI/MET) will measure the local pressure, temperature, and winds at its future landing site, somewhere between the latitudes 0 deg N and 30 deg N. Comparable measurements have already been obtained at the surface of Mars by the Viking Landers at 22 deg N (VL1) and 48 deg N (VL2), providing much useful information on the martian atmosphere. In particular the pressure measurements contain very instructive information on the global atmospheric circulation. At the Laboratoire de Meteorologie Dynamique (LMD), we have analyzed and simulated these measurements with a martian atmospheric global circulation model (GCM), which was the first to simulate the martian atmospheric circulation over more than 1 year. The model is able to reproduce rather accurately many observed features of the martian atmosphere, including the long- and short-period oscillations of the surface pressure observed by the Viking landers. From a meteorological point of view, we think that a landing site located near or at the equator would be an interesting choice.

Forget, Francois↗

The Solar Spectrum on the Martian Surface and its Effect on Photovoltaic Performance

Solar cells operating on the surface of Mars receive a spectrum of illumination different from the AM0 spectrum, since the sunlight is filtered by dust suspended in the atmosphere. This spectrum changes with the amount of dust in the atmosphere, as well as with air mass change due to time of day and season. This spectral variation affects the performance of solar cells. We used data from Mars Exploration Rovers to measure this spectrum. By comparing the measured intensity with the known reflectance of the pancam calibration target on the rovers Spirit and Opportunity, we measure the solar spectrum reaching the surface. The effect of this spectrum on the performance of solar cells is then calculated based on the spectral response of several different solar cell types.

Landis, Geoffrey A.↗

The Solar Spectrum on the Martian Surface and Its Effect on Photovoltaic Performance

Solar cells operating on the surface of Mars receive a spectrum of illumination different from the AM0 spectrum, since the sunlight is filtered by dust suspended in the atmosphere. This spectrum changes with the amount of dust in the atmosphere, as well as with air mass change due to time of day and season. This spectral variation affects the performance of solar cells. We used data from Mars Exploration Rovers to measure this spectrum. By comparing the measured intensity with the known reflectance of the pancam calibration target on the rovers Spirit and Opportunity, we measure the solar spectrum reaching the surface. The effect of this spectrum on the performance of solar cells is then calculated based on the spectral response of several different solar cell types.

Landis, Geoffrey A.↗

Detection Limit of Smectite by Chemin IV Laboratory Instrument: Preliminary Implications for Chemin on the Mars Science Laboratory Mission

The CheMin instrument on the Mars Science Laboratory (MSL) is an miniature X-ray diffraction (XRD) and X-ray fluorescence (XRF) instrument capable of detecting the mineralogical and elemental compositions of rocks, outcrops and soils on the surface of Mars. CheMin uses a microfocus-source Co X-ray tube, a transmission sample cell, and an energy-discriminating X-ray sensitive CCD to produce simultaneous 2-D XRD patterns and energy-dispersive X-ray histograms from powdered samples. CRISM and OMEGA have identified the presence of phyllosilicates at several locations on Mars including the four candidate MSL landing sites. The objective of this study was to conduct preliminary studies to determine the CheMin detection limit of smectite in a smectite/olivine mixed mineral system.

Archilles, Cherie↗

Effects of Kapton Sample Cell Windows on the Detection Limit of Smectite: Implications for CheMin on the Mars Science Laboratory Mission

The CheMin instrument on the Mars Science Laboratory (MSL) rover Curiosity is an X-ray diffraction (XRD) and X-ray fluorescence (XRF) instrument capable of providing the mineralogical and chemical compositions of rocks and soils on the surface of Mars. CheMin uses a microfocus X-ray tube with a Co target, transmission geometry, and an energy-discriminating X-ray sensitive CCD to produce simultaneous 2-D XRD patterns and energy-dispersive X-ray histograms from powdered samples. CheMin has two different window materials used for sample cells -- Mylar and Kapton. Instrument details are provided elsewhere. Fe/Mg-smectite (e.g., nontronite) has been identified in Gale Crater, the MSL future landing site, by CRISM spectra. While large quantities of phyllosilicate minerals will be easily detected by CheMin, it is important to establish detection limits of such phases to understand capabilities and limitations of the instrument. A previous study indicated that the (001) peak of smectite at 15 Ang was detectable in a mixture of 1 wt.% smectite with olivine when Mylar is the window material for the sample cell. Complications arise when Kapton is the window material because Kapton itself also has a diffraction peak near 15 Ang (6.8 deg 2 Theta). This study presents results of mineral mixtures of smectite and olivine to determine smectite detection limits for Kapton sample cells. Because the intensity and position of the smectite (001) peak depends on the hydration state, we also analyzed mixtures with "hydrated" and "dehydrated"h smectite to examine the effects of hydration state on detection limits.

Achilles, C. N.↗

X-Ray Diffraction Reference Intensity Ratios of Amorphous and Poorly Crystalline Phases: Implications for CheMin on the Mars Science Laboratory

The CheMin instrument on the Mars Science Laboratory (MSL) rover Curiosity is an X-ray diffraction (XRD) and X-ray fluorescence (XRF) instrument capable of providing the mineralogical and chemical compositions of rocks and soils on the surface of Mars. CheMin uses a microfocus X-ray tube with a Co target, transmission geometry, and an energy-discriminating X-ray sensitive CCD to produce simultaneous 2-D XRD patterns and energy-dispersive X-ray histograms from powdered samples. Piezoelectric vibration of the cell is used to randomize the sample to reduce preferred orientation effects. Instrument details are provided in [1, 2, 3]. Analyses of rock and soil samples by the Mars Exploration Rovers (MER) show nanophase ferric oxide (npOx) is a significant component of the Martian global soil [4] and is thought to be one of the major contributing phases that the Curiosity rover will encounter if a soil sample is analyzed in Gale Crater. Because of the nature of this material, npOx will likely contribute to an X-ray amorphous or short-order component of a XRD pattern measured by the CheMin instrument.

Morris, R. V.↗

Nuclear Thermal Rocket (NTR) Development Risk Communication

There are clear advantages of development of a Nuclear Thermal Rocket (NTR) for a crewed mission to Mars. NTR for in-space propulsion enables more ambitious space missions by providing high thrust at high specific impulse (approximately 900 sec) that is 2 times the best theoretical performance possible for chemical rockets. Missions can be optimized for maximum payload capability to take more payload with reduced total mass to orbit; saving cost on reduction of the number of launch vehicles needed. Or missions can be optimized to minimize trip time significantly to reduce the deep space radiation exposure to the crew. NTR propulsion technology is a game changer for space exploration. However, "NUCLEAR" is a word that is feared and vilified by some groups and the hostility towards development of any nuclear systems can meet great opposition by the public as well as from national leaders and people in authority. Communication of nuclear safety will be critical to the success of the development of the NTR. Why is there a fear of nuclear? A bomb that can level a city is a scary weapon. The first and only times the Nuclear Bomb was used in a war was on Hiroshima and Nagasaki during World War 2. The "Little Boy" atomic bomb was dropped on Hiroshima on August 6, 1945 and the "Fat Man" on Nagasaki 3 days later on August 9th. Within the first 4 months of bombings, 90- 166 thousand people died in Hiroshima and 60-80 thousand died in Nagasaki. It is important to note for comparison that over 500 thousand people died and 5 million made homeless due to strategic bombing (approximately 150 thousand tons) of Japanese cities and war assets with conventional non-nuclear weapons between 1942- 1945. A major bombing campaign of "firebombing" of Tokyo called "Operation Meetinghouse" on March 9 and 10 consisting of 334 B-29's dropped approximately1,700 tons of bombs around 16 square mile area and over 100 thousand people have been estimated to have died. The declaration of death is very clear for conventional weapons and then the declaration of death due to radiation becomes vague and unclear. This may have been due to people mis-understanding the dangers and effects of radiation when assessing the damage and harm to people initially, but it is also become insidious when expressing opposition to nuclear energy. A nuclear radiation accident can be scary due to the power involved and the fear of radiation release. The International Atomic Energy Agency defines a nuclear and radiation accident a "an event that has led to significant consequences to people, the environment or the facility." There have been 3 commercial nuclear reactor accidents (Chernobyl, Three Mile Island, and Fukushima) that stand out to the public and much of the information about the result and impact to workers, environment, and public can be misleading. Often information is presented without clear correlation with radiation and other pertinent information is left out presenting a very scary situation to affect the emotions of the reader. A very boring but "critically acclaimed" movie was made in 1979 called "The China Syndrome" starring Jane Fonda and Jack Lemmon. The film was released on March 16, 1979, 12 days before the 3-Mile Island nuclear accident in Pennsylvania. The basis from the movie was from a few nuclear plant incidents and in particular, the Brown's Ferry Alabama Power Plant fire. In one scene from the movie, a physicist Dr. Elliott Lowell played by Donald Hotton states that a China Syndrome event would make "an area the size of Pennsylvania" permanently uninhabitable. Real serious nuclear incidents like Chernobyl and Fukushima are often sited to make people fear the consequences of using nuclear power. However, the consequences are at best poorly communicated and at worst fictitiously inflated to instigate social unrest against nuclear power. There is an article being circulated on Facebook with a title "28 Signs that the (US) West Coast is being absolutely fried with nuclear radiation from Fukushima" which focus on mis-information and fear mongering. Nuclear power and NTR are powerful resources that can open many doors for future prosperity and capability. With great power comes great responsibility. Radiation and its effects need to be better understood, quantified, and communicated. A human mission to mars has its own risks of deep space radiation and is considered a considerable risk at 400 milli-Sieverts per year in deep space and 245 milli-Sieverts per year on the surface of Mars as measured by the Mars Curiosity mission. Although these quantities of ionizing radiation are within the astronaut career limit, it exceeds the yearly average amounts of ionizing radiation. Astronaut crews have experienced these levels of radiation before, but for durations shorter than a year, and a mission to Mars could possibly be 3 years in length. There is also evidence that people can comfortably handle higher levels of ionizing radiation where the radiation occurs naturally like Ramsar, Iran when people can experience 270 milli-Sieverts per year. A risk posture that the development, test, and flight of an NTR will meet opposition from groups who oppose nuclear energy must be likely and the impact can be sever to the effort. Active risk mitigation must be taken for an NTR full-scale development project. The NTR design must take into account safety for transport and off nominal conditions. Nuclear fuel element must consider containment of fission products and Low Enriched Uranium (LEU) that may meet less opposition should be considered for safety and security reasons. Even though testing was conducted on Rover/NERVA safely and successfully in the 60's with exhaust sent heavenward in to open air, modern testing of NTR must consider full containment and no release of ionizing radiation to the public and must meet the current requirement of no more than 0.1 milli-Sieverts per year to the public. 0.1 milli-Sieverts is equivalent to eating one banana or a 20 hour plane flight. Good communication with the public and regulatory agencies will be essential to show that all effort is applied toward protection to the public and astronauts. The inspiring endeavor to put humans on Mars to study the planet, search for life, and learn more about this Solar System will be full of risks but it will be worth it. NTR will be worth the development effort if it allows humans to explore our Solar System.

Kim, Tony↗