Tech Summaries for MTP Web Site

**[XSS-11]{.underline}**

Laser Mapper

We are developing the technology to demonstrate a laser mapper (LAMP)
sensor system that supports upcoming planetary and small body lander and
sample return missions.

In its terrain mapping application, LAMP is expected to play a critical
role in missions requiring safe landings on Mars, beginning with MSL in
2009 and continuing on to future Mars Sample Return missions. In its
other role, data provided by the LAMP sensor will allow autonomous
rendezvous, docking, and landing maneuvers to be executed precisely and
safely. Such a sensor will be required to rendezvous with an orbiting
sample canister or other targets such as comet nuclei or asteroids.

LAMP uses essentially the same hardware for each role, with
application-specific software developed separately for each mission.

The task includes four complete and functioning units: concept
demonstration, brassboard, engineering development, and flight-qualified
ProtoFlight.

Planetary Protection (MRO)

The search for signs of life on Mars requires preventing contamination
of that planet by microorganisms from Earth. Planetary Protection (PP)
procedures are designed to ensure this.

Aside from avoiding impact with the planet, the only approved method for
meeting PP requirements in the bulk is dry heat microbial reduction,
which can be induced by the high temperatures that a spacecraft can
experience when it plunges through the Martian atmosphere, breaks apart,
and continues falling at high speed. Any surface which is heated to 500°
C or more for 0.5 second or more is considered sterile. We are
conducting a study to determine how small the spacecraft pieces have to
be, and from what altitude they have to fall, before they can be
expected to reach 500° C for the majority of breakup scenarios.

Since dry heat is not compatible with typical modern flight electronics,
we are also working to develop at least one alternative to dry heat for
microbial reduction in the volume of non-metallic spacecraft materials.
Radiation has long been known to kill living organisms, but there are no
specifications for its use for PP microbial reduction. We are employing
a small amount of new specific irradiation tests and the large existing
body of knowledge to draft a PP procedure.

[(Question: Since you are addressing the case of a spacecraft that loses
orbit and crashes into Mars after breaking up in the atmosphere, why are
you concerned about electronics that cannot tolerate dry heat? They're
not going to survive anyway, right? Is the problem that not all
electronic components can be counted on to reach the required high
temperatures for sterilization because they are physically shielded or
encapsulated?)]{.mark}

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

Aeroshell

We are developing aeroshell and EDL scenarios to enable safe
high-altitude precision landing for MSL and other future missions. We
are conducting trades to produce concepts that meet performance goals
while minimizing entry system cost.

The aeroshell system technologies under development in this task include
entry aerodynamics, aeroheating environments, thermal protection
systems, aeroshell structural and thermal design, and conceptualization
and analysis of EDL scenarios.

EDL Modeling and Simulation

"Smart" lander missions such as MSL involve a high level of complexity
in their onboard decision-making capabilities during entry, descent, and
landing (EDL). Issues include high-altitude landing capability,
precision landing to close proximity of a target, hazardous landing
sites with significant slope and rock elements, and possible onboard
systems for hazard sensing and active landing target selection.

Preparing for such a mission requires exploring the interplay of new
types of EDL requirements with a complex set of design trade spaces, and
real-time validation of the flight software against high-fidelity models
of the environment and spacecraft.

We are developing high-fidelity modeling and end-to-end simulation of
EDL to help validate mission concepts, evaluate performance, support
mission and system design trades, evaluate risk, support
algorithm/software design and experimental testing, and develop testbeds
for system integration, verification, and validation.

Our modeling and simulation technology and tools support the entire
project lifecycle, including workstation-based mission/simulation
analysis, non-real-time flight software development and testing, and
real-time EDL testbeds with hardware-in-the-loop capabilities.

Integrated GN&C

Future Mars landers must be able to detect hazards in the landing zone,
select an alternate landing site, and maneuver to a new and safe site.
This requires autonomous trajectory and attitude planning and execution,
with onboard hazard detection sensors in the control loop.

We are developing and testing an active guidance system capable of
landings within about five kilometers, and investigating the use of lift
capability to extend the range of entry, with a goal of achieving global
access.

Terminal descent algorithms under development include onboard
capabilities for terrain map generation, hazard recognition,
terrain-relative navigation, re-designation of safe target during
descent, and powered descent precision landing guided by onboard hazard
avoidance sensors. These technologies will identify the safest reachable
target, and perform precision landing to meters level on the designated
target away from hazardous terrain. The entire system will perform
autonomously during EDL.

[(Question: Second paragraph says "landings within about five km," while
third paragraph says "precision landing to meters level." Is one of
those numbers incorrect, or does the latter number refer to a next-level
goal?)]{.mark}

POST-based MSL End-to-End EDL Engineering Simulation

We are developing an end-to-end simulation of MSL EDL, based on Program
to Optimize Simulated Trajectories (POST) software, to support MSL
systems design, development, testing, and operations. Our objective is
to provide EDL simulation capability to the MSL project that can mature
with the project and provide the data necessary to design and operate an
EDL system for a successful landing.

The MSL simulation strategy includes two end-to-end simulations that
cover all phases of EDL, from cruise stage separation through touchdown:
an engineering and a real-time simulation.

POST software has a long heritage of atmospheric flight simulation, and
remains at the cutting edge of flight simulation technology, with
capabilities such as multiple vehicle tracking, multi-body dynamics, and
Monte Carlo support. The approach for this task is to extend the POST
simulation development to support high-fidelity MSL engineering
analyses, by incorporating vehicle-specific and detailed Mars
environment models.

The simulation is used to establish mission-level feasibility, quantify
design trades, support algorithm development and analyses (e.g. guidance
and control systems), as well as provide success criteria evaluation and
risk assessment of MSL flight systems, using rapid but detailed Monte
Carlo analyses.

**[Flight Software Systems]{.underline}**

Rover Autonomy System Validation

We are outlining a process by which a combination of all three
commonly-used validation methods (formal, informal, and testing) can be
employed in an integrated fashion to enable robust unit/subsystem and
system-wide validation of the MSL Rover's MDS-based software system and
designated autonomy software selected for this mission.

In addition to establishing pre-launch validation processes, we also
recognize a need to ensure that the rover performs correctly while
encountering unanticipated conditions on the Martian surface. We are
establishing a behavioral safety net to guard against in-flight software
anomalies that could jeopardize the health of the vehicle.

Our ultimate objective is to apply our validation approaches and lessons
learned to software supporting the other phases of the MSL mission as
well.

Rover Operations

We are looking into aspects of making the uplink process for the MSL
rover more efficient, and determining whether new technology software
supports a more efficient process.

We are mimicking a ground system as closely as possible, using a
two-pronged approach: first adding detail to the current uplink process,
and then infusing new technology goal-oriented software and prototype
software to support the process.

By determining the feasibility of using goal-commanding software and a
new uplink process, we are working to establish the viability of using a
single shift in operations, while still obtaining significant science
return. We are identifying changes that must be made in the actual MSL
uplink process and in goal-oriented software, and providing a polished
prototype user interface for goals commanding that operations team
members can understand.

Rover Software Integration

MSL is baselining MDS for implementation of its mission software,
including onboard rover flight software. MDS provides a generic software
operating environment for a rover surface system with additional
enhancements and customizations to suit MSL project needs.

From the mission perspective, the MDS architecture provides the basis of
incorporating autonomy capability to allow onboard planning, scheduling,
and reasoning. We are focusing on the completion of framework
capabilities, specifically in the areas of multi-threading, resource
management and fault protection. We are performing metric collection
with performance enhancement (timing, memory, bandwidth) to ensure
operability in a flight-like avionics environment.

In the adaptation area, we are building a capability that includes
goal-based commanding, long-distance traverse, arm control, instrument
placement, target-relative close approach by rover, and port to MSL
mule.

In the ground area, we are developing tools that include a
second-generation data base tool, an elaboration tool for uplink goal
generation, and onboard goal network display from telemetry. We are
establishing an interface to Web Interface for Telescience (WITS) to
take advantage of the graphical user interface for rover operations.

**[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. We are also
integrating and supporting the development of the CLARAty architecture
to infuse MTP-funded technology development.

CLARAty/MDS Technology Infusion Study/Planning Task

The objective of this task is to develop approaches for the technology
infusion of CLARAty into MDS. The technical relationship between CLARAty
and MDS has not been well understood, so it is critical to investigate
how to adapt the CLARAty software components to support the MDS
architecture.

CLARAty provides a common software environment that enables implementing
a comprehensive control architecture for planetary rovers and robotic
systems. CLARAty's primary goal is to integrate disparate robotic
research efforts within the NASA community and various universities
nationwide.

MDS provides a generic framework to support a unified flight, ground,
and test data system architecture. One of its main goals is to enable
efficient designs and implementations of reliable software that can be
reused effectively in various missions, providing improved science
return and more robust operations.

Rover Technology Experimental Validation \-- Long Traverse

We are testing and validating the components and integrated system
concepts for long-range rover traverses, to advance NASA capabilities
for MSL and future sample return missions. These components include
localization algorithms, local/global path planning, local/global
obstacle detection and avoidance, and global path planning, among
others.

We are conducting simulated testing, followed by testing in the field,
comparing the performance of the modules to the MER baseline (GESTALT)
[(What is GESTALT?).]{.mark} After components have been integrated by
the Rover Technology Testbed Task, we test them under the CLARAty
software system.

Carefully testing and validating position estimation/actuation fidelity,
time efficiency, verification strategies, and underlying autonomy
limitations of the existing and developing LRT [(What is LRT?)]{.mark}
technologies \-- in coordination with overall rover local area
navigational autonomy that supports them \-- is key to the ability to go
to specific locations and perform more productive science.

Rover Technology Test & Validation \-- Instrument Placement

We are developing fail-safe, reliable models for MSL rover software
components, to enable one-sol (one Martian day) autonomous target
approach and instrument placement.

We are conducting experiments to determine safe, reliable operational
and environmental constraints for each component, to develop guidelines
on what components and operating models can be used under what
conditions and with what parameter settings.

The task primarily involves evaluation of two main components: visual
tracking for target approach (both 2D and 3D), and manipulation for
instrument placement, which includes workspace kinematic analysis,
degrees of freedom, collision detection, contact sensing and
verification, and path planning with collision avoidance.

Rover Technology Testbeds (incl CLARAty)

We are continuing development of CLARAty, a unified and reusable robotic
autonomy architecture that provides basic functionality and simplifies
the integration of new technologies for future missions. Our objectives
are to: (1) mature the various packages of CLARAty, which capture domain
knowledge in an integrated robotic framework, (2) provide a flexible
framework for easily-integrated technologies within the RMSA program,
[(What is RMSA?)]{.mark} and (3) provide a framework that will allow the
comparison of competing technologies.

CLARAty is designed to have two layers of control, Functional and
Decision, which interact to provide robust and flexible implementation
of intelligent operation. The Functional Layer is an object-oriented
software representation of the robotic system and its basic
capabilities. It provides low- and mid-level autonomy capabilities for
the robot.

The Decision Layer is designed to use the basis set of capabilities from
the Functional Layer, for constraining and enabling solutions to
problems it is given. The Decision Layer can utilize encapsulated
Functional Layer capabilities with relatively high-level commands, or
access lower-level functionality and combine it in ways not provided by
the Functional Layer. This layer is the home for artificial intelligence
software components.

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 the
interaction force between instrument 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 Modeling and Simulation

We are developing technology for modeling and simulation (M&S) of the
surface phase of future Mars lander missions beginning with MSL, to
support the credible use of virtual testbeds in system validation and
verification. Virtual testbeds not only provide cost-effective
closed-loop environments to supplement the testing effort with hardware
and physical testbeds, but also allow exploration of scenarios and
environment regimes not possible using physical testbeds.

As part of the surface flight system development, higher-fidelity
testbeds are needed to support the development and testing of flight
software and hardware developed from the underlying algorithms and
component technologies. These testbeds include flightlike interfaces and
real-time simulations. The M&S models and capabilities we are developing
will support these higher-fidelity simulations. M&S allows the
determination of performance bounds as well as sensitivity information
that is important for trade studies.

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 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 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 the need for 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 MSL and
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 of 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

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.

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.

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 bi-directional,
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.

Thermal Control

We are developing an advanced mechanically-pumped cooling loop for the
MSL Heat Rejection System (HRS). It makes significant advances over the
system used for Mars Pathfinder and MER, primarily in terms of reducing
mass and power requirements, and accommodating the high temperatures
(150-200° C) at which HRS for the radioisotope power system (RPS) is
required to operate. The potential savings in mass ranges from 25% to
35%, and the savings in power can be as high as 50%.

There are two major thermal control challenges for the MSL mission
during its cruise and surface operations. The first is to remove excess
heat from the electronics and the RPS unit during the launch and cruise
phases. The second is to keep the rover WEB (warm electronics box)
electronics temperatures above their allowable low-temperature limit at
night during the surface operation by using waste heat from the RPS.

The key features of our technology are (1) advanced thermal control
systems that are lightweight with low power requirements and robust
design, (2) versatility of application to diverse flight missions, and
(3) overall simplification of the spacecraft system level integration,
testing, and operation. It is applicable to all missions needing thermal
control (e.g. Mars missions, Earth-orbiting missions).

Thermal Cycle Resistant Electronics

The objective of this task is to develop and demonstrate low-cost,
commercially available and space-qualifiable packaging technology that
will enable electronics assemblies to survive 500 cycles at Mars ambient
temperatures of -120° to +20° C (or to approximately +70° C for the
drive electronics integrated within the motor housing).

We are also working to provide guidelines, based on test results, for
selection of electronic parts, commercial CMOS manufacturing lines, and
design rules for operation of electronics in that temperature range. Our
goal is to enable the development of electronics for the MSL rover while
reducing spacecraft volume and mass, increasing integration
efficiencies, providing modularity and flexibility to accommodate
multiple missions, and maintaining a low recurring cost.

Our approach is to distribute power and data buses to remote controller
devices located at the appendages that control local sensors and
actuators. This distributed architecture results in a greatly simplified
interconnect system, as well as simplified integration procedures,
testing, redundancy management and rework.

**[Management]{.underline}**

MSL Focused Technology Management

MSL requires an intense technological innovation capacity, strong enough
to withstand many competing constituencies, issues, and concerns, to
insure that the necessary enabling technologies materialize. The MSL
Focused Technology program has been created to address this requirement.

We bridge the gap between technology development and project
implementation by vertically integrating technology development with the
necessary pre-project work in a project-directed environment.

We are working to mature enabling technologies to TRL 6 for MSL
technology infusion, and to ensure that each technology's performance,
cost, risk, and schedule profile is tracked, managed, and modified
according to MSL and MTP guidelines.

**[Applied Physics Laboratory (APL) Technologies]{.underline}**

Physics of Failure (PoF) Reliability Assessment of Electronics for Mars
Mission

The frigid temperature environment at Mars (-125° C to -25° C) poses
challenges in spacecraft electronics design. For example, eutectic
solder material, die encapsulation materials, and adhesive materials can
experience fatigue fracture at very low temperature. The cyclic nature
of the temperature environment that MSL will experience (500 life
cycles, 1500 qualification cycles) can aggravate the condition.
Potential failures induced by the Martian environment must be assessed
to ensure long-term reliability of the electronics.

To understand the root causes of electronics failure in the severe Mars
temperature environment, a fundamental knowledge of material behavior
and its impact on the electronics is crucial. We are using
physics-of-failure (PoF) reliability assessment to identify possible
failure sites, predict possible failure mechanisms, and assess service
life of the electronics due to each of the failure mechanisms. Multiple
failure mechanisms can occur simultaneously at the same failure site,
but PoF allows identification of the dominant failure mechanism, permits
evaluation of the damage caused by each of the failure mechanisms, and
enables life prediction through principles of damage superposition.

Synthesized Ultra-Stable Oscillator for Mars

(aka Mars ATD Synthesized USO)

We are developing a synthesized ultra-stable oscillator (USO) to provide
a frequency reference for transponders and other onboard users on future
Mars missions. The frequency reference is to be stable enough for
radio-science and navigation applications, but must also be
electronically tunable over a limited band.

Our objective is to reduce spacecraft development time (and therefore
reduce cost) and provide communications channel assignment flexibility.
The reference oscillator is typically a long lead item, and can increase
spacecraft schedule time if its manufacture cannot begin until after the
channel assignment. Our new USO, however, can be manufactured and
delivered to spacecraft integration prior to channel assignment. Final
channel selection is made by electronically tuning the transponder
reference USO.

Aeroshell TRIO Assembly Slice

The risk associated with Thermal Protection System design requires
costly margins (300%+ for aft-body aeroshells). The solution is to
integrate sensors into aeroshells to collect the data needed to validate
design models.

Our objective is to develop support electronics for the microSensor and
Instrumentation Technology for AeroCapture (SITAC) program. The
electronics must be capable of reading out approximately 64 temperature
sensors multiple times per second (approximately 10 Hz) for a period of
time compatible with atmospheric entry (approximately 165 seconds), and
storing the digitized data in an internal memory. The data would then be
presented to a spacecraft/host interface at a later time for readout.
The "black box" is being brought to at least TRL level 6 maturity during
this effort.

Miniaturized Low Load DC/DC Converter

We are using several well-understood technologies that have not
previously been combined to develop a radiation-tolerant miniaturized
DC/DC converter, optimized for low to medium power (\< 5W to 30W) space
applications. We are also developing a radiation-tolerant converter
control integrated circuit that consumes less than 100mW, so modest
loads can be powered from the main power bus without excessive loss.

The converter includes input filter, inrush current limiting, and
under-voltage lockout. It will enable distributed subsystems such as
spacecraft instruments and Rover data acquisition circuits to reduce
overall power consumption, and potentially will improve fault tolerance
by encouraging system designs with finer control of primary and
secondary resources. Subsystems using primary power are easier to
develop, test, and integrate since interactions with the rest of the
spacecraft through a common power supply are minimized.

Existing radiation-tolerant DC/DC converter chips consume a substantial
fraction of a watt and hence are very inefficient for small loads.
Commercial parts better suited to low-power applications have very poor
radiation tolerance.

Advanced Transponder MMIC Chip Set Project Description

We are developing an X-to-Ka X4 multiplier Monolithic Microwave
Integrated Circuit (MMIC) for infusion into transponders and
transceivers for future Mars missions.

In addition to the Mars relay communication orbiter, MMICs could also be
used on in situ sub-surface, surface or near-surface missions such as
balloon or glider missions where mass, size, and power consumption are
critical.

The simplified and miniaturized MMIC also lowers mission risk by
providing higher reliability than the current multi-chip module (MCM),
and offers increased assembly, integration and test yield.

Rad-Hard Mixed Signal Microcontroller

We are developing a microcontroller with integrated non-volatile memory,
mixed signal data acquisition circuits, and modest bit rate data network
interface to satisfy a broad range of functional and environmental
requirements derived from Mars Rover and spacecraft instrumentation
applications. It will be radiation tolerant and able to withstand
Martian surface temperature variations. It supports the X2000 protocols
over an I2C bus.

This microcontroller will reduce system mass by replacing complex data
acquisition harnessing with simple network interconnections. Power
consumption is also likely to be reduced since the controller
peripherals use less current than most equivalent radiation-tolerant
components now in common use. The interface between main processor and
data acquisition sensors and actuators occurs over an onboard network,
thus easing system integration, encouraging subsystem reuse, and
supporting more flexible data acquisition subsystem design. Optimization
over temperatures expected on the surface of Mars will enhance its
suitability to Rover applications such as distributed motor control. The
microcontroller will also have diverse instrument mechanism control and
sensing applications.

**[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, and 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.

Combining Feature- and Stereo-Based Visual Target Tracking

We are developing new vision-based techniques for tracking single and
multiple targets from rover platforms, leveraging technologies currently
found in feature-based (2D) and stereo-based (3D) tracking.

Stereo-based shape tracking techniques are robust to noise and lighting
variations, but sensitive to calibration parameters, and they require
intensive computing at high resolutions. 3D is useful for obstacle
mapping and for tracking objects that temporarily go out of sight.

Feature-based tracking techniques are more efficient, can track subtle
2D features, and can execute high-resolution images at higher
frequencies, but they are susceptible to high-frequency noise and they
lack the global three-dimensional representation of the world.

Our approach combines stereo-based techniques at low resolutions with
feature-based techniques at high resolutions, to take advantage of the
strengths of each technology while cross-compensating for their
weaknesses. This results in an approximate three-dimensional global map,
but with precise location of objects of interest. Tracking these objects
precisely will aid rover navigation as well as precise manipulation of
targets.

This task is a collaborative effort between JPL and ARC.

Driving on Slopes

We are conducting the first systematic, integrated study of rover
mechanical performance, sensing, control, and terrain characterization
for navigation on slopes and in the presence of significant wheel
slippage or sinkage. This will enable safe rover navigation on sloping
terrain, and access to key sites of scientific interest on Mars.

Our task is developing (1) algorithms that combine visual odometry with
other sensors in a Kalman filter framework to estimate true rover
velocity on slopes, (2) control algorithms that adjust rover steering to
cancel slip on slopes, (3) remote sensing algorithms that attempt to
predict slippage on the terrain ahead of the rover by learning to relate
multispectral, thermal, or textural properties of the scene with past
slippage and sinkage. The overall objective is to enable autonomous
navigation to goals that are over 100 meters away on sloping terrain.

Essential Autonomous Science Inference on Rovers (EASIR)

Mars missions, leading to and including the 2007 activity, will include
rovers that carry imaging devices to characterize the surface
morphology, and a variety of analytical instruments intended to evaluate
the chemical and mineralogical nature of the environments they
encounter. In addition to issues of response time, the nature of imaging
and spectroscopic devices is such that tremendous data volumes can be
acquired that simply cannot be relayed to Earth. Crucial decisions
regarding data analysis must be made onboard the robotic explorers.
These decisions require automating scientific analysis and discovery by
the rover, based upon data gathered by its sensors.

We are working to provide, improve, and develop software that enables
identification and characterization of science targets autonomously
onboard rovers. Our software searches for regions of scientific interest
and characterizes some of the physical properties associated with them.
Based upon these properties, geologic maps are constructed, leading to
improved characterization of the environment.

These algorithms have immediate application for non-elevation map
feature extraction and symbolic representation. In particular, they can
be used to obtain compositional information for science value
estimation, and to qualify and characterize environmental components.

[(Please note that the TDA refers to "the 2007" Mars mission, seen above
in the first sentence. Is this correct, or should it be the 2009 MSL
mission?)]{.mark}

FIDO 5 Development

The objective of this task is to refurbish the mechanical chassis of the
FIDO 5 test rover, populate the rover with a new low-mass, low-power
distributed avionics architecture (based on the general Mobility
Avionics R&TD electronics architecture), and bring the rover up to full
working status.

This will provide a first proof-of-concept for the development of
low-power, low-volume distributed avionics that are based only on
radiation-hardened FPGAs [(What are FPGAs?)]{.mark} for use as CPUs,
motion controllers, and peripheral I/O devices. Future planetary surface
exploration missions such as MSL are considering distributed electronics
to increase reliability and redundancy in the overall flight system. The
success of this task will lead to further flight acceptance of the
distributed electronics approach.

This task also supports the capture of relevant rover data that will be
utilized by various technology tasks to drive rover simulations. These
rovers include Rocky 7, Rocky 8, and FIDO, and the rover data to be
collected include mass property information, kinematic information,
coordinate system definitions, etc.

[(Please note that one part of the TDA refers to "low-mass, low-power"
while another part refers to "low-power, low-volume." Is it low-mass,
low-volume, or both?)]{.mark}

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 2009, 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 current 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 [(What is ASTEP?)]{.mark}, Mars 2007 [(Should Mars
2007 be deleted?)]{.mark} and Mars 2009 opportunities. []{.mark}

In this process, powdered samples of soil, weathering rinds and
depth-profiled rocks are obtained by 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
capable of drilling 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). It is ultimately
delivered to CHEMIN, a miniaturized, CCD-based X-ray diffraction/X-ray
fluorescence instrument, which 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 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 (\~1 kg), low-power (\< 5W), low-voltage
(14 V) ground-penetrating radar (GPR) that can be deployed on a rover to
characterize local stratigraphy and detection of subsurface water-ice on
Mars. 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, our GPR is a
range-gated step frequency (RGSF) radar that has operational advantages,
particularly for low-power rover-based applications. Under constraints
imposed on miniature instrumentation, RGSF radar can offer higher
sensitivity than impulse radar because of its narrow receiver bandwidth
and higher duty cycle.

It offers 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.

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.

MIDP Flight Advisory Support

We are a group of JPL technical monitors for space-qualifiable
instruments. Working with MIDP PIs, we guide and monitor the development
of breadboard level (TRL 3-4) miniature in situ instruments into
space-qualifiable hardware (TRL 5-6), ready for response to Mars Flight
AO. [(What is AO?)]{.mark}

The MIDP program bridges the gap between instrument R&D programs and
hardware requirements for flight programs. Mars missions will benefit by
the readiness of flight-qualifiable instruments.

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

Development of a miniature, low-power, 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).

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 compared to laboratory particle instruments.

We are working to establish the dynamic range of this instrument with
regard to particle size, charge, and concentration. We are also
investigating its suitability for operation in the low-pressure
atmosphere of Mars, as well as its potential for deployment on aircraft
and balloons. We expect this powerful new tool to lead to a deeper
understanding of atmospheric electrical phenomena on Earth and Mars. At
the end of this 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}

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 2009 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.

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 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
advanced microelectronics 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 [(What is
MEPAG?)]{.mark} 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. 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 European Space Agency's 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 to determine the optimal design
of a neutron detector for a rover platform, and then to integrate 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, and
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 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 [(What is DART?)]{.mark} 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 [(What is MATE?)]{.mark} 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 to 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.

**[Miscellaneous]{.underline}**

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}