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NASA NTRSDate not supplied

Flexible User Radio for Lunar Missions

NASA’s Artemis program and other lunar exploration and development programs are planning over 40 lunar missions before 2030. Lunar missions, both crewed and uncrewed, include orbiters, landers, rovers, and surface stations. All these missions require communications with Earth, either via Direct to Earth (DTE) links or through relays in lunar orbit. Multiple DTE options are available among existing and planned ground stations: Deep Space Network (DSN), European Space Agency, and others. Relay options include the planned Lunar Gateway, LunaNet compliant relays, and some lunar landers propose to launch dedicated orbiters. The dilemma for lunar system designers is to identify a communication link which meets mission requirements but does not have issues of limited access (e.g. DSN is in high demand supporting deep space missions with high priority and some with inflexible schedules), system impacts (high power Radio Frequency (RF) for DTE links), cost (dedicated relay), or operational date. To avoid this difficult decision, a Flexible Radio for Lunar Missions is proposed, which will enable system designs to proceed prior to any final decision on the communication network to be used, by enabling compatibility with any of multiple DTE or orbital relay communication systems. The Flexible Radio will support the necessary frequency, bandwidth, modulation, and power requirements to interoperate with the majority of known or planned DTE or relay systems, and can be designed into a lunar mission without prior knowledge of which link will ultimately be used. Furthermore, the link being used can be changed as needed during the mission, in near real time. The Flexible Radio design will leverage work already completed at NASA in the areas of Wideband RF, Software Defined Radio, Adaptive Coding and Modulation, and Phased Array antennas. The Flexible Radio requires sufficient bandwidth to cover the allocated frequencies for both the operation of links in cislunar space and for space-to-Earth links; the flexibility to support multiple modulations, data rates, and coding schemes; the ability to identify available relays, detect and recognize the signals of those relays, and adapt its own frequency, modulation, symbol rate, and code rate to operate with the detected relay (or DTE station); and finally, it requires appropriate software to support network configuration and interoperability with the detected network. The Flexible Radio can be designed in a sufficiently small, lightweight, and low-power package to be used in a wide variety of lunar systems. The initial implementation, as proposed, will focus on the Ka-band, supporting up to 2 GHz bandwidth around the 27 GHz frequency for return links, and 23 GHz for forward links. Other frequency bands are under consideration for future configurations. The software defined modem will support OQPSK, BPSK, and NASA-defined modulations which also support two-way ranging with data. For near-real time adaptation, the Flexible Radio will scan the sky for available relays, using a phased array antenna with Adaptive/Cognitive Communications. It will then configure for network interoperability supporting DTN and other protocol options. The Flexible Radio will support scheduled connections and on-demand use when available.

Lunar Space Communications↗

NASA NTRSDate not supplied

Polar Resources Ice Mining Experiment-1 (PRIME-1) NASA’s First Polar Drilling and Volatiles Detection Mission

The US Administration announced in 2019 that NASA would return to the Moon where it would seek to establish a sustainable lunar presence. In Situ Resource Utilization (ISRU) is needed to sustain and grow hu-man surface exploration and it is therefore a vital part of ensuring this bold endeavor. ISRU requires ground-truth on physical, mineral, and volatile characteristics of the resources. Water, a key and game-changing resource, exists in the polar regions of the Moon. Learning to harvest and use this resource first requires understanding where the resource is abundantly located and on what scales. Harvested water, which is usable for life support and fuel, must be identified, quantified, and assessed for its mining feasibility. The project goal for PRIME-1 is to develop a flight-ready instrumentation package that can assess the volatiles at a polar lunar landing location. PRIME-1 is the combination of two instruments; Mass Spectrometer observing lunar operations (MSolo) and The Regolith and Ice Drill for Exploring New Terrain (TRIDENT). TRIDENT is an 1-meter augering drill capable of bringing incremental lunar regolith samples to the surface for volatile analysis. MSolo is a modified, commercial-off-the-shelf (COTS) mass spectrometer capable of qualifying and quantifying atomic species in the 1-100 amu range, including isotopic differentiation. These two lunar flight instruments operating together make up the PRIME-1 instrument suite. PRIME-1 intends to fly on and operate from a static lunar lander acquired by the NASA Commercial Lunar Payload Services (CLPS) acquisition process. The PRIME-1 payload suite was selected to fly on Intuitive Machines Nova-C lander, and is currently targeting a late Fall 2023 landing attempt.

MSolo↗

NASA NTRS2022

Final Approach Navigation to Europa: Setting Up for a Successful Landing

Jupiter's moon Europa has been a prime target in the search for extraterrestrial life since the Galileo orbiter indicated that a saltwater ocean may exist beneath its icy crust. The proposed Europa Lander mission targets revolutionary science investigations on the surface of Europa with the main objective to search for evidence of life. Europa presents unique challenges to a landing mission because of its hostile radiation environment and the lack of information about its terrain. This paper provides an overview of Europa Lander Navigation-Deorbit, Descent, and Landing (DDL) technology development study, which is focused on the interface between ground navigation operations and onboard DDL behavior and the challenges associated with landing a probe on Europa.

McElrath, Tim↗

NASA NTRS2021

ATHLETE Offloader Limb as a High-capacity Crane

A new concept for the NASA Jet Propulsion Laboratory (JPL) All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic constructor / mobility system employs tendon-driven actuation of individual limbs, similar to high-capacity cranes in terrestrial work environments, that can offload cargo from tall landers. While maintaining mechanical joints that allow each limb to function as a highly dexterous multi-Degree-Of-Freedom (DOF) robotic arm, tendon-driven truss sections increase the capacity of moment loads for extended configurations of the limb. The tendon-driven crane-like limb will be capable of offloading cargo from tall landers such as the SpaceX Starship. This paper describes the structural analysis, operations, calibration, and actuation of limbs designed to address specific target load cases that might be required for human exploration missions on planetary surfaces.

Wilcox, Brian↗

NASA NTRS2022

IRIS: High-fidelity Perception Sensor Modeling for Closed-Loop Planetary Simulations

Perception plays a key role in autonomous and semi-autonomous planetary exploration vehicles. For instance, landers can use computer vision techniques for identifying safe landing locations, aerial vehicles use cameras as navigation sensors, and planetary rovers use them for localization and hazard detection. Engineering simulations of such systems requires the accurate modeling of perception and vision sensors for simulating autonomy scenarios. In addition, the modeling of sensors for landers, aerial and ground vehicles requires the ability to handle large and high-resolution terrains, the accurate modeling of illumination, hi-fidelity rendering via ray/path tracing and the inclusion of sensor characteristics. Vision sensor models strive to simulate sensor reality by using physics principles to model the interaction of light and objects. Furthermore, high frame rate performance is highly desirable for in-the-loop simulations involving vehicle dynamics and control software. In this paper we describe a new sensor modeling capability called Inter-planetary Rendering for Imaging and Sensors (IRIS) that meets these requirements for the real-time and high-fidelity simulation of vision sensors for planetary aerospace and robotics applications.

Elmquist, Asher↗

NASA NTRS2022

Understanding Sampling Hardware Cleanliness from Perseverance Lessons Learned, and Forward Approach to Biosignature Missions

The search for biosignatures on other solar system bodies drives the scientific objectives of many ongoing and proposed exploration missions, including the Europa Lander mission concept.[1] The detection of trace and unfamiliar biosignatures in extreme environments necessitates state-of-the-art scientific instrumentation with extraordinary sensitivity – and often, extraordinary susceptibility to terrestrial and spacecraft self-induced contamination vectors.[2] While instruments can be carefully designed to operate remotely at high performance, in situ scientific measurements can only analyze the samples they’re given: samples or sample handling hardware that have been inadvertently tainted by outgassed organic molecules, thruster plume effluents, or other common sources of spacecraft contamination may yield ambiguous or false results. Maintaining and verifying the purity of collected samples and the cleanliness of sample handling hardware throughout the lifecycle of biosignature detection missions like Europa Lander is a primary responsibility of the Contamination Control group at JPL.

Alred, John↗

NASA NTRS2022

Building Lunar Maps for Terrain Relative Navigation and Hazard Detection Applications

Terrain Relative Navigation (TRN) systems that localize a spacecraft with respect to a map of the surface by comparing descent imagery to that reference map can only be as accurate as the reference map itself. Accurate map products that are based on orbital reconnaissance data must be validated for navigation applications to ensure that all relevant error sources are minimized. Currently available map products have been generated for scientific applications, so the need for accurate TRN maps remains a gap to be filled for upcoming lunar lander missions, in particular missions to the South Pole region. Additionally, representative high-resolution maps that contain lander-scale features are needed for successful development and testing of Hazard Detection (HD) systems. This paper describes one of NASA’s current efforts to develop benchmark data sets that can be used for developing and testing TRN and HD algorithms as well as suggested processes and metrics for generating and validating lunar maps that can be used for navigation and hazard detection.

Beyer, Ross A.↗

NASA NTRS2021

Development of the Sample Fetch Rover Locomotion Subsystem

A novel system for planetary surface mobility is being designed in response to the challenging requirements of the Sample Fetch Rover (SFR) mission, part of the NASA/ESA Mars Sample Return campaign (MSR). The rover will retrieve tubes with rock and soil samples, previously acquired and cached by NASA’s Perseverance rover in depots on the Martian surface. SFR will have to acquire, transport and deliver the tubes to a lander in a tight time window. This will require significant mobility capabilities, unprecedented for Mars rovers. The highly time-constrained traverse needs, together with the strictly limited mass and volume imposed by the accommodation on the lander, have pushed the design of the SFR locomotion to seek innovative solutions. In response to that, a four-wheel drive system is being developed, integrated with a deployable pitch-averaging suspension. This will be the first time that four-wheel locomotion is used on Mars and on robotic planetary rovers in general. The system, relying on high-efficiency drive actuators designed to operate in Mars environment, shows potential for terrain and obstacle negotiation performance comparable with that of larger vehicles. The implementation also takes advantage of the superelastic Spring-Tyre technology currently being developed by NASA Glenn Research Center, which, thanks to its traction and obstacle compliance properties, will allow SFR to navigate difficult ground and achieve its mission objectives.

Rehmatullah, Faizan↗

NASA NTRS2022

Benchmarking and Testing of Qualcomm Snapdragon System-on-Chip for JPL Space Applications and Missions

As some space missions become more challenging due to new environments, greater distances, or more limited size, weight, and power (SWaP) constraints, spacecraft avionics must adapt to allow the spacecraft to be more autonomous and agile---eliminating the Spacecraft-Earth-Spacecraft feedback loop whenever possible. Prime examples of such missions include Aerobots (such as Ingenuity with extremely low SWaP constraints and demanding signal/image processing during flight) and landers in possibly hostile environments (such as a Europa lander mission, with limited communication capacity, high latency, and constrained power budget). To address these challenges, JPL worked with Qualcomm to demonstrate the use of their Snapdragon 801 system-on-chip (SoC) onboard the Ingenuity Helicopter on Mars. The Qualcomm Snapdragon SoC contains various subsystems, including an ARM cluster, a Graphics processing unit, a Digital Signal Processing subsystem, a Neural Processing Engine, Image Signal Processing subsystem, among others. Since the success of Ingenuity, JPL is continuing to work with Qualcomm to address other applications of the Snapdragon SoC technology. This includes the deployment of two 855 Snapdragon development boards onboard the International Space Station (ISS) for successful in-situ benchmarking of applications in space (beyond those tested on Ingenuity). In this paper, we will examine the performance of various applications that have been identified to benefit from greater onboard computational capability. These applications include (among others): machine vision algorithms that are expected to be critical in autonomous entry-descent-and-landing scenarios and real-time Aerobot flight navigation; Hyperspectral compression algorithms; Synthetic Aperture Radar Processing along with various instrument processing algorithms. We discuss how the infusion of Qualcomm's Snapdragon SoC is capable of enabling missions that may not have been able to achieve their goals with traditional flight computing. In addition, we also show that for some algorithms, the software implementation on the Snapdragon SoC outperforms traditional FPGA implementations.

Cretu, Vlad↗

NASA NTRS2021

Assessment of M2020 Terrain Relative Landing Accuracy: Flight Performance vs Predicts

Terrain Relative Navigation (TRN) was a critical enabling Entry, Descent, and Landing (EDL) technology that enabled Mars 2020 mission Perseverance rover to land at Jezero crater. TRN pro-vides real-time, autonomous, map-relative position determination and generates a landing target based on a priori knowledge of hazards. The required performance for TRN was to land within 60m of the selected target. The required 60m was sub-allocated to various error sources in three major categories: targeting error, knowledge error, and control error. The targeting error is the error in selecting an appropriate landing target and the knowledge of the target on the surface. It includes the Lander Vision System (LVS) position localization with respect the ground, the synchronization between the Lander Vision System measurement and the main Navigation filter, and errors associated with the LVS Reference Map and Safe Target Selec-tion (STS). The knowledge error is the contribution of knowledge growth from the synchronization with LVS to touchdown. The control error encompasses how accurately the system could stay on the desired reference trajectory. The TRN error budget uses a combination of analysis, simulation, and hardware test-ing results to bound the various error contributions obtained during the verification and validation process. This paper first presents a description the TRN system, focusing on the architecture of LVS and STS. The paper then gives detailed overview of the TRN error budget, with a description of the major error contribu-tions in each of the three categories. Next, the paper gives the results for three versions of the error budget, pre-launch, in-flight pre-landing, and post-landing. The paper compares the pre-flight analysis, the pre-landing analysis using in-flight data during cruise, to the post-landing analysis of the TRN performance. Pre-landing analysis best estimate of the landing performance was 33m, compared to the 60m require-ment. Post-landing analysis estimated a landing accuracy of 8.53m or better, much better than the 33m pre-landing estimate. The actual post-landing imagery calculated the distance of the rover to the targeted location to be 5m. The post-landing analysis closely bounds the image-based assessment of landing accu-racy, indicating the success of the error budget architecture in bounding the landing accuracy, as well as the fidelity of the simulations used to model and predict performance.

Chen, Allen↗

NASA NTRSDate not supplied

Polar Resources Ice Mining Experiment-1 (PRIME-1) NASA’s First Polar Drilling and Volatiles Detection Mission

MSolo↗

NASA NTRS2020

Path-Adaptive Guidance Algorithm Trades for a Two-Stage Lunar Descent Vehicle

For the next generation of NASA’s missions, the necessity for path-adaptive guidance algorithms has become clear in order to provide the stability and customizability required for a safe and efficient descent to the lunar surface, while meeting specified program and vehicle constraints. Several descent algorithms have been tested and flown for single-stage landers through the Apollo and Altair programs, but thus far little analysis has been conducted involving the application of these algorithms for a two-stage descent vehicle. Due to the limited payload mass constraints of the existing fleet of launch vehicles, multi-stage descent architectures have become a viable course of action. This paper seeks to compare the performance of guidance configurations for a lunar lander system consisting of two stages, one of which separates partway through descent. Through development of this paper, an optimization suite has been written that is specifically designed for optimizing planetary non-atmospheric two-stage descent trajectories, and is used as a comparison baseline for the guidance algorithms tested. Time-to -go computational methods and ignition logic routines that may be employed in a lunar environment are also discussed. Further work is to be completed on trajectory design trades as well as the effects of modifying guidance targets in simulation based on trajectories that are optimized for different performance indices.

Jason M Everett↗

NASA NTRSDate not supplied

Comparison of Oxygen Liquefaction Gaseous Oxygen Injection via Ullage and Dip Tube

The Cryogenic Fluid In-situ Liquefaction for Landers (CryoFILL) testing demonstrated constant and transient oxygen liquefaction in a scaled lander tank integrated with an industrial cryocooler. Early in the test series, two methods for injecting gaseous oxygen into the test tank were ran under similar constant liquefaction conditions for comparison. Gaseous oxygen was either injected directly from the lid into the ullage or bubbled up through the liquid using a dip tube that extends to the bottom of the test tank. The direct comparison of these gaseous oxygen injection methods for constant liquefaction indicated ullage injection provided a greater liquefaction rate than injection via a dip tube. Injection through the ullage was subsequently selected as the nominal injection method for the CryoFILL test series. The comparison of the two injection methods will be highlighted with a discussion of what may cause the variation in liquefaction rate.

Cryogenic Fluid Management↗

NASA NTRSDate not supplied

Overview of the Capture, Containment, and Return System (CCRS)

The Mars Sample Return (MSR) campaign is one of the most ambitious and complex planetary exploration missions currently underway. With the participation of NASA, ESA, and a large number of industry partners, MSR aims to bring Martian soil, rock, and atmospheric samples back to Earth, in order to answer key questions about Mars’ biological evolution. To accomplish this goal the campaign relies on four coordinated missions, each fulfilling a fundamental role to bring the samples to Earth. The Mars Perseverance rover, the first of the four missions, landed safely on Mars on February 18, 2021 and has already acquired candidate samples for Earth return. A selection of the samples of Martian soil and atmosphere that Perseverance has captured during its mission will be recovered, launched into Mars orbit, and transported back to Earth. The Sample Fetch Rover and Mars Ascent System, both parts of the Sample Return Lander project, perform the Mars surface missions to retrieve the collected samples and launch them into Mars orbit. NASA’s Capture, Containment, and Return System (CCRS), hosted on ESA’s Earth Return Orbiter (ERO), brings the samples back to Earth from Mars orbit. These retrieval and return missions are currently in the planning and design stages of development. The NASA-provided CCRS is the payload of the ESA ERO and is the focus of this presentation. ERO will enter Mars orbit and provide communication relay to Earth for the other MSR elements. The Sample Return Lander systems will fetch the sample tubes and integrate them into a protective vessel – the Orbiting Sample (OS) system – which is then launched into low Mars orbit. ERO will perform rendezvous maneuvers, allowing its CCRS payload to capture the OS, contain it, and perform the first automated in-space assembly of a spacecraft, the Earth Entry System (EES), while in Mars orbit. ERO will then begin its journey back to Earth, with CCRS and its assembled EES spacecraft. Three days prior to arrival, CCRS will release the EES on an Earth entry trajectory from a distance beyond the orbit of the Moon. The passive EES spacecraft will then enter Earth’s atmosphere, flying on a ballistic trajectory, followed by a terminal descent (without a parachute) and landing at the Utah Test and Training Range (UTTR). This presentation will show the current design of the CCRS system and its concept of operations. ERO and CCRS will perform several firsts in planetary exploration: (a) orbital rendezvous and capture in Mars orbit, (b) in-space sterilization and containment, (c) on-orbit spacecraft assembly at Mars, and (d) fully-passive entry, descent, and landing sequence for sample return.

Carlie H. Zumwalt↗

NASA NTRSDate not supplied

Dragonfly Entry and Descent Flight Mechanics Modeling and Analysis for Mission PDR

Dragonfly is a New Frontiers Program mission led by Johns Hopkins Applied Physics Laboratory (APL) which will deliver a rotorcraft lander to Saturn’s moon, Titan [1]. Relative to previous studies presented, Dragonfly recently passed its mission Preliminary Design Review (PDR) [2]. This study presents the updated design and analysis performed for the Dragonfly mission PDR. The entry vehicle analysis includes the phases of entry and descent prior to cruise stage separation until lander separation. These results discuss the robustness of the overall entry sequence as assessed through a Monte Carlo uncertainty analysis as well as sensitivity analysis.

Modeling↗

NASA NTRSDate not supplied

Advanced Supersonic Parachute Inflation Research and Experiment-2 (ASPIRE2) Flight Mechanics Modeling and Simulation

Introduction: The Advanced Supersonic Para-chute Inflation Research Experiment-2 (ASPIRE2) program is a sounding rocket flight test to be conducted at Wallops Island, VA in early 2025. This program is a risk mitigation exercise for the Mars Sample Retrieval Lander (MSRL) program and builds upon the success of the 2017 & 2018 ASPIRE program, [1,2]. While the ASPIRE program certified the strengthened 21.5 m diameter disk-gap-band (DGB) deployed at Mach 1.7, ASPIRE2 will certify a 24 m diameter DGB deployed at Mach 2.1. The need to certify this increased parachute performance is driven the increased lander mass for MSRL; over 50% increase in comparison to M2020. Modeling: Like its predecessor, ASPIRE2 is developing a multi-body flight dynamics simulation to predict parachute dynamics and aide in designing the flight test that will target Mars-relevant flight conditions, as shown in Figure 1. This work de-scribes the parachute modeling, flight mechanics simulations (from payload separation to splash-down), and design trades used to prepare for the 2025 ASPIRE2 flight. Discussed herein are comparisons between ASPIRE and ASPIRE2, noting key differences in the parachute modeling and vehicle configuration. A study on the attitude control system performance impacts with respect to payload section design will also be presented. This work will quantify the pre-flight parachute performance in the presence of uncertainties, such as those associated with the separation from the sounding rocket, atmosphere, the parachute system, and vehicle mass. The pre-flight predictions will include Monte Carlo analyses, powered by the flight mechanics simulations to show the ASPIRE2 vehicle performance in meeting program requirements on parachute deployment conditions (Mach & dynamic pressure), parachute loads, vehicle attitude at key milestones, and the vehicle splashdown conditions.

Entry Descent and Landing↗

NASA NTRSDate not supplied

Investigating the Applications of In-Situ Resource Utilization for Future Crewed Mars Missions

There are significant gaps in knowledge regarding the water ice on Mars and future preparation for human missions. So far, six rovers have traversed Mars’ rocky surface, aiming to understand the planet’s composition and search for signs of life. A rover mission set to explore the high northern latitudes of Mars with the goal of analyzing ice cores could greatly advance scientific knowledge to better understand Mars’s ancient climate and geochemistry. As of now, little has been accomplished in the exploration of colder regions and the extraction of water ice apart from the Phoenix lander and the Viking 2 mission; however, the science potential of the Phoenix and Viking landers was limited due to their inability to explore terrain like rovers. The exploration of the near-polar region Arcadia Planitia and its water ice deposits could reveal signs of past microbial life through preserved biosignatures. Additionally, to prepare for permanent human habitation on Mars, this proposed rover could continue the characterization of Mars’s current land and mineral composition, and search for materials that future humans may need on Mars (such as water for habitation, basalt for construction, and olivine for manufacturing purposes). This would increase understanding of the potential for in-situ resource utilization (ISRU) on Mars. The use of ISRU will reduce the amount of material needed on the initial flight, and similarly will reduce fuel costs. The mission to Arcadia Planitia incorporates the use of various mineral-extracting and imaging instruments (Martian Ice Core Analyzer, ground-penetrating radar, NavCam, Mars Environmental Dynamics Analyzer, SuperCam, etc.) to collect data from water ice and geologic samples. A near-polar rover mission to Mars would illuminate Mars’ past and present, while learning more about martian resources to benefit human explorers in the future.

Annika Sachdeva↗

NASA NTRS2023

Venus Surface Environmental Chamber Test of SiC JFET-R Multi-Chip Circuit Board

This poster describes a first attempt to demonstrate a multi-chip prototype lander control and sensor signal digitization electronics circuit board comprised of ten NASA Glenn IC Generation 11 SiC JFET-R IC chips in 460 °C, 9.4 MPa harsh Venus surface conditions. The lander circuit ceased electrical operation prematurely at 107 °C as the Venus chamber heated up. Optical and SEM post-test inspections indicate fatal dielectric cracks occurred on only one of the ten SiC chips.

silicon carbide↗