InSight Mars Lander Robotics Instrument Deployment System

The InSight Mars Lander is equipped with an Instrument Deployment System (IDS) and science payload with accompanying auxiliary peripherals mounted on the Lander. The InSight science payload includes a seismometer (SEIS) and Wind and Thermal Shield (WTS), heat flow probe (Heat Flow and Physical Properties Package, HP³) and a precision tracking system (RISE) to measure the size and state of the core, mantle and crust of Mars. The InSight flight system is a close copy of the Mars Phoenix Lander and comprises a Lander, cruise stage, heatshield and backshell. The IDS comprises an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, motor controller, arm-mounted Instrument Deployment Camera (IDC), lander-mounted Instrument Context Camera (ICC), and control software. IDS is responsible for the first precision robotic instrument placement and release of SEIS and HP³ on a planetary surface that will enable scientists to perform the first comprehensive surface-based geophysical investigation of Mars’ interior structure. This paper describes the design and operations of the Instrument Deployment Systems (IDS), a critical subsystem of the InSight Mars Lander necessary to achieve the primary scientific goals of the mission including robotic arm geology and physical properties (soil mechanics) investigations at the Landing site. In addition, we present test results of flight IDS Verification and Validation activities including thermal characterization and InSight 2017 Assembly, Test, and Launch Operations (ATLO), Deployment Scenario Test at Lockheed Martin, Denver, where all the flight payloads were successfully deployed with a balloon gravity offload fixture to compensate for Mars to Earth gravity.     

A lunar L2-Farside exploration and science mission concept with the Orion Multi-Purpose Crew Vehicle and a teleoperated lander/rover

A novel concept is presented in this paper for a human mission to the lunar L2 (Lagrange) point that would be a proving ground for future exploration missions to deep space while also overseeing scientifically important investigations. In an L2 halo orbit above the lunar farside, the astronauts aboard the Orion Crew Vehicle would travel 15% farther from Earth than did the Apollo astronauts and spend almost three times longer in deep space. Such a mission would serve as a first step beyond low Earth orbit and prove out operational spaceflight capabilities such as life support, communication, high speed re-entry, and radiation protection prior to more difficult human exploration missions. On this proposed mission, the crew would teleoperate landers/rovers on the unexplored lunar farside, which would obtain samples from the geologically interesting farside and deploy a low radio frequency telescope. Sampling the South Pole-Aitken basin, one of the oldest impact basins in the solar system, is a key science objective of the 2011 Planetary Science Decadal Survey. Observations at low radio frequencies to track the effects of the Universe’s first stars/galaxies on the intergalactic medium are a priority of the 2010 Astronomy and Astrophysics Decadal Survey. Such telerobotic oversight would also demonstrate capability for human and robotic cooperation on future, more complex deep space missions such as exploring Mars.     

Modeling the benefits of an artificial gravity countermeasure coupled with exercise and vibration

The current, system-specific countermeasures to space deconditioning have limited success with the musculoskeletal system in long duration missions. Artificial gravity (AG) that is produced by short radius centrifugation has been hypothesized as an effective countermeasure because it reintroduces an acceleration field in space; however, AG alone might not be enough stimuli to preserve the musculoskeletal system. A novel combination of AG coupled with one-legged squats on a vibrating platform may preserve muscle and bone in the lower limbs to a greater extent than the current exercise paradigm. The benefits of the proposed countermeasure have been analyzed through the development of a simulation platform. Ground reaction force data and motion data were collected using a motion capture system while performing one-legged and two-legged squats in 1-G. The motion was modeled in OpenSim, an open-source software, and inverse dynamics were applied in order to determine the muscle and reaction forces of lower limb joints. Vibration stimulus was modeled by adding a 20 Hz sinusoidal force of 0.5 body weight to the force plate data. From the numerical model in a 1-G acceleration field, muscle forces for quadriceps femoris, plantar flexors and glutei increased substantially for one-legged squats with vibration compared to one- or two-legged squats without vibration. Additionally, joint reaction forces for one-legged squats with vibration also increased significantly compared to two-legged squats with or without vibration. Higher muscle forces and joint reaction forces might help to stimulate muscle activation and bone modeling and thus might reduce musculoskeletal deconditioning. These results indicate that the proposed countermeasure might surpass the performance of the current space countermeasures and should be further studied as a method of mitigating musculoskeletal deconditioning.     

Mars Science Laboratory Mission and Science Investigation

Scheduled to land in August of 2012, the Mars Science Laboratory (MSL) Mission was initiated to explore the habitability of Mars. This includes both modern environments as well as ancient environments recorded by the stratigraphic rock record preserved at the Gale crater landing site. The Curiosity rover has a designed lifetime of at least one Mars year (～23?months), and drive capability of at least 20?km. Curiosity’s science payload was specifically assembled to assess habitability and includes a gas chromatograph-mass spectrometer and gas analyzer that will search for organic carbon in rocks, regolith fines, and the atmosphere (SAM instrument); an x-ray diffractometer that will determine mineralogical diversity (CheMin instrument); focusable cameras that can image landscapes and rock/regolith textures in natural color (MAHLI, MARDI, and Mastcam instruments); an alpha-particle x-ray spectrometer for in situ determination of rock and soil chemistry (APXS instrument); a?laser-induced breakdown spectrometer to remotely sense the chemical composition of rocks and minerals (ChemCam instrument); an active neutron spectrometer designed to search for water in rocks/regolith (DAN instrument); a weather station to measure modern-day environmental variables (REMS instrument); and a sensor designed for continuous monitoring of background solar and cosmic radiation (RAD instrument). The various payload elements will work together to detect and study potential sampling targets with remote and in situ measurements; to acquire samples of rock, soil, and atmosphere and analyze them in onboard analytical instruments; and to observe the environment around the rover. The 155-km diameter Gale crater was chosen as Curiosity’s field site based on several attributes: an interior mountain of ancient flat-lying strata extending almost 5?km above the elevation of the landing site; the lower few hundred meters of the mountain show a progression with relative age from clay-bearing to sulfate-bearing strata, separated by an unconformity from overlying likely anhydrous strata; the landing ellipse is characterized by a mixture of alluvial fan and high thermal inertia/high albedo stratified deposits; and a number of stratigraphically/geomorphically distinct fluvial features. Samples of the crater wall and rim rock, and more recent to currently active surface materials also may be studied. Gale has a well-defined regional context and strong evidence for a progression through multiple potentially habitable environments. These environments are represented by a stratigraphic record of extraordinary extent, and insure preservation of a rich record of the environmental history of early Mars. The interior mountain of Gale Crater has been informally designated at Mount Sharp, in honor of the pioneering planetary scientist Robert Sharp. The major subsystems of the MSL Project consist of a single rover (with science payload), a Multi-Mission Radioisotope Thermoelectric Generator, an Earth-Mars cruise stage, an entry, descent, and landing system, a launch vehicle, and the mission operations and ground data systems. The primary communication path for downlink is relay through the Mars Reconnaissance Orbiter. The primary path for uplink to the rover is Direct-from-Earth. The secondary paths for downlink are Direct-to-Earth and relay through the Mars Odyssey orbiter. Curiosity is a scaled version of the 6-wheel drive, 4-wheel steering, rocker bogie system from the Mars Exploration Rovers (MER) Spirit and Opportunity and the Mars Pathfinder Sojourner. Like Spirit and Opportunity, Curiosity offers three primary modes of navigation: blind-drive, visual odometry, and visual odometry with hazard avoidance. Creation of terrain maps based on HiRISE (High Resolution Imaging Science Experiment) and other remote sensing data were used to conduct simulated driving with Curiosity in these various modes, and allowed selection of the Gale crater landing site which requires climbing the base of a mountain to achieve its primary science goals. The Sample Acquisition, Processing, and Handling (SA/SPaH) subsystem is responsible for the acquisition of rock and soil samples from the Martian surface and the processing of these samples into fine particles that are then distributed to the analytical science instruments. The SA/SPaH subsystem is also responsible for the placement of the two contact instruments (APXS, MAHLI) on rock and soil targets. SA/SPaH consists of a robotic arm and turret-mounted devices on the end of the arm, which include a drill, brush, soil scoop, sample processing device, and the mechanical and electrical interfaces to the two contact science instruments. SA/SPaH also includes drill bit boxes, the organic check material, and an observation tray, which are all mounted on the front of the rover, and inlet cover mechanisms that are placed over the SAM and CheMin solid sample inlet tubes on the rover top deck.     

2D and 3D MHD simulations of disk accretion by rotating magnetized stars: Search for variability

We performed 2D and full 3D magnetohydrodynamic simulations of disk accretion to a rotating star with an aligned or misaligned dipole magnetic field. We investigated the rotational equilibrium state and derived from simulations the ratio between two main frequencies: the spin frequency of the star and the orbital frequency at the inner radius of the disk. In 3D simulations we observed different features related to the non-axisymmetry of the magnetospheric flow. These features may be responsible for high-frequency quasi-periodic oscillations (QPOs). Variability at much lower frequencies may be connected with restructuring of the magnetic flux threading the inner regions of the disk. Such variability is specifically strong at the propeller stage of evolution.     

Bound orbits of solar sails and general relativity

We study general relativistic effects on the bound orbits of solar sails. The combined effects of spacetime curvature and solar radiation pressure (SRP) lead to deviations from Kepler’s third law. Such kind of deviations also arise from frame dragging, the gravitational multipole moments of the sun, a net electric charge on the sun, and a positive cosmological constant. The SRP increases these deviations by several orders of magnitude, possibly rendering some of them detectable. We consider how the SRP modifies the perihelion shift of non-circular orbits, as well as the Lense-Thirring effect involving the precession of polar orbits. We investigate how the pitch angle for non-Keplerian orbits changes due to the partial absorption of light, general relativistic effects, and the oblateness of the sun. It is predicted that there is an analog of the Lense-Thirring effect for non-Keplerian orbits, in that the orbital plane precesses around the sun. We also consider the Poynting–Robertson effect and show that this effect can, in principle, be compensated for by an extremely small tilt of the solar sail.     

Missions to the asteroid anteros and the space of true anomalies

Three opportunities for missions to rendezvous ballistically with the Earth-crossing asteroid Anteros are studied to illustrate the requirements for a trip to a near-Earth minor planet. The rationale, sample payload, spacecraft requirements and trajectory characteristics of these opportunities are typical of a rendezvous mission to an accessible near-Earth object. Round trip ballistic trajectories to return small samples of the asteroid with launch dates between 1985 and 2000 are also presented. Contours of minimum total ΔV drawn in the space of launch and arrival true anomalies, given the designation Prime Rib curves, are introduced as a useful tool for mission design.