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NASA NTRS2000

Immersive Environment Technologies for Mars Exploration

JPL's charter includes the unmanned exploration of the Solar System. One of the tools for exploring other planets is the rover as exemplified by Sojourner on the Mars Pathfinder mission. The light speed turnaround time between Earth and the outer planets precludes the use of teleoperated rovers so autonomous operations are built in to the current and upcoming generation devices. As the level of autonomy increases, the mode of operations shifts from low-level specification of activities to a higher-level specification of goals. To support this higher-level activity, it is necessary to provide the operator with an effective understanding of the in-situ environment and also the tools needed to specify the higher-level goals. Immersive environments provide the needed sense of presence to achieve this goal. Use of immersive environments at JPL has two main thrusts that will be discussed in this talk. One is the generation of 3D models of the in-situ environment, in particular the merging of models from different sensors, different modes (orbital, descent, and lander), and even different missions. The other is the use of various tools to visualize the environment within which the rover will be operating to maximize the understanding by the operator. A suite of tools is under development which provide an integrated view into the environment while providing a variety of modes of visualization. This allows the operator to smoothly switch from one mode to another depending on the information and presentation desired.

Wright, John R.↗
NASA NTRS2000

A Network Mission: Completing the Scientific Foundation for the Exploration of Mars

Despite recent setbacks and vacillations in the Mars Surveyor Program, in many respects the exploration of Mars has historically followed a relatively logical path. Early fly-bys provided brief glimpses of the planet and paved the way for the initial orbital reconnaissance of Mariner 9. The Viking orbiters completed the initial survey, while the Viking landers provided our first close-up look at the surface. Essentially, Mars Pathfinder served a similar role, giving a brief look at another place on the surface. And finally, Mars Global Surveyor (and the up-coming orbital mission in 2001) are taking the next step in providing in-depth, global observations of many of the fundamental characteristics of the planet, as well as selected high-resolution views of the surface. With this last step we are well on our way to acquiring the global scientific context that is necessary both for understanding Mars in general, its origin and evolution, and for use as a basis to plan and execute the next level of focused investigations. However, even with the successful completion of these missions this context will be incomplete. Whereas we now know a great deal about the surface of Mars in a global sense, we know very little about its interior, even at depths of only a meter or so. Also, as most of this information has been acquire by remote sensing, we still lack much of the bridging knowledge between the global view and the processes and character of the surface environments themselves. Thus, in many ways we lack sufficient fundamental understanding to intelligently cast the critical investigations into important questions of the origins and evolution of Mars in general, and in particular, life. The next step in building our understanding of Mars has been identified by several previous groups who were charged with creating a strategy for Mars exploration (e.g., COMPLEX, MarSWG, Planetary Roadmap Team). This is a so-called "network" mission, which places a large number of science platforms simultaneously on the surface.

W. B. Banerdt↗
NASA NTRS2000

Strategic Planning for Exploration of the Martian Subsurface

Exploration of the upper 2-5 km of the martian crust (i.e. the portion that we can realistically envision physically accessing) is a tantalizing prospect. This may provide our best opportunity to advance the three current objectives of the Mars exploration program: Life, Climate, and Resources, with a common theme of water.

Beaty, D. W.↗
NASA NTRS2000

A Balanced Model for Exploration of the Terrestrial Planets: Lessons from the Lunar Experience

The Moon is the only extraterrestrial rocky body for which we have a combination of surface-selected samples, high-resolution orbital photography (Lunar Orbiter), manned and robotic surface exploration (Surveyor, Apollo, Luna), and global compositional, mineralogical, and geophysical data (Galileo, Clementine, Lunar Prospector). Beginning in 1998, CAPTEM organized a series of workshops and conference sessions aimed at integrating these diverse data sets. The insights gained by bringing together scientists from the remote-sensing and sample-analysis communities have been singularly rewarding. Not least of these has been the recognition by both groups that having both kinds of data maximizes the scientific return and permits reconciling information from diverse scales and perspectives. The 20-20 hindsight of the Lunar experience thus provides important lessons; learning from mistakes as well as successes, we can derive a sensible scientific program for Mars exploration. In this abstract, we describe examples of key information from (a) in-situ geologic investigation, (b) laboratory analysis of returned samples whose geologic context and location are known, and (c) global remote sensing of mineralogy, composition, and geophysical parameters. We then show the value of integrating these diverse data sets.

Jolliff, B. L.↗
NASA NTRS2001

The Heavy Nuclei Explorer (HNX) Mission

The Heavy Nuclei eXplorer (HNX) mission was recently selected by NASA for a Small Explorer (SMEX) Mission Concept Study to begin in 2001. The primary scientific objectives of HNX are to measure the age of the galactic cosmic rays (GCR) since nucleosynthesis, determine the injection mechanism for the GCR accelerator (Volatility or FIP), and study the mix of nucleosynthetic processes that contribute to the source of GCRs. The experimental goal of HNX is to measure the elemental abundances of all individual stable nuclei from neon through the actinides and possibly beyond. HNX is composed of two instruments: ECCO, which measures elemental abundances of nuclei with Z(sup 3)72, and ENTICE, which measures elemental abundances of nuclei with 10(f)Z(f)82. We will discuss the mission and the science that can be addressed by HNX.

Binns, W. R.↗
NASA NTRS2001

Highly Survivable Avionics Systems for Long-Term Deep Space Exploration

The design of highly survivable avionics systems for long-term (> 10 years) exploration of space is an essential technology for all current and future missions in the Outer Planets roadmap. Long-term exposure to extreme environmental conditions such as high radiation and low-temperatures make survivability in space a major challenge. Moreover, current and future missions are increasingly using commercial technology such as deep sub-micron (0.25 microns) fabrication processes with specialized circuit designs, commercial interfaces, processors, memory, and other commercial off the shelf components that were not designed for long-term survivability in space. Therefore, the design of highly reliable, and available systems for the exploration of Europa, Pluto and other destinations in deep-space require a comprehensive and fresh approach to this problem. This paper summarizes work in progress in three different areas: a framework for the design of highly reliable and highly available space avionics systems, distributed reliable computing architecture, and Guarded Software Upgrading (GSU) techniques for software upgrading during long-term missions. Additional information is contained in the original extended abstract.

Alkalai, L.↗
NASA NTRS2001

Subsurface Exploration Technologies and Strategies for Europa

The Galileo data from Europa has resulted in the strong suggestion of a large, cold, salty, old subglacial ocean and is of great importance. We have examined technology requirements for subsurface exploration of Europa and determined that scientific access to the hypothesized Europa ocean is a key requirement. By 'scientific access' we intend to direct attention to the fact that several aspects of exploration of a site such as Europa must be addressed at the system level. Specifically needed are a robotic vehicle that can descend through ice, scientific instrumentation that can interrogate the ice near the vehicle (but largely unaffected by its presence), scientific instrumentation for the subglacial ocean, communication for data and control, chemical analysis of the environment of the vehicle in the ice as well as the ocean, and methods for conducting the mission without contamination. We have embarked on a part of this extremely ambitious development sequence by developing the Active Thermal Probe, or Cryobot. Additional information is contained in the original extended abstract.

French, L. C.↗
NASA NTRS2001

Nanotube-based Sensors and Systems for Outer Planetary Exploration

Direct sensing and processing at the nanometer scale offer NASA the opportunity to expand its capabilities in deep space exploration, particularly for the search for signatures of life, the analysis of planetary oceans and atmospheres, and communications systems. Carbon nanotubes, with their unique mechanical, electrical, and radiation-tolerant properties, are a promising tool for this exploration. We are developing devices based on carbon nanotubes, including sensors, actuators, and oscillators. Additional information is contained in the original extended abstract.

Noca, F.↗
NASA NTRS2001

Detecting and Identifying Organic Molecules in Space: The AstroBiology Explorer (ABE) MIDEX Mission Concept

Infrared spectroscopy in the 2.5-16 microns (4000-625/cm) range is a principle means by which organic compounds are detected and identified in space. Ground-based, airborne, and spaceborne IR spectral studies have already demonstrated that a significant fraction of the carbon in the interstellar medium (ISM) resides in the form of complex organic molecular species. Unfortunately, neither the distribution of these materials nor their genetic and evolutionary relationships with each other or their environments are well understood. The Astrobiology Explorer (ABE) is a MIDEX (Medium-class Explorer) mission concept currently under study at NASA's Ames Research Center in collaboration with Ball Aerospace and Technologies Corporation. ABE will conduct IR spectroscopic observations to address outstanding important problems in astrobiology, astrochemistry, and astrophysics. The core observational program would make fundamental scientific progress in understanding (1) the evolution of ices and organic matter in dense molecular clouds and young forming stellar systems, (2) the chemical evolution of organic molecules in the ISM as they transition from AGB outflows to planetary nebulae to the general diffuse ISM to H II regions and dense clouds, (3) the distribution of organics in the diffuse ISM, (4) the nature of organics in the Solar System (in comets, asteroids, satellites), and (5) the nature and distribution of organics in local galaxies. Both the scientific goals of the mission and how they would be achieved will be discussed.

Sandford, Scott A.↗
NASA NTRS1994

Exobiological Exploration of Mars

Of all the other planets in the solar system, Mars remains the most promising for studying concepts about chemical evolution and the origin of life. Strategies were developed to pursue three exobiological objectives for Mars: determine abundance and distribution of biogenic elements and organic compounds, detect evidence of an ancient biota, and determine if organisms exist anywhere on the planet. The three strategies share the same sequence of phases. In the first phase, each requires global reconnaissance and remote sensing by orbiters to select sites of interest for detailed in situ analyses. In the second phase, lander missions are conducted to characterize the chemical and physical properties of the selected sites. The third phase involves conducting "critical" experiments at sites whose properties make them particularly attractive for exobiology. These critical experiments would include, for example, identification of organics, detection of fossils, and detection of extant life. The fourth phase is the detailed analysis of samples returned from these sites in Earth-based laboratories to confirm and extend previous discoveries. Finally, in the fifth phase, human exploration is needed to establish the geological context or to discover and explore sites that are not accessible to robotic spacecraft.

DeVincenzi, Donald L.↗
NASA NTRS2000

An Explorer-Class Astrobiology Mission

In this paper we describe a potential new Explorer-class space mission, the AstroBiology Explorer (ABE), consisting of a relatively modest dedicated space observatory having a 50 cm aperture primary mirror which is passively cooled to T less than 65 K, resides in a low-background orbit (heliocentric orbit at 1 AU, Earth drift-away), and is equipped with a suite of three moderate order (m approx. 10) dispersive spectrographs equipped with first-order cross-dispersers in an "echellette" configuration and large format (1024xl024 pixel) near- and mid-IR detector arrays cooled by a modest amount of cryogen. Such a system would be capable of addressing outstanding problems in Astrochemistry and Astrophysics that are particularly relevant to Astrobiology and addressable via astronomical observation. The observational program of this mission would make fundamental scientific progress in each of the key areas of the cosmic history of molecular carbon, the distribution and chemistry of organic compounds in the diffuse and dense interstellar media, and the evolution of ices and organic matter in young planetary systems. ABE could make fundamental progress in all of these areas by conducting an approximately one year mission to obtain a coordinated set of infrared spectroscopic observations over the 2.5-20 micrometers spectral range at spectral resolutions of R greater than or equal to 1000 of approximately 1000 galaxies, stars, planetary nebulae, and young star planetary systems.

Sandford, Scott↗
NASA NTRS2001

Communication System Architecture for Planetary Exploration

Future human missions to Mars will require effective communications supporting exploration activities and scientific field data collection. Constraints on cost, size, weight and power consumption for all communications equipment make optimization of these systems very important. These information and communication systems connect people and systems together into coherent teams performing the difficult and hazardous tasks inherent in planetary exploration. The communication network supporting vehicle telemetry data, mission operations, and scientific collaboration must have excellent reliability, and flexibility.

Braham, Stephen P.↗
NASA NTRS2001

Detecting and Identifying Organic Molecules in Space - The AstroBiology Explorer (ABE) MIDEX Mission Concept

Infrared spectroscopy in the 2.5-16 micron (4000-625/cm) range is a principle means by which organic compounds are detected and identified in space. Ground-based, airborne, and spaceborne IR spectral studies have already demonstrated that a significant fraction of the carbon in the interstellar medium (ISM) resides in the form of complex organic molecular species. Unfortunately, neither the distribution of these materials nor their genetic and evolutionary relationships with each other or their environments are well understood. The Astrobiology Explorer (ABE) is a MIDEX (Medium-class Explorer) mission concept currently under study at NASA's Ames Research Center in collaboration with Ball Aerospace and Technologies Corporation. ABE will conduct IR spectroscopic observations to address outstanding important problems in astrobiology, astrochemistry, and astrophysics. The core observational program would make fundamental scientific progress in understanding (1) the evolution of ices and organic matter in dense molecular clouds and young forming stellar systems, (2) the chemical evolution of organic molecules in the ISM as they transition from AGB outflows to planetary nebulae to the general diffuse ISM to H II regions and dense clouds, (3) the distribution of organics in the diffuse ISM, (4) the nature of organics in the Solar System (in comets, asteroids, satellites), and (5) the nature and distribution of organics in local galaxies. Both the scientific goals of the mission and how they would be achieved will be discussed.

Sandford, Scott A.↗
NASA NTRS2001

Far Ultraviolet Spectroscopic Explorer Observations of the Seyfert 1.5 Galaxy NGC 5548 in a Low State

We present far-ultraviolet spectra of the Seyfert 1.5 galaxy NGC 5548 obtained in 2000 June with the Far Ultraviolet Spectroscopic Explorer (FUSE). Our data span the observed wavelength range 915-1185 A at a resolution of approximately 20 km s(exp -1). The spectrum shows a weak continuum and emission from O VI (lambda)(lambda)1032, 1038, C III (lambda)977, and He II (lambda)1085. The FUSE data were obtained when the AGN (Active Galactic Nuclei) was in a low state, which has revealed strong, narrow O VI emission lines. We also resolve intrinsic, associated absorption lines of O VI and the Lyman series. Several distinct kinematic components are present, spanning a velocity range of approximately 0 to -1300 km s(exp -1) relative to systemic, with kinematic structure similar to that seen in previous observations of longer wavelength ultraviolet (UV) lines. We explore the relationships between the far-UV (ultraviolet) absorbers and those seen previously in the UV and X-rays. We find that the high-velocity UV absorption component is consistent with being low-ionization, contrary to some previous claims, and is consistent with its non-detection in high-resolution X-ray spectra. The intermediate velocity absorbers, at -300 to -400 km s(exp -1), show H I and O VI column densities consistent with having contributions from both a high-ionization X-ray absorber and a low-ionization UV absorber. No single far-UV absorbing component can be solely identified with the X-ray absorber.

Brotherton, M. S.↗
NASA NTRS1996

The Impact of Information Technology on the Design, Development, and Implementation of a Lunar Exploration Mission

From the beginning to the present expeditions to the Moon have involved a large investment of human labor. This has been true for all aspects of the process, from the initial design of the mission, whether scientific or technological, through the development of the instruments and the spacecraft, to the flight and operational phases. In addition to the time constraints that this situation imposes, there is also a significant cost associated with the large labor costs. As a result lunar expeditions have been limited to a few robotic missions and the manned Apollo program missions of the 1970s. With the rapid rise of the new information technologies, new paradigms are emerging that promise to greatly reduce both the time and cost of such missions. With the rapidly increasing capabilities of computer hardware and software systems, as well as networks and communication systems, a new balance of work is being developed between the human and the machine system. This new balance holds the promise of greatly increased exploration capability, along with dramatically reduced design, development, and operating costs. These new information technologies, utilizing knowledge-based software and very highspeed computer systems, will provide new design and development tools, scheduling mechanisms, and vehicle and system health monitoring capabilities that have hitherto been unavailable to the mission and spacecraft designer and the system operator. This paper will utilize typical lunar missions, both robotic and crewed, as a basis to describe and illustrate how these new information system technologies could be applied to all aspects such missions. In particular, new system design tradeoff tools will be described along with technologies that will allow a very much greater degree of autonomy of exploration vehicles than has heretofore been possible. In addition, new information technologies that will significantly reduce the human operational requirements will be discussed.

Gross, Anthony R.↗
NASA NTRS2001

Deuterium and Oxygen Toward Feige 110: Results from the Far Ultraviolet Spectroscopic Explorer (FUSE) Mission

We present measurements of the column densities of interstellar D I and O I made with the Far Ultraviolet Spectroscopic Explorer (FUSE), and of H I made with the International Ultraviolet Explorer (IUE) toward the sdOB star Feige 110 [(l,b) = (74.09 deg., - 59.07 deg.); d = 179(sup +265, sub -67) pc; Z = -154(sup +57, Sub -227 pc). Our determination of the D I column density made use of curve of growth fitting and profile fitting analyses, while our O I column density determination used only curve of growth techniques. The H I column density was estimated by fitting the damping wings of the interstellar Ly(lpha) profile. We find log N(D I) = 15.47 +/- 0.06, log N(O I) = 16.73 +/- 0.10, and log N(H I) = 20.14(sup +0.13, sub -0.20) (all errors 2(sigma)). This implies D/H = (2.14 +/- 0.82) x 10(esp -5), D/O = (5.50(sup + 1.64, sub -133)) x 10(exp -2), and O/H = (3.89 +/- 1.67) x 10(exp -4). Taken with the FUSE results reported in companion papers and previous measurements of the local interstellar medium, this suggests the possibility of spatial variability in D/H for sight lines exceeding approx. 100 pc. This result may constrain models which characterize the mixing time and length scales of material in the local interstellar medium.

Friedman, S. D.↗
NASA NTRS1999

Autonomous Rovers for Mars Exploration

Rovers will play a critical role in the exploration of Mars. Near-term mission plans call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Longer-term missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more rover autonomy. The highly ground-intensive control with infrequent communication and high latency limited the effectiveness of the Sojourner rover. When failures occurred, Sojourner often sat idle for extended periods of time, awaiting further commands from earth. In future missions, the tasks will be more complex and extended; hence there will be even more situations where things do not go exactly as planned. Significant advances in rover autonomy are needed to cope with increasing task complexity and greater execution uncertainty. Towards this end, we have designed an on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. In addition, we have designed ground tools to produce and refine contingent schedules that take advantage of the on-board architecture's flexible execution characteristics. Together, the on-board executive and the ground tools constitute an integrated rover autonomy architecture. This work draws from our experience with the Deep Space One autonomy experiment, with enhancements to ensure robust operation in the face of the unpredictable, complex environment that the rover will encounter on Mars. The rover autonomy architecture is currently being developed and deployed on the Marsokhod rover platform at NASA Ames Research Center. The capabilities of the rover autonomy architecture to support autonomous operations will be demonstrated concretely in upcoming field tests.

Anderson, Corin↗
NASA NTRS2002

Teaching, Learning, and Planetary Exploration

This is the final report of a program that examined the fundamentals of education associated with space activities, promoted educational policy development in appropriate forums, and developed pathfinder products and services to demonstrate the utility of advanced communication technologies for space-based education. Our focus was on space astrophysics and planetary exploration, with a special emphasis on the themes of the Origins Program, with which the Principal Investigator (PI) had been involved from the outset. Teaching, Learning, and Planetary Exploration was also the core funding of the Space Telescope Science Institute's (ST ScI) Special Studies Office (SSO), and as such had provided basic support for such important NASA studies as the fix for Hubble Space Telescope (HST) spherical aberration, scientific conception of the HST Advanced Camera, specification of the Next-Generation Space Telescope (NGST), and the strategic plan for the second decade of the HST science program.

Brown, Robert A.↗