Tech Summaries for MTP Web Site

(draft 11/6/03)

(Note: Wherever CLARAty, MER, MSL, MTP, FIDO, WITS, ROAMS, and other
acronyms appear in the text, a definition will appear when the user
places the cursor over the item. It would probably also be a good idea
to provide a link to the CLARAty home page.)

**[Rover Technology]{.underline}**

ARC Rover Testbed

MSL and other future robotic missions require high degrees of autonomy
to meet mission goals for efficiency and science return. For example,
the MSL mission requirement of placing an instrument on a science target
from up to 10 meters away necessitates highly-accurate navigation,
obstacle avoidance, target tracking, target analysis, manipulation, and
fault diagnosis.

The Ames Research Center (ARC) Rover Testbed provides a robust rover
platform, and supports integration and field testing of advanced
enabling technologies for future Mars robotic missions, particularly
MSL. We test these technologies under realistic mission scenarios in
Mars-analog terrains, reducing mission risk by validating these
technologies prior to infusion into the mission itself.

The objective of this program is to integrate and demonstrate new
enabling rover technologies. We are integrating and supporting the
development of the CLARAty architecture to infuse MTP-funded technology
development.

Rover-Based Manipulation MSL/MTP

The MSL mission will be the first to acquire samples with a rover. It is
expected to have one or more rover-mounted manipulator arms that place
instruments \-- such as imagers, contact science instruments, surface
preparation tools, and sampling tools \-- on surface targets.

The manipulator arms need to be designed to enable use of these
instruments, and to deposit samples in a processing and analysis system
on the rover's body. They need instrument placement technologies, such
as collision-free path planning, to accurately and safely place
instruments on the targets. And they need technologies to control
interaction forces between instruments and environment for contact
science and sample acquisition.

We are developing the technologies MSL will need for such sample
acquisition. To save time and therefore increase science return, we are
developing technologies to enable arm activities to follow rover motions
as part of one uplink command sequence. Currently, arm motions require a
new command sequence, and the associated delay of one sol (a Martian
day), after a rover motion.

Surface Rover Maintenance

This task provides mechanical and electrical engineering maintenance and
upgrading of the rovers and robotic systems that serve as testbeds for
technology and software developed for the Mars Science Laboratory (MSL)
project. We maintain and, in some cases, upgrade and redesign the
structural elements, mechanisms, electromechanical systems, and
electronics of JPL's technology rovers: Rocky 7, Rocky 8, and FIDO.

We have been focusing on the upgrade and redesign of the articulating
elements (manipulators and remote sensing masts) for the Rocky 8 and
FIDO rovers in addition to some electrical and power subsystems. Our
ongoing and upcoming tasks are driven by the emerging requirements of
the MSL mission and the needs associated with the development of various
terrestrial testbed systems.

WITS for MSL

This task is twofold: First, we are developing basic infrastructure
ground system technologies, based upon the existing Web Interface for
Telescience (WITS) modules, and integrating them with the CLARAty system
to provide the ground system capabilities needed to operate rovers for
testing new technologies. WITS is the current state-of-the-art in ground
systems for operating rovers during tests of new technologies. It
provides the equivalent of a complete ground data system at a modest
cost. MER's Science Activity Planner (SAP) is an adaptation of the
downlink data visualization and uplink activity planning components of
WITS.

Second, we are developing distributed visualization and goal-planning
technology and integrating it with the MDS architecture [(What is
MDS?)]{.mark} to enable geographically-distributed scientists to perform
daily mission-critical science data analysis and uplink planning
functions. This will allow science team members to participate fully in
the MSL mission from their home institutions.

YaM Support

YaM (Yet another Make system) is a software development tool used by
Mars Program elements to support distributed and reusable software
development. We are extending the current YaM capabilities, and
developing the tool for use by MTP tasks such as ROAMS and CLARAty.

Apart from its design, a key challenge to reusable software development
is an environment that supports distributed development and multiple
adaptations and deployments of the software. YaM provides this
capability and facilitates the development of reusable software.

We are consolidating the multiple YaM extensions into one place, and
implementing additional features that have been identified as a high
priority \-- including support for maintenance branch releases, improved
handling of intermodule dependencies, and support for site-specific
release areas. Our task includes updating YaM documentation, YaM
regression testing, and providing YaM maintenance support to users of
the tool within the Mars Program.

**[Payload Systems]{.underline}**

Planetary Protection

The Planetary Protection technology task is developing technologies to
meet current and future planetary protection requirements on Mars
Science Laboratory (planned to launch 2009) as well as other Mars-bound
landed spacecraft.

Such technologies include a real-time spore bioburden assay, improved
cleaning methodologies for bioburden reduction, reduced temperature
approaches for microbial reduction, recontamination analysis and
protection for launch, cruise, entry, and surface operations,
biobarrier/shielding concepts and test methods, determination of
adequate surface cleanliness levels to eliminate biological
recontamination, and validation testing of sampling strategies from
mixed IVa/IVb platform/instruments.

Subtasks include a) reducing the risk to delicate hardware and
instruments by developing reduced-temperature microbial reduction
technologies that clean the hardware almost to sterility, thus
eliminating or reducing the need for thermal or vapor sterilization
processes, b) reducing the time needed for spore assay from three days
to less than two hours, and c) developing more sensitive, less variable
sampling methodologies.

Sample Handling/Processing Testbed

This task is to develop a complete sample preparation and distribution
system for a Mars rover, that will provide appropriate amounts of sample
to in-situ instruments in the correct form for their analysis
technology. Instruments will require sample sizes ranging from \~100
microns to 1 mm, and amounts up to 3-5 grams. After samples are acquired
by a scoop, corer, or some other method, they need to be crushed,
sorted, sized, and distributed. Some will also need to be stored, at
least temporarily. The system needs to be robust, simple, and
well-tested for failures.

There are four major areas of investigation:

1)  System architecture \-- includes instrument interfaces, software,
    analysis of failures, and failure recovery.

2)  Crusher design

3)  Sample sorting, distribution, and splitting

4)  Contamination control

Current state-of-the-art is a JPL-developed rock crusher that has been
integrated into a sample bin carousel. The system is being tested to
characterize the size distribution of the crushed rock, repeatability,
failure modes, and response to different minerals.

**[Long Life Systems]{.underline}**

Actuators, Lubricants, Bearings

We are designing, building, and testing a representative wheel actuator
for the MSL mission. This consists of a brushless DC motor, long-life
gearbox, brake/clutch assembly, and integrated motor drive electronics.

An actuator for MSL should have the motor drive electronics packaged
within the motor housing, and a serial data bus interface. It needs to
provide positional servo control, speed control, and current control to
the motor, the no-power brake, and the powerless clutch. The necessary
components for this actuator do not exist today in a form suitable for
space flight.

The cold-capable, low-mass gearbox stage requires \~20,000 output
revolutions. The rover range requires \~50 million motor revolutions
(based on assumed gearbox ratios). The actuator brake is bidirectional,
and passively activated without robbing appreciable motive power from
the actuator. The clutch allows individual actuators to "freewheel" for
power savings, life extension, or fault mitigation.

Motor drive electronics are packaged within the motor housing for system
configuration advantages. System interface to the actuator will use
power and command busses to greatly reduce wirecount throughout the
vehicle.

**[Regional Mobility and Sub-Surface Access]{.underline}**

Advanced Global Path Planning for Mars Rover Exploration

We are developing an automated global path planner capable of integrated
reasoning about solar power availability, resource usage, communications
visibility, terrain, and overall science objectives, to enable more
efficient use of resources and a significant improvement in Mars rover
science data return. It can flexibly and robustly select, order, and
plan paths between science sites to optimize science return while
satisfying power and other resource constraints.

In addition to planning intelligently, time efficiency requires that
rovers achieve a greater level of autonomy. The planner must adapt to
internal and external changes, and update plans on the fly with the best
current information. Coupled with automated activity scheduling
software, this global path planning capability will enable rovers to
take far greater advantage of available resources and time.

Our global path planner centers on a newly-developed incremental search
algorithm that combines deliberative planning with reactive-style
response to incoming data. It fits into the CLARAty framework envisioned
for future Mars rover software architectures. Planning modules integrate
into the Decision Layer, which translates plans into actions that drive
the Functional Layer modules.

High-Accuracy Dead-Reckoning System for the Mars Rover

The University of Michigan (UM) is developing a highly-accurate
dead-reckoning system for the Mars Rover. It integrates three gyros,
accelerometers, and highly-optimized odometry, and is expected to
provide position accuracy within 20 cm over 100 m travel on rugged
terrain, thus being significantly more accurate and robust that any
other dead-reckoning system demonstrated to date. It would enable the
Mars Rover to travel extended distances between absolute position
updates, an important advantage. Absolute position is difficult to
obtain on Mars because there is no GPS, and because landmark-based
measurements may require lengthy periods of motionlessness without 100%
reliability.

Our system uses a UM-developed approach called "physics-based sensor
fusion," which we are upgrading with high-end, commercially-available
Inertial Navigation System components suitable for a Mars mission. We
are performing in-depth sensor analysis to define additional rules for
an expert system.

This system also features unique methods for fusing gyro and odometry
data, accelerometer-compensated odometry, wheel slippage detection and
correction, and real-time self-calibration for odometry parameters.

Mapping and Rover Localization Using Multi-Resolution Imagery

For a Mars rover capable of long-range mobility, it is highly desirable
to travel to science targets observed in orbital or descent imagery.
However, current localization technologies for rovers do not allow
rovers to autonomously navigate to distant targets with a single
command. Navigation errors can result in the loss of an entire sol (a
Martian day) of scientific activity.

While previous work on mapping for rovers uses sensor data from only the
robot, we are improving long-range navigation capabilities by mapping
the traverse and target locations using 3D data generated from all
available images, including surface images from the lander and/or rover,
descent images from the lander, orbital images from current and future
Mars orbiters, and potentially other sources of range data such as
LIDAR. Our technology allows localization to be performed by locating
the position of the rover within the map of the site, with error below
0.5% of the distance traveled. These maps will also be useful for
navigation, planning, and visualization.

Interlocking technologies necessary to realize our goals include
wide-baseline stereo mapping, elevation mapping using descent and
orbital imagery, multi-resolution map construction, and landmark-based
localization.

On-line Terrain Characterization and Traversability Assessment for Mars
Rovers

We are developing on-line algorithms to improve the safety and mobility
of rovers in rough terrain, through accurate estimation of critical
terrain parameters. This software is being developed to the point of
practical, robust, onboard implementation.

Since terrain has a significant influence on rover mobility, this
research is important in allowing future rover missions to perform
long-range traverses through challenging environments. Our work is
relevant to the MSL mission planned for 2007, which will require a rover
to perform longer-range traverses through more difficult terrain than
the 1997 Sojourner rover or the current MERs.

[]{.mark}

Onboard Mapping

This effort is part of the larger task, "Mapping and rover localization
using multi-resolution imagery." The JPL portion was focused in 2002 on
developing software to produce digital elevation maps from panoramic
stereo imagery taken with mast-mounted stereo cameras on a rover.
Software for this function has not been robust against calibration
errors of the cameras and mast pan/tilt, hence maps generated with it
show artificial discontinuities that create phantom obstacles for
traverse planning software.

The objectives of the 2003 in-house effort are 1) a section 348 effort
to complete integration of elevation maps created from panoramic stereo
pair imagery, as produced by software developed under subcontract by
Ohio State University (OSU), and 2) a section 382 effort to complete
extraction of digital elevation maps from the integration of
multiresolution terrain data from a variety of sources.

For the 348 effort, we are obtaining the OSU code and initially making
sure we can run and maintain it in a workstation environment. For the
382 effort, we are using imagery from Silver Lake data collections
(descent imagery and ground-level stereo pairs) that has been registered
into a common coordinate system, and fusing all of this data into a
common elevation map.

This will be of great value in the 2009 Mars Science Laboratory rover
mission for onboard mapping and traverse planning, as well as off-board
visualization and mission planning.

Real-time Fault Detection and Situation Awareness for Rovers

One of the most critical challenges in providing the levels of autonomy
that are critical to MSL's navigation and science goals is developing
increased situational awareness of the rover's state with respect to its
environment. This requires a system that can differentiate between
component failure/degradation, unexpected environmental perturbations,
and the position and attitude of the rover with respect to its immediate
environment.

We are focusing on maturing and demonstrating hybrid mode
identification/state estimation using probabilistic algorithms that
reason about both discrete and continuous properties of the rover with
respect to its environment. Such algorithms are essential for ensuring
the safety of long-duration rovers that operate in uncertain terrain.

Due to the limited computational resources available on the rover, we
are using any-time algorithms that minimize the computational resources
required. Our overall strategy is to develop an integrated approach to
the fault detection/situation assessment problem that leverages both
onboard computational resources and algorithms that can be hosted as
part of the ground support software. The approach is fully integrated
with the rover system software to allow use of the state estimate to
inform rover control decisions and mission planning.

**[Mars Instrument Development Program]{.underline}**

CHEMIN: a combined XRD/XRF instrument for the mineralogical analysis of
Mars rocks and soil

We are building a rover-deployable, in-situ sample acquisition and
analysis system for the mineralogical characterization of Mars soil and
rock for the ASTEP, Mars 2007 and Mars 2009 opportunities.

Powdered samples of soil, weathering rinds and depth-profiled rocks are
obtained using an Ultrasonic/Sonic Driller/Corer (USDC). The USDC, which
has heritage from a Mars Exploration Technology task and SBIR Phase II
research, has been shown to drill ice and a variety of rocks including
granite, diorite, basalt and limestone. The powder sample travels up the
drill bit via an acoustic and CO^2^ pressure-assisted mechanism,
providing a sequential sample of drilled material (e.g., depth profile
of an in-situ rock).

Sample material collected with the USDC is delivered to CHEMIN, a
miniaturized, CCD-based X-ray diffraction/X-ray fluorescence instrument.
The CHEMIN instrument characterizes the elemental composition and
mineralogy of small (\<10 mg) fine-grained or powdered samples.

CLARAty Science Instrument Software Framework

In support of autonomous in-situ science, we are providing a uniform
software interface to both a real spectronometer and a virtual
spectrometer, utilizing the CLARAty science instrument software
framework. Such an in-situ framework will reduce integration time of
science instruments and improve their ability to conduct in-situ science
exploration.

We are integrating the FIDO-spare spectrometer and V-Instrument software
system (instrument simulation system) at the CLARAty test bench to
enable CLARAty to control the spectrometer on FIDO and to validate
science algorithms with a wide range of synthetic measurements.

[]{.mark}

Miniature Ground-Penetrating Radar for Mars Exploration (Mars GPR)

We are developing a miniature ground-penetrating radar (GPR) that can be
deployed on a rover to characterize local stratigraphy and detection of
subsurface water-ice on Mars.

We have developed the breadboard GPR (TRL 4) for a lightweight (\~1 kg),
low power (\< 5W) prototype and extensively field tested for
functionality. We are focusing on improving sensitivity, electronics,
efficient antenna structure and sophisticated signal processing software
to produce a space-qualifiable Mars GPR hardware (TRL 6) with small
volume, a penetration depth of \~ 100 m, and a minimum level of data
processing requirement (lap-top computer level).

While most conventional GPR is based on impulse radar, the GPR we have
developed is a range-gated step frequency (RGSF) radar that has
operational advantages, particularly for low-power rover-based
applications.

One of the advantages of RGSF radar is that it can offer ultra-wide
bandwidths (10 MHz- 150 MHz), yet since the receiver is always tuned to
the transmitter frequency, at any one instant it is in a narrowband
configuration. This is especially true when each frequency step is
transmitted for a relatively long duration, providing high average power
per frequency component and low sampling rate.

Under constraints imposed on miniature instrumentation, RGSF radar can
thus offer higher sensitivity than impulse radar because of narrow
receiver bandwidth and higher duty cycle. In addition, it can be
operated at low voltage (14 V), wide dynamic range, with low
computational requirements.

MIDP Contracts

In NASA's "faster, better, cheaper" environment, the Mars flight AO
[(What is AO?)]{.mark} has only limited time and financial resources,
and cannot afford to develop a number of instruments from breadboard
level (TRL 3,4) to flight-qualifiable status (TRL 6).

We are working to bridge the gap between instrument R&D programs and
hardware requirements by supporting seven contracts for the development
of ground-demonstrated miniature in-situ instruments into
space-qualifiable hardware that is ready for response to Mars flight AO.

Subsurface Access Technology

We are developing subsurface access technology \-- including drill
technology, drill automation system software, and a testbed facility \--
that meets the needs of space applications with severe restrictions in
weight (\<50 kg) and power requirements (\<200 W-Hr). Our objective is
to support future Mars missions including 2007 MSL, 2011 Mars Sample
Return, and post-2011 missions that call for long-term, deep-drilling
(\>200m) capability.

Such capability is needed for a number of scientific and engineering
tasks associated with the geologic, hydrologic, and climate history of
the planet; the search for life; and the identification of potential
hazards and resources for future robotic and human exploration.

Specific scientific objectives include understanding the distribution
and state of subsurface water and other volatiles; understanding the
geology, evolution, and physical properties of near-surface crust;
determining the nature and distribution of oxidants as a function of
depth; searching for organic compounds and other potential biomarkers;
and characterizing the geophysical environment.

Miniature Electrospray Ionization/Ion Mobility Spectrometer (ESI/IMS)
system for Detection of Organic Molecules on Mars

Development of a miniature, low-power, and low-mass spectrometer system,
which eliminates the problems associated with conventional detection
techniques \-- such as lack of sensitivity, fragmentation of large
organic species, and high vacuum requirements \-- is a necessity for
in-situ analysis on planetary bodies such as Mars. The miniature
breadboard high-resolution ESI/IMS spectrometer, developed at JPL in
collaboration with Washington State University, Pullman, has great
potential to fulfill NASA\'s requirement for in-situ detection of
organic compounds of biological importance. It is simple, rugged, has no
moving parts and possesses a high level of sensitivity.

We have demonstrated the potential of LIBS (laser-induced breakdown
spectroscopy) to significantly increase the scientific return of Mars
missions because of its unique analysis capabilities compared to current
technologies. In LIBS, a laser pulse is focused on a target to form a
microplasma. The plasma light is then analyzed spectrally to determine
elemental composition. Building on this groundwork, we are developing
and testing a truly compact LIBS brassboard system for elemental
analyses of geological samples at stand-off distances (2-20 m).

A Particle Charge Spectrometer for Electrostatic Characterization of
Martian Dust

Windblown dust and aerosol particles play a crucial role in determining
the climate and global electric cycle of Mars, and future missions may
face substantial hazards associated with the build-up of electrostatic
charge in the Martian atmosphere. In-situ measurements of the charge
carried by individual particles in the size range above 1 micron will
form the basis for understanding these complex phenomena on Mars and
elsewhere, but instruments capable of making these measurements in the
field do not exist.

We are exploring an approach to this problem based on direct measurement
of charge that utilizes low-noise amplifier technology invented for the
nuclear physics community. Using these methods, we have demonstrated a
device that operates with a thousand-fold increase in sensitivity and
speed in comparison to laboratory particle instruments.

We are engaged in a two-year effort, based on extensive experimentation
and modeling, directed initially at establishing the dynamic range of
this instrument with regard to particle size, charge, and concentration.
We are also investigating the suitability of the device for operation in
the low-pressure atmosphere of Mars, as well as its potential for
deployment on aircraft and balloons. We expect to develop a powerful new
tool that will lead to a deeper understanding of atmospheric electrical
phenomena on Earth and Mars. At the end of the two-year development
effort, the device will exhibit sufficient maturity to be considered as
a candidate instrument for 2009 Mars Surveyor Lander. [(Should this be
changed to "\...for 2009 Mars Science Laboratory"?)]{.mark}

Argon Geochronology Experiment (AGE): In situ geochronology for Mars
based on Laser-Induced Breakdown Spectroscoy and Mass Spectrometry

We are developing a brassboard version of an in situ geochronology
experiment, designed to operate on landed missions on Mars. We use
Laser-Induced Breakdown Spectroscopy (LIBS) to determine the abundances
of major and minor elements, and noble gas mass spectrometry with a Paul
ion trap mass spectrometer to determine the abundances of helium, neon
and argon. With this system, we can determine potassium-argon ages and
cosmic-ray-exposure ages of rocks. In addition, we are making
modifications to make it possible to determine several important
atmospheric isotopic ratios.

Sample Analysis at Mars (SAM). An instrument suite for trace organic
detection, precision isotope measurements, and microscopic elemental
analysis.

We are developing an instrument suite to provide a wide range of
organic, isotopic, microscopic, and elemental analyses at the surface of
Mars on the 2009 Mars Science Laboratory (MSL) mission.

The capabilities of this hybrid experiment include (1) detection of
trace organics with an advanced gas chromatograph mass spectrometer
(GCMS), with chemical derivatization that is sensitive to multiple
classes of molecules, including amino acids and carboxylic acids that
were undetectable by the Viking GCMS; (2) an elemental, isotopic, and
organic analysis of the refractory component of surface and subsurface
samples, with a spatial resolution of 30-50 microns, using a laser
ablation/laser desorption time-of-flight mass spectrometer; (3) a
comprehensive isotopic analysis of both atmospheric gases and those
released from solid phase samples with high precision; (4) a
mineralogical characterization of solid phase material based on
thermally-evolved gas signatures; and (5) microscopic imaging of each
solid phase sample processed.

Several institutions, including international partners, are cooperating
in the development of this complementary suite of new and established
technologies, and helping to realize substantial efficiencies through
use of advanced microelectonics technology and integration around a
common sample handling and vacuum system. The full instrument is being
tested under simulated Martian conditions. The experiment suite
addresses core science objectives of the Mars program defined by both
MEPAG and the MSL Science Definition Team.

Mineral Identification & Composition Analyzer (MICA) for in situ Mars
geochemical surveys

The Mineral Identification and Composition Analyzer (MICA) demonstrates
a working brassboard of a miniaturized tool for in-situ X-Ray
Diffraction (XRD), X-Ray Fluorescence (XRF), and optical analyses on
unprepared rocks accessed by a rover on Mars. MICA will automatically
perform these non-destructive analyses to quickly determine the
geological nature of samples, image the crystalline structure and
appearance, and measure the elemental content. MICA data will be useful
for analysis of regolith and rocks that are encountered during
exploration of the Mars surface, and selection of unique and interesting
samples for return to Earth.

MICA requires no sample acquisition or preparation, only that the
instrument be in contact with the sample. The x-rays used in the
analyses are generated by radioisotope sources. A deep depletion charge
coupled device (CCD) detects x-rays that interact with the mineral
crystals and scatter throughout the 2-theta diffraction angle range from
20 to 70 degrees, and also measures the energy of x-rays generated from
fluorescence of the contained elements.

An optical CCD imager with a white (broad-spectrum) LED light source for
illumination of the sample is also included to provide visual
information regarding the crystalline structure, color, appearance, and
morphology of the analyzed sample.

The module contains data processing capabilities to discriminate between
XRD and XRF data using measured x-ray energies. X-rays that have the
same energy as the incident beam are scattered (XRD), and all lower
energies are generated by fluorescence.

In Situ Infrared Reflectance and Raman Spectroscopy From a Mobile
Subsurface Penetrometer

We are developing a mobile subsurface penetrometer (Mole), a unique
system for accessing the Martian subsurface without the support
infrastructure intrinsic to a drill rig. The Mole uses an internal
spring-and-mass impact system to move underground. It can achieve a
subsurface penetration depth of five meters in Mars regolith while
trailing a tether. The Mole design concept is based on a Mole already
developed for flight on the ESA Beagle-2 mission.

The Dual Spectroscopic Sensor (DSS), a subsurface sensing package that
combines a Raman and near-infrared reflectance spectrometer, is
integrated with the Mole via fiber optics incorporated in the tether,
and the package is used to perform in situ underground measurements to
determine the composition of subsurface materials. The DSS will be used
to determine mineralogy and detect the presence of organic compounds and
water.

Field tests with the MUM [(What is "MUM"? Should it be changed to
"Mole"?)]{.mark} are being performed in artificially-constructed
regolith simulants and in Mars-analog terrestrial environments. The
results will provide knowledge of penetration depth under different
conditions of subsurface characteristics, and demonstrate a unique
capability for in situ sensing of the subsurface.

Mars Alteration Hyperspectral Imager

We are developing an imaging spectrometer covering the 1.8-2.5 micron
wavelength at a spectral resolution of 4 nm. This wavelength region
contains diagnostic information for a wide range of relevant alteration
and primary minerals, including clays, sulfates and carbonates, and is
relatively insensitive to the presence of igneous rock-forming minerals.

The instrument is intended to map the distribution of alteration
minerals at high angular resolution (0.5 mrad) from the Mars Science
Laboratory rover. In the near field at \~10 meters from a target rock,
this translates into spatial resolutions of a few millimeters.

Small Neutron Spectrometer for Lander or Rover-based Detection of
Surface and Near-Subsurface Hydrates: HYDRA

We are designing and building a prototype miniature hydrate sensor that
could be fielded on either the Mars Science Laboratory (MSL) Long-Range
Rover, or a landed Mars Scout platform. A similar sensor and electronics
design was flown successfully on the Lunar Prospector orbital mission.

In the landed Mars exploration context, this small instrument would
detect the locations of surface and near-subsurface deposits of water
ice and/or water-bearing minerals such as zeolites. The sensor could be
used to prospect for potential drilling sites or to survey for
hydrogenous or water-bearing materials during a long-distance traverse.
When used in a down-hole application, the sensor provides a depth
profile of water content.

This investigation can improve our understanding of the Mars climate
through analysis of in situ materials; increase our understanding of the
availability and amount of water on Mars; identify areas and materials
of possible interest for future scientific exploration (both in situ and
via sample return); determine the nature of surface geological processes
from surface morphology and chemistry; determine the spatial
distribution and composition of minerals, rocks, soils, and ices on and
within the accessible Martian surface; and investigate properties of the
Martian near subsurface.

Neutron Detector for Mars Rover Missions

Recent orbit-based neutron observations and many photogeologic studies
are consistent with the presence of shallow subsurface ice deposits on
Mars. The next step in studying these putative ice deposits will be to
visit them on the surface, probably with mobile robotic explorers.

One approach to detecting subsurface hydrogen (which could indicate the
presence of water, ice, or hydrated minerals) is to use a neutron
detector capable of discriminating between epithermal and thermal energy
neutrons. On planetary bodies with thin or nonexistant atmospheres, fast
neutrons produced in the shallow subsurface by galactic cosmic ray
interactions are moderated through collisions with nuclei in the
regolith. The leakage spectrum of neutrons from a hydrogen-rich regolith
will have a lower epithermal to thermal neutron flux ratio than an
H-poor regolith.

Relatively simple detectors capable of measuring this ratio have already
flown on orbital spacecraft. Our task is the optimization of a neutron
detector for a rover platform.

We are determining the optimal instrument design for a rover, and then
integrating our prototype instrument with the NASA Ames K9 rover for a
blind science field test in which a science team with no prior knowledge
of a remote field site commands the K9 rover in a Mars mission
simulation.

Tunable Laser Spectrometers for Atmospheric and Sub-surface Gas
Measurements on Mars Scout and Smart Lander Missions

We are extending our instrument prototyping of near-IR laser
spectrometers for H~2~O, CO^2^ and their isotopomers by building and
testing a Protoflight Spectrometer specifically suited for Mars Scout
and Mars Science Laboratory (MSL) applications. The Protoflight
Spectrometer includes a redesign of our electronics board to include
only flight-qualified parts, and development of a laser source at 1.87
mm from a group of 20 flight-qualified devices that we are producing.
The Protoflight Spectrometer is undergoing therm-vac, vibration, high-G
testing to ensure its broad applicability to current and future Mars
Scout and MSL Missions.

The development of near-IR tunable diode laser spectrometers for
measurement of H~2~O and CO^2^ and their isotopomers will enable several
investigations. This includes determining the quantity of adsorbed H~2~O
and CO^2^ in Martian soil, quantifying subsurface, surface, and
atmospheric water, the abundance of volatile-bearing minerals, and
identifying climate records.

The laser spectrometer development is useful for three Mars
applications: (1) high-impact surface sampling probes; (2) balloon,
lander or rover surface stations; and (3) sub-surface exploration such
as cryobots or deep-drilling probes. Because tunable laser spectrometers
are so readily light-weighted (200 g), with high sensitivity, fast
response, low power, and minimum interference, they are accepted as the
standard for water and carbon dioxide measurements on Mars.

Mars Oxidant and Radical Detector (MORD)

We are developing a miniature Electron Paramagnetic Resonance (EPR)
spectrometer for the detection of oxidants and other radicals present in
Martian soils. This Mars Oxidant and Radical Detector (MORD) will
provide answers to fundamental questions established by the Viking
Landers.

In 1976, the Viking instruments discovered the presence of reactive
compounds in the soil that actively decompose organic molecules. The
likely candidates for this Martian oxidant are paramagnetic in nature
and can be readily detected in native form by EPR.

EPR is a direct spectroscopic technique that does not depend on
reactions with soil, and is capable of characterizing the electronic
state and molecular structure of the oxidant with specificity and high
sensitivity. We have demonstrated breadboard magnetic resonance
spectrometers, and are now producing a 1.5 kg, 5 W, 1000 cc instrument
ready for future Mars landers.

Deployable Integrated Instrument Packages for the Mars Exploration
Program

The Mars Science Laboratory (MSL) Science Definition Team has identified
subsurface sounding for water and electro-meteorology as high-ranking
science objectives for the upcoming MSL mission. However, the SDT also
concluded that these instruments may best be applied as deployables
placed some distance from the contaminating lander or rover systems. We
thus are developing small, integrated instrument platforms designed to
be deployed from either landers or rovers to accomplish focused science
objectives on MSL and other future landed Mars missions.

The development of these deployable, integrated instrument packages will
enable subsurface electromagnetic sounders to operate free of electrical
interference, and meteorology sensors to measure wind, temperature, and
the properties of the saltation layer outside of the structural or
thermal effects of a lander or rover. Investigations requiring a network
of observations, such as seismometer or magnetometer arrays, will also
benefit from these small platforms.

A rover mission would deploy a free-standing instrument package,
containing its own power, telemetry, and data processing systems for
autonomous operation independent of the rover activities. For a lander
mission, a tethered instrument package dynamically deployed would result
in a smaller and lighter form factor, with power and data processing
provided by the lander through the umbilical. The development of the
subsystems and small integrated sensor suites for these packages for the
most part utilizes existing technology, resulting in simple,
non-invasive implementations.

Characterization of Mars Atmospheric Dust

Dust suspended in the atmosphere plays a key role in the albedo,
climate, meteorology, and erosional properties of Mars. We are
developing a lightweight instrument to measure the rate of deposition of
dust particles and the characteristics of the deposited dust. It
performs microscopic imagery of dust, and spectroscopy of both
atmospheric and settled dust in the visible/near-IR spectrum. We are
basing it on the microscope and spectrometers developed for flight on
the DART experiment package.

This instrument is intended for Mars Surveyor Lander [(change to Mars
Science Laboratory?)]{.mark} missions and micromissions. It could also
be applicable to missions to other planetary surfaces where a
measurement of dust or a lightweight microscope or V-IR spectrometer is
desired.

Since future Mars landers will be targeted at ever more challenging
missions, the weight margins will be increasingly severe. Therefore, we
are working to reduce the size and weight of the instrument as much as
possible, yet still maintain all of the important science of the DART
and MATE instruments. By focusing on a smaller, more compact instrument,
we are making a sensor that can be flown on all future Mars missions,
including rovers, to give us a global picture of dust deposition at a
wide variety of landing sites.

**[Program Development]{.underline}**

Mars Technology Program Management/Studies

The Mars Technology Program defines technology needs for future Mars
missions. Before technologies are funded, studies are conducted to
understand the state-of-the-art and technology gaps.

Planning Study for University Distribution of NASA Robotics Research
Software

This task is to determine how best to distribute a package of Mars
Technology Program research software products to the robotics community
at universities. The ultimate goal is to provide a common set of
reusable software tools for robotic system development, similar to what
is used for NASA internal robotics technology development, to facilitate
NASA's ability to harvest robotics software technology developed at
universities and contribute to NASA's educational outreach goals and
objectives.

Target software applications include CLARAty, the Web Interface for
Telescience (WITS), and the Rover Analysis, Modeling and Simulation
(ROAMS) package. The mechanism used by NASA's Johnson Space Center to
distribute its Integrated Graphics, Operations, and Analysis Laboratory
(IGOAL) software is a successful outreach paradigm, and we are using it
as an initial foundation for the MTP software package.

We are also identifying candidates for robotic hardware/platforms that
may enable distribution of MTP software in a comprehensive robotics
research kit in the future.

Micro Sun Sensor

Sun sensors are widely used in spacecraft attitude determination
subsystems to provide measurements of the sun vector in spacecraft
coordinates. But conventional sun sensors are too large for future
micro/nano spacecraft and rovers.

We are using Micro Electro Mechanical Systems (MEMS) processes to
develop a small (25x25x4 mm), low-mass (\<8 grams) and low-power (\<25
mW) sun sensor with larger than 128° field of view and better than 0.02°
accuracy.

It is essentially a pinhole camera with an f-stop of about 30, and
multiple pinholes. It consists of two components: a MEMS-based mask and
a "camera on a chip" APS image detector. The sun angles in two
orthogonal axes can be derived by determining the location of the sun
images on the focal plane.

[Questions:]{.mark}

1)  [Does F/# mean f-stop?]{.mark}

2)  [What does APS stand for?]{.mark}

[]{.mark}