Sample acquisition, processing and handling systems for future Mars missions

The next generation of Mars exploration robotics will have equipment to acquire subsurface samples, process and refine them, and transfer them to science instruments for observation. In 2003, MD Robotics and NORCAT, under contract with the Canadian Space Agency, designed, developed and tested building block technologies for a sample acquisition, processing and handling system for a future Mars mission. Four key technologies were developed to support this system: drill bit development for varied substrates, sample acquisition mechanisms to acquire cores at depth, material transport technologies to move waste material up the hole, and sample reduction technologies, studying the means to efficiently reduce samples into uniform particle sizes. This paper will discuss the technology development, the driving requirements and the test results.     

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.     

Quality characteristics of the radish grown under reduced atmospheric pressure

This study addresses whether reduced atmospheric pressure (hypobaria) affects the quality traits of radish grown under such environments. Radish (Raphanus sativus L. cv. Cherry Bomb Hybrid II) plants were grown hydroponically in specially designed hypobaric plant growth chambers at three atmospheric pressures; 33, 66, and 96 kPa (control). Oxygen and carbon dioxide partial pressures were maintained constant at 21 and 0.12 kPa, respectively. Plants were harvested at 21 days after planting, with aerial shoots and swollen hypocotyls (edible portion of the radish referred to as the “root” hereafter) separated immediately upon removal from the chambers. Samples were subsequently evaluated for their sensory characteristics (color, taste, overall appearance, and texture), taste-determining factors (glucosinolate and soluble carbohydrate content and myrosinase activity), proximate nutrients (protein, dietary fiber, and carbohydrate) and potential health benefit attributes (antioxidant capacity). In roots of control plants, concentrations of glucosinolate, total soluble sugar, and nitrate, as well as myrosinase activity and total antioxidant capacity (measured as ORAC_FL), were 2.9, 20, 5.1, 9.4, and 1.9 times greater than the amount in leaves, respectively. There was no significant difference in total antioxidant capacity, sensory characteristics, carbohydrate composition, or proximate nutrient content among the three pressure treatments. However, glucosinolate content in the root and nitrate concentration in the leaf declined as the atmospheric pressure decreased, suggesting perturbation to some nitrogen-related metabolism.     

Group force mobility model and its obstacle avoidance capability

Many mobility models attempt to provide realistic simulation to many real world scenarios. However, existing mobility models, such as RPGM [X. Hong, M. Gerla, G. Pei, C. Chiang, A group mobility model for ad hoc wireless networks, in: Proceedings of ACM/IEEE MSWiM’99, Seattle, WA, August 1999, pp. 53–60] and others, fail to address many aspects. These limitations range from mobile node (MN) collision avoidance, obstacle avoidance, and the interaction of MNs within a group. Our research, the group force mobility model (GFMM) [S.A. Williams, D. Huang, A group force mobility model, Appeared at 9th Communications and Networking Simulation Symposium, April 2006], proposes a novel idea which introduces the concept of attraction and repulsion forces to address many of these limitations. Williams and Huang [A group force mobility model, Appeared at 9th Communications and Networking Simulation Symposium, April 2006] described some of the limitations and drawbacks that many models neglect. This model effectively simulates the interaction of MNs within a group, the interaction of groups to one another, the coherency of a group, and the avoidance of collision with groups, nodes, and obstacles. This paper provides an overview of GFMM and particularly illustrates the GFMM's ability to avoid collision with obstacles, which is a vital property to posses in order to provide a realistic simulaition. We compare our model with the commonly used RPGM model and provide statistical assessments based on connectivity metrics such as link changed, link duration, and relative speed. All will be detailed and explained in this paper.     

Inferring Nighttime Ionospheric Parameters with the Far Ultraviolet Imager Onboard the Ionospheric Connection Explorer

The Ionospheric Connection Explorer (ICON) Far Ultraviolet (FUV) imager, ICON FUV, will measure altitude profiles of OI 135.6 nm emissions to infer nighttime ionospheric parameters. Accurate estimation of the ionospheric state requires the development of a comprehensive radiative transfer model from first principles to quantify the effects of physical processes on the production and transport of the 135.6 nm photons in the ionosphere including the mutual neutralization contribution as well as the effect of resonant scattering by atomic oxygen and pure absorption by oxygen molecules. This forward model is then used in conjunction with a constrained optimization algorithm to invert the anticipated ICON FUV line-of-sight integrated measurements. In this paper, we describe the connection between ICON FUV measurements and the nighttime ionosphere, along with the approach to inverting the measured emission profiles to derive the associated O⁺ profiles from 150–450 km in the nighttime ionosphere that directly reflect the electron density in the F-region of the ionosphere.     

Electron Physics of Asymmetric Magnetic Field Reconnection

There have been many significant advances in understanding magnetic field reconnection as a result of improved space measurements and two-dimensional computer simulations. While reviews of recent work have tended to focus on symmetric reconnection on ion and larger spatial scales, the present review will focus on asymmetric reconnection and on electron scale physics involving the reconnection site, parallel electric fields, and electron acceleration.     

The Aster project: Flight to a near-Earth asteroid

The information on the project being developed in Brazil for a flight to binary or triple near-Earth asteroid is presented. The project plans to launch a spacecraft into an orbit around the asteroid and to study the asteroid and its satellite within six months. Main attention is concentrated on the analysis of trajectories of flight to asteroids with both impulsive and low thrust in the period 2013-2020. For comparison, the characteristics of flights to the (45) Eugenia triple asteroid of the Main Belt are also given.     

Long-Term Evolution of the Martian Crust-Mantle System

Lacking plate tectonics and crustal recycling, the long-term evolution of the crust-mantle system of Mars is driven by mantle convection, partial melting, and silicate differentiation. Volcanic landforms such as lava flows, shield volcanoes, volcanic cones, pyroclastic deposits, and dikes are observed on the martian surface, and while activity was widespread during the late Noachian and Hesperian, volcanism became more and more restricted to the Tharsis and Elysium provinces in the Amazonian period. Martian igneous rocks are predominantly basaltic in composition, and remote sensing data, in-situ data, and analysis of the SNC meteorites indicate that magma source regions were located at depths between 80 and 150 km, with degrees of partial melting ranging from 5 to 15 %. Furthermore, magma storage at depth appears to be of limited importance, and secular cooling rates of 30 to 40 K?Gyr^?1 were derived from surface chemistry for the Hesperian and Amazonian periods. These estimates are in general agreement with numerical models of the thermo-chemical evolution of Mars, which predict source region depths of 100 to 200 km, degrees of partial melting between 5 and 20 %, and secular cooling rates of 40 to 50 K?Gyr^?1. In addition, these model predictions largely agree with elastic lithosphere thickness estimates derived from gravity and topography data. Major unknowns related to the evolution of the crust-mantle system are the age of the shergottites, the planet’s initial bulk mantle water content, and its average crustal thickness. Analysis of the SNC meteorites, estimates of the elastic lithosphere thickness, as well as the fact that tidal dissipation takes place in the martian mantle indicate that rheologically significant amounts of water of a few tens of ppm are still present in the interior. However, the exact amount is controversial and estimates range from only a few to more than 200 ppm. Owing to the uncertain formation age of the shergottites it is unclear whether these water contents correspond to the ancient or present mantle. It therefore remains to be investigated whether petrologically significant amounts of water of more than 100 ppm are or have been present in the deep interior. Although models suggest that about 50 % of the incompatible species (H₂O, K, Th, U) have been removed from the mantle, the amount of mantle differentiation remains uncertain because the average crustal thickness is merely constrained to within a factor of two.     

Gas exchange rates of potato stands for bioregenerative life support

Plants can provide a means for removing carbon dioxide (CO₂) while generating oxygen (O₂) and clean water for life support systems in space. To study this, 20 m² stands of potato (Solanum tuberosum L.) plants were grown in a large (113 m³ vol.), atmospherically closed chamber. Photosynthetic uptake of CO₂ by the stands was detected about 10 DAP (days after planting), after which photosynthetic rates rose rapidly as stand ground cover and total light interception increased. Photosynthetic rates peaked ca. 50 DAP near 45 μmol CO₂ m⁻² s⁻¹ under 865 μmol m⁻² s⁻¹ PPF (average photosynthetic photon flux), and near 35 μmol CO₂ m⁻² s⁻¹ under 655 μmol m⁻² s⁻¹ PPF. Short term changes in PPF caused a linear response in stand photosynthetic rates up to 1100 μmol m⁻² s⁻¹ PPF, with a light compensation point of 185 μmol m⁻² s⁻¹ PPF. Comparisons of stand photosynthetic rates at different CO₂ concentrations showed a classic C₃ response, with saturation occurring near 1200 μmol mol⁻¹ CO₂ and compensation near 100 μmol mol⁻¹ CO₂. In one study, the photoperiod was changed from 12 h light/12 h dark to continuous light at 58 DAP. This caused a decrease in net photosynthetic rates within 48 h and eventual damage (scorching) of upper canopy leaves, suggesting the abrupt change stressed the plants and/or caused feedback effects on photosynthesis. Dark period (night) respiration rates increased during early growth as standing biomass increased and peaked near 9 μmol CO₂ m⁻² s⁻¹ ca. 50 DAP, after which rates declined gradually with age. Stand transpiration showed a rapid rise with canopy ground cover and peaked ca. 50 DAP near 8.9 L m⁻² d⁻¹ under 860 μmol m⁻² s⁻¹ PPF and near 6.3 L m⁻² d⁻¹ under 650 μmol m⁻² s⁻¹ PPF. Based on the best photosynthetic rates from these studies, approximately 25 m² of potato plants under continuous cultivation would be required to support the CO₂ removal and O₂ requirements for one person.