328 The existing system is compatible with either a single 110 VAC grid outlet or a 28 VDC supply (e.g.,  batteries, bench-top DC supply). This approach allows for a convenient power option in a laboratory setting, but would also make powering the ASPS system in the field with two standard car batteries—connected in series—a viable option as well. The WASP primary bus voltage will be +28 VDC, which was selected because it is a spacecraft bus voltage that is commonly available. As such, if 110 VAC option is used, the AC voltage will first be converted to +28 VDC. The end result is a single electronics box with a single three-foot cable bundle leading from the computer, and a single six-foot cable bundle leading to the carousel as shown in the picture in Figure 20.  4.2 Integrated System Calibration  The integration and calibration of the WASP took significant effort throughout the program. By treating each subsystem as an independent component, it made it easier to later integrate each subsystem into the WASP chassis. However, all the components had to work in conjunction, and timing and sequencing was of essence. A transparent cover was designed through this process to observe and help develop the timing and sequencing of events. This tool became indispensible developing the mechanism.  Calibration of the VICI pump and valve simply amounted to programming vendor-furnished calibration constants into the COTS controller/driver boxes’ EEPROM via an RS-232 interface. Due to the nature of these devices, they should never require recalibration. The initial capping and carousel motion control setup calibration, however, was much more complex and required extensive trial and error in order to optimize the performance of each mechanism. Given that the WASP structure and mechanisms have intentionally been designed to be extremely stiff and rugged, it is anticipated that the system will be able to perform hundreds of cycles without requiring recalibration.    5.0 CONCLUSION   Over a three-year period of performance, Ball Aerospace successfully completed the design, fabrication and end-to-end testing of a field-portable Wet-chemistry Automated Sample Processing (WASP) system. Ball has demonstrated that the integrated system is capable of autonomously accepting 100 mg+ of solid fines within a sample cell, combining the fines with 2 mL+ of solvent, heating and containing the mixture at 200 °C for 1 hour+, and finally filtering/aspirating the liquid analyte from the processed cell. The  integrated WASP carousel with 30 sample cell assemblies currently exhibits a total mass less than 15kg and either meets or exceeds all of the performance goals. The WASP field-portable platform was delivered to JPL the week of October 17 th, 2011.  

6.0 REFERENCES   1. J. Lasnik, J. Soto, S. Roark, L. Beegle (2011) “Automated Sample Processing for Future Mars Astrobiology Missions” 42nd Lunar and Planetary Science Conference, abstract 1589.pdf (2011) 2. L. Beegle, J.P. Kirby, A. Fisher, R. Hodyss, A. Saltzman, J. Soto, J. Lasnik, S. Roark, “Sample Handling and Processing on Mars for Future Astrobiology Missions,” IEEEAC Paper # 1602 (2011) 3. K.P. Kirby, S. Halabian, I. Kanik, L. Beegle, S. Roark, J. Lasnik, J. Soto, “Automated Sample Handling and Processing on Mars for Future Astrobiology Missions,” Astrobiology Science Conference, Abstract 5392.pdf (2010)