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At least 19 records

Sample Caching Subsystem

A paper describes the Sample Caching Subsystem (SCS), a method for storing planetary core and soil samples in a container that seals the samples away from the environment to protect the integrity of the samples and any organics they might contain. This process places samples in individual sleeves that are sealed within a container for use by either the current mission or by following missions. A sample container is stored with its sleeves partially inserted. When a sample is ready to be contained, a transfer arm rotates over and grasps a sleeve, pulls it out of the container from below, rotates over and inserts the sleeve into a funnel where it is passively locked into place and then released from the arm. An external sampling tool deposits the sample into the sleeve, which is aligned with the tool via passive compliance of the funnel. After the sampling tool leaves the funnel, the arm retrieves the sleeve and inserts it all the way into the sample container. This action engages the seal. Full containers can be left behind for pick-up by subsequent science missions, and container dimensions are compatible for placement in a Mars Ascent Vehicle for later return to Earth.

Backes, Paul G.

Simulating Mars: Enabling Testing of the Perseverance Rover Sampling and Caching Subsystem on Earth

The development of the Sampling and Caching Subsystem (SCS) on the JPL Perseverance Rover lies at the intersection of testing, robotics, and geology. The SCS team established three primary system test campaigns and venues to aid in the development of SCS through verification and validation testing – Qualification Model Dirty Testing (QMDT) to provide a venue for testing in a Martian environment, Vehicle System Testbed (VSTB) for testing while integrated with the mobility subsystem on Martian-like terrain, and the Flight Software Testbed (FSWTB) for conducting tests using the flight motor controllers and software system on a hexapod which had the ability to simulate rover tilt. Each venue contributed a vital piece to the SCS building blocks. However, the QMDT venue operating within a 10-ft diameter Thermal Vacuum chamber to simulate Martian environment provided a sui generis opportunity to fine tune the entire sampling and caching process while building the team’s knowledge base about rock drillability, system life, and target selection. On Earth, because Martian rocks are not readily available, the development team must utilize geoanalogs to the rocks and regolith on Mars. Geologists on the team helped establish a set of standard rock types to use for Mars missions, like Basalt, Sandstone, Mudstone, Gypsum, and other related geoanalogs. These geoanalogs are characterized with a standard suite of tests for density, compressibility, and other characteristics to categorize potential drillability. This concept of drillability is what links the geoanalogs on Earth to the samples we collect on Mars. With the simulant characteristics defined, these geoanalog rocks are ready to be drilled into as we do on the Martian surface. A key aspect of interacting with the surface on Mars is rock target identification and selection. The Perseverance robotic system uses the on-board cameras, instrumentation, and software to collect enough information to identify potential scientific targets. With the targets identified, SCS can place the Corer and abrade the surface or collect a sample. For a ground test activity like QMDT, the test team did not have all of the camera and instrumentation systems that the rover does, so the team developed ground test equivalents to process a rock, build a target map, and define the target. The team constructed a Rock Scanning Station to build a 3D point cloud of the rock. This point cloud was then processed and evaluated with predefined and programmed criteria in a Target Downselect Tool. A primary output of the Target Downselect Tool is a defined target that can be uploaded directly to the robotic software system to simulate and build the robotic sequences used in tests. With these insights and programmatic definition of targets, the QMDT test team was able to make the same decisions that the Perseverance surface operations team does. In addition, valuable lessons learned from developing the target selection ground tools and using them were implemented into the tools used for surface operations.

Kim, Junggon

Sealing Station Mechanisms for the Mars 2020 Rover Sample Caching Subsystem

The Sealing Station is composed of two mechanisms: the Gripper Mechanism, for orientation and support of the Sample Tube during the Hermetic Seal activation activity, as well as ejecting Sample Tubes out of the Rover, and the Ram Mechanism, which produces and applies a high force for seal activation. The Ram Mechanism is a compact high force linear actuator that uses a planetary roller screw (PRS) as the output linear stage, tapered roller bearings (TRB) to support the PRS at the high loads, a set of spur gears supported by cylinder roller bearings, and a brushless motor with a planetary gearhead and magnetic detent brake. This paper describes the role of these mechanisms in the Mars 2020 Rover mission as a part of the Sample Caching Subsystem (SCS) and Adaptive Caching Assembly (ACA) and their interactions with the Hermetic Seal and Sample Tube hardware. We report on development testing performed with the PRS that show it has capability of supporting cross-moment loads, something manufacturers of these components do not rate. Also discussed is the interaction of the passive holding torque from magnetic detent brakes and hardstop preload, setting of a very light preload in the TRB, and the complex linear dyno test equipment used, and how that testing could have been improved.

Grimes-York, Jesse

Mars 2020 Sampling and Caching Subsystem Environmental Development Testing and Preliminary Results

The Environmental Development Testing program supported the development test efforts of the Mars 2020 Sampling and Caching Subsystem from May to November 2015. The engineering prototype Brassboard Corer was attached to a five degree-of-freedom robotic arm to execute a 96-test matrix of ambient and low pressure tests in the 10 ft. thermal vacuum chamber at the NASA Jet Propulsion Laboratory, California Institute of Technology. The Pretest, Test, and Post Test procedures are described, and some preliminary results are discussed. Data and observations from this test campaign inform the future development of the software and hardware toward the Mars 2020 flight design, including the next iteration of the rock coring drill, the Engineering Development Unit Corer.

Kriechbaum, Kristo

Thermal design of the sample handling assembly in the sampling and caching subsystem on the Mars 2020 rover

The Mars 2020 Rover is scheduled to land on Mars on February 18, 2021. One of the primary mission objectives for the Mars 2020 Rover is to collect a set of Martian regolith samples for potential future return to Earth. Regolith and rock samples will be collected and placed into sample tubes using a coring drill, located at the end of a large Robotic Arm, on the outside of the rover. Filled sample tubes will be transferred from the outside of the Rover into the Adaptive Caching Assembly (ACA), located inside the Rover chassis, via the Bit Carousel. Once the filled sample tube is brought into the ACA, the Sample Handling Assembly (SHA) will transfer it to all of the internal processing stations of the ACA for volume assessment, sealing and finally drop-off on the Martian surface. The ACA is a volume within the rover chassis that is not temperature-controlled. Actuators inside the SHA and its End Effector (EE) must be warmed to above -55°C and -25°C, respectively, prior to use. This paper discusses the thermal design of the SHA that uses heaters and temperature sensors to warm up and maintain the temperature-sensitive arm components within temperature limits during operation. Thermal performance predictions for Mars surface operations are also presented.

Lee, Chern-Jiin

Experimental Results of Rover-Based Coring and Caching

Experimental results are presented for experiments performed using a prototype rover-based sample coring and caching system. The system consists of a rotary percussive coring tool on a five degree-of-freedom manipulator arm mounted on a FIDO-class rover and a sample caching subsystem mounted on the rover. Coring and caching experiments were performed in a laboratory setting and in a field test at Mono Lake, California. Rock abrasion experiments using an abrading bit on the coring tool were also performed. The experiments indicate that the sample acquisition and caching architecture is viable for use in a 2018 timeframe Mars caching mission and that rock abrasion using an abrading bit may be feasible in place of a dedicated rock abrasion tool.

coring

Robotics Verification and Validation Strategies for Perseverance Rover Sampling and Caching

The Mars 2020 Sampling and Caching Subsystem(SCS) is the most complex robotic system ever fielded on a MarsRover. It includes a 5 degree-of-freedom Robotic Arm, coringdrill, gas Dust Removal Tool, interfaces for two turret-mountedinstruments, and an Adaptive Caching Assembly (ACA). TheACA is itself a complex robotic system, containing hardware tosupport docking and bit exchange, a 3 degree-of-freedomSample Handling Assembly for manipulating sample tubes,storage for several drill bits and sample tubes, and mechanismsto support observing and sealing samples collected by the drill.To successfully verify and validate the SCS hardware andsoftware and its integration with the Mars 2020 flight systemseveral key strategies were employed.The SCS Verification and Validation (V&V) program utilizedmultiple test venues with tiered levels of fidelity. These includedsimulation and visualization software environments, low fidelitydevelopment testbeds, testbeds with high fidelity SCS hardwareand commercial off-the shelf avionics, integrated systemtestbeds with flight-like avionics, and environmental testbedscapable of simulating Martian surface temperature andpressure. Multiple units of each SCS hardware componentmoved fluidly between test venues to accomplish myriadstandalone and coordinated test objectives. Test preparationand executions were performed by a diverse team of engineerswith training and technical ownership tailored for individualexperience and role. Despite significant differences between testvenues, the SCS V&V team established efficient and consistentprocesses and tools for procedure development, test execution,and data review that enabled personnel, as well as technicalproducts such as sequences and parameter configurations, toflow between venues effectively. A series of benchmark testsprovided evidence of performance consistency as elements weretransferred between venues and as system capability evolved.This paper provides an overview of the SCS V&V program andexplores several overarching strategies that enabled successfuloperation in the face of unprecedented complexity. Keyoutcomes of the SCS validation effort are summarized, alongwith lessons learned and beneficial integrations of validationtool and process innovations into Mars surface operations.

Brooks, Sawyer

Verifying Mars 2020 Sampling and Caching Robotic Functions with Position Budgeting Process and Tool

The Mars 2020 Perseverance Rover was launched on July 30th, 2020 with one of the most complex robotic systems ever implemented on an interplanetary mission. Much of this robotic complexity resides in the Rover Sampling and Caching Subsystem (SCS) to enable collection of Martian samples for eventual return to earth and preparation of surfaces for close-up surface science observations. Two robotic arms are used by SCS: the large Robotic Arm (RA) positions the coring drill and science instruments mounted to the Turret for surface interactions, and the smaller Sample Handling Assembly (SHA) manipulates Sample Tube Assemblies (STA) within the Adaptive Caching Assembly (ACA) to prepare them for sample collection, processing, and hermetic sealing. The robotic arms interact with the Martian surface and other SCS components in many ways and in a variety of configurations, with positioning accuracy requirements ranging from tens of millimeters for some surface interactions down to sub-millimeter accuracy for some ACA interactions.This paper describes the process and tool used to calculate the SCS robotic interaction positioning budgets and verify the as-built hardware when delivered. To ensure that these robotic systems are able to perform their tasks, each robotic interaction with another element was broken down into its composite functions. To calculate a positioning budget margin for each function, an allowable was defined and then compared to the list of error sources that contribute to misalignment. Across the subsystem, over 250 functions were identified to be assessed, with almost 500 error sources feeding into their budget calculations. In addition to using as-built values in the budgets for SCS Verification and Validation (V&V) after the hardware was complete, these budgets were populated with design data during the design phase to identify areas of concern and guide hardware design to ensure positive position budget margins.Because of the size of the SCS team that had inputs to the positioning budgets and the sheer number of items in the budgets that needed to be created, updated, and verified, having a tool that would allow for simultaneous access and robust data integrity and processing was imperative. To accomplish this, a web-based MySQL database was created that allowed users to create function position budgets, link individual errors and allowables to them, and view function position budget margin reports. Each error and allowable records data for lateral, normal, angular, and clocking errors, with the ability to add as-built data for up to four different hardware builds. Margin reports can be generated for either design values alone or replacing design data with as-built data when available. These as-built reports are used for final verification of the SCS positioning requirements. Ultimately, the SCS positioning budget process and database tool led to successful interactions during test and an SCS robotic system that is ready to perform sample acquisition and caching on the surface of Mars.

Williams, Jeffrey

NASA Tech Briefs, December 2007

Topics include: Ka-Band TWT High-Efficiency Power Combiner for High-Rate Data Transmission; Reusable, Extensible High-Level Data-Distribution Concept; Processing Satellite Imagery To Detect Waste Tire Piles; Monitoring by Use of Clusters of Sensor-Data Vectors; Circuit and Method for Communication Over DC Power Line; Switched Band-Pass Filters for Adaptive Transceivers; Noncoherent DTTLs for Symbol Synchronization; High-Voltage Power Supply With Fast Rise and Fall Times; Waveguide Calibrator for Multi-Element Probe Calibration; Four-Way Ka-Band Power Combiner; Loss-of-Control-Inhibitor Systems for Aircraft; Improved Underwater Excitation-Emission Matrix Fluorometer; Metrology Camera System Using Two-Color Interferometry; Design and Fabrication of High-Efficiency CMOS/CCD Imagers; Foam Core Shielding for Spacecraft CHEM-Based Self-Deploying Planetary Storage Tanks Sequestration of Single-Walled Carbon Nanotubes in a Polymer PPC750 Performance Monitor Application-Program-Installer Builder Using Visual Odometry to Estimate Position and Attitude Design and Data Management System Simple, Script-Based Science Processing Archive Automated Rocket Propulsion Test Management Online Remote Sensing Interface Fusing Image Data for Calculating Position of an Object Implementation of a Point Algorithm for Real-Time Convex Optimization Handling Input and Output for COAMPS Modeling and Grid Generation of Iced Airfoils Automated Identification of Nucleotide Sequences Balloon Design Software Rocket Science 101 Interactive Educational Program Creep Forming of Carbon-Reinforced Ceramic-Matrix Composites Dog-Bone Horns for Piezoelectric Ultrasonic/Sonic Actuators Benchtop Detection of Proteins Recombinant Collagenlike Proteins Remote Sensing of Parasitic Nematodes in Plants Direct Coupling From WGM Resonator Disks to Photodetectors Using Digital Radiography To Image Liquid Nitrogen in Voids Multiple-Parameter, Low-False-Alarm Fire-Detection Systems Mosaic-Detector-Based Fluorescence Spectral Imager Plasmoid Thruster for High Specific-Impulse Propulsion Analysis Method for Quantifying Vehicle Design Goals Improved Tracking of Targets by Cameras on a Mars Rover Sample Caching Subsystem Multistage Passive Cooler for Spaceborne Instruments GVIPS Models and Software Stowable Energy-Absorbing Rocker-Bogie Suspensions

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The Importance of Contamination Knowledge - Insights into Mars Sample Return

The Astromaterials Acquisition and Curation Office at NASA Johnson Space Center (JSC), in Houston, TX (henceforth Curation Office) manages the curation of all past, present, and future extraterrestrial samples returned by NASA missions and shared collections from international partners, preserving their integrity for future scientific study while providing the samples to the international community in a fair and unbiased way. The Curation Office also curates all reference and witness materials for each mission (e.g., flight and non-flight hardware coupons; lubricants; non-flight, flight-like, and flown witness plates). These reference and witness materials provide the scientific community with the fundamental ability to reconstruct the contamination/alteration history of the sample collection through the course of the mission, with the overall goal of strengthening the scientific conclusions drawn from the study of returned materials. The information gained from characterizing the physical, biological, inorganic, and organic chemical properties of reference and witness materials is defined as the Contamination Knowledge (CK) of the sample collection. Unlike the data collected for Contamination Control (CC) and Planetary Protection (PP), CK is exclusively concerned with preserving reference and witness materials for study by future scientists upon sample return. Although CC and PP data collected for sample integrity and forward contamination purposes can be complementary to CK, they are two separate data sets with distinct objectives. A robust collection of samples for CK is necessary to allow the extraterrestrial material in a returned sample to be distinguished from terrestrial contamination. Traditionally CK is utilized by sample scientists in order to accomplish the mission’s scientific objectives, however this information can also be utilized by the Office of Planetary Protection to help evaluate the presence of any back contamination. Mars 2020, the first phase of a potential multipart Mars Sample Return (MSR) campaign, is expected to contribute to NASA’s Mars Exploration Program Science Goals by filling in knowledge gaps concerning: 1) the existence of past or present life on Mars, 2) the past and present climate of Mars, 3) the geology of Mars, and 4) hazards associated with human exploration of Mars. Although there is debate concerning which samples will best answer these questions, the necessity for proper sample blanks is well-understood. The CC and PP requirements, driven by the restricted Class V mission designation, are the most stringent of any sample return mission in recent history. The extremely low levels of allowable terrestrial contamination on the spacecraft and rover can complicate these analyses given the detection limits of current analytical instrumentation, especially in the case of biological contamination. By collecting and curating unanalyzed samples specifically for CK, future sample scientists will not be relegated to: 1) relying on data collected using possibly obsolete tools and techniques for return sample blanks, or 2) using remnants of extracted and/or cultured samples from ATLO (Assembly, Test, and Launch Operations), which could be incompatible with the desired experimental endpoints or state-of-the-art techniques available at the time of sample return.The addition of biological experimental endpoints to a sample return campaign’s objectives broadens the requisite range in preservation environments (e.g. inert ultra-pure nitrogen gaseous environment at 18 degrees Centigrade versus less than or equal to minus 80 degrees Centigrade) and types of CK samples. As a result, the Curation Office will also curate the following CK samples at less than or equal to minus 80 degrees Centigrade for the Mars 2020 mission: 1) unanalyzed swabs and wipes in sterile containers, 2) all recirculation filters from the clean rooms used for sample and caching subsystem assembly and all filters from the laminar flow benches used to assemble sample intimate hardware, and 3) witness plates collecting airborne contamination within the assembly clean rooms. It has been Curation Office policy since the Apollo missions to preserve as many pristine samples as possible for future scientific research. Although CK is required to be collected for all stages of the MSR campaign, the CK for the Mars 2020 mission is the most critical for understanding contamination in the returned samples given the intimacy between the Martian samples and the Mars 2020 flight hardware. This presentation highlights the importance of CK for sample return missions as well as the traditional and novel types of CK samples required for a successful MSR campaign.

Harrington, A. D.

Software System for the Mars 2020 Mission Sampling and Caching Testbeds

The development of the Sampling and Caching Subsystem (SCS) of the Mars 2020 Rover Mission is highly dependent on testing of prototype hardware and software operating in explicit conditions as part of integrated testbeds. To achieve relevant integration of hardware and software while maintaining rapid algorithm development capabilities and high testing throughput, the Controls and Autonomy for Sample Acquisition and Handling (CASAH) software system was developed. CASAH is an implementation of the Intelligent Robotics System Architecture (IRSA),which mimics JPL Flight Software (FSW) in that it is divided into hierarchical modules that run separate processes that communicate via message passing, each module is assigned an owner that is a single developer, and the operator initiates requests via a text-based interface that interprets sequences of commands.IRSA enables a modular breakdown of CASAH that follows that of 2020 Flight Software,so developers can take an algorithm from a module in CASAH and re-code it into the same module in FSW. As deployment of CASAH has grown to ten testbeds - each with different hardware and objectives - bottom-up design decisions have been intentionally made to keep the system lightweight and maintainable by a very small team. To date, CASAH has been used to run 1393 different tests. This work describes CASAH, the testbeds and functionality it supports, the tools used to manage the development and sharing of code, and the features of the software. Lessons learned over the past three years of development and deployment are provided.

Vieira, Peter

Thermal testing of a Mars 2020 enhanced engineering camera

The upcoming Mars 2020 rover mission is introducing a new generation of engineering cameras (ECAMs) called the enhanced engineering cameras (EECAMs), which have advanced imaging capability over the previous ECAMs used on the Spirit, Opportunity, and Curiosity rovers. The Mars 2020 rover will have nine EECAMs – six upgraded HazCams used for hazard avoidance, two upgraded NavCams used for navigation, and a single CacheCam used to take images of samples obtained by the rover’s Sampling and Caching Subsystem (SCS). The detailed EECAM design was completed in April 2017, and since then the EECAM Subsystem has been in the process of fabrication, integration, and testing. This paper describes two thermal tests that were done for thermal model correlation and validation of the EECAM thermal design during Mars surface operations.

Novak, Keith S.

Design and Development of a Robust Chuck Mechanism for the Mars2020 Coring Drill

The Sampling and Caching Subsystem (SCS) onboard the Mars2020 rover includes a coring drill that can perform coring, abrasion, and regolith collection operations. The coring drill requires a chuck mechanism to allow for the changing of the bits needed to perform sampling. The chuck mechanism must be capable of securely connecting a bit under drilling, rover slip, and pullout loads, but also readily release a bit after application of these loads. The Mars2020 chuck consists of a ball lock mechanism that allows for robust engagement and release of bit assemblies that is preloaded to ensure a secure, stiff connection between the bit assembly and the rest of the corer. To prevent jamming, the chuck incorporates rollers to preload the ball lock. The rollers are mounted onto a flexured cam that minimizes changes in internal mechanism loads that result from thermally induced dimensional changes, further mitigating the potential for jamming. The chuck mechanism is moved between engaged, disengaged, and loose chuck positions by rotating the cam with a gearmotor that incorporates a magnetic detent brake that prevents inadvertent mechanism motion under design loads. Ongoing testing is occurring on the qualification model in a dirty environment while coring and abrading rocks in a Mars representative environment.

Barletta, Anthony

Percussion Mechanism for the Mars2020 Coring Drill

The Mars2020 rover includes a Sampling & Caching Subsystem (SCS) that is required to acquire core samples of hard rocks and to abrade rocky surfaces flat and smooth in order to facilitate surface science. Hard, high strength rocks exhibit brittle failure modes, and can be drilled and chiseled efficiently using percussive impacts. The coring drill percussion mechanism was designed to provide those impacts with variable output force and to be used with various drill bits. A unique hammering mechanism, using a base-driven hammer, powered by a conventional rotary actuator driving a Scotch yoke, was designed to robustly provide the required function in a Martian environment for a life exceeding 2 million impacts.

Chrystal, Kyle

STIG: A Two-Speed Transmission Aboard the Mars2020 Coring Drill

The coring drill, part of the Sampling & Caching Subsystem (SCS) aboard the Mars2020 rover, demands a wide range of drill bit torque and speed capabilities during sample acquisition operations. The two driving operating points are high speed, low torque for rotary-percussive coring, as well as low speed, high torque for separating the rock core sample from its parent rock. The spindle twin-input transmission (STIG) allows these and other operating points to be reached with an actuator of substantially less peak power and maximum current draw than that of a single-speed actuator. Rather than containing gearing of its own, the transmission interfaces to an actuator with two outputs of different gear ratios, allowing the transmission to select one of the two of the outputs to be coupled to the drill bit. This paper describes the design, capabilities, and challenges associated with the transmission and the dual-output actuator.

Szwarc, Timothy