71 research outputs found

    Mars delivery service - development of the electro-mechanical systems of the Sample Fetch Rover for the Mars Sample Return Campaign

    Get PDF
    This thesis describes the development of the Sample Fetch Rover (SFR), studied for Mars Sample Return (MSR), an international campaign carried out in cooperation between the National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA). The focus of this document is the design of the electro-mechanical systems of the rover. After placing this work into the general context of robotic planetary exploration and summarising the state of the art for what concerns Mars rovers, the architecture of the Mars Sample Return Campaign is presented. A complete overview of the current SFR architecture is provided, touching upon all the main subsystems of the spacecraft. For each area, it is discussed what are the design drivers, the chosen solutions and whether they use heritage technology (in particular from the ExoMars Rover) or new developments. This research focuses on two topics of particular interest, due to their relevance for the mission and the novelty of their design: locomotion and sample acquisition, which are discussed in depth. The early SFR locomotion concepts are summarised, covering the initial trade-offs and discarded designs for higher traverse performance. Once a consolidated architecture was reached, the locomotion subsystem was developed further, defining the details of the suspension, actuators, deployment mechanisms and wheels. This technology is presented here in detail, including some key analysis and test results that support the design and demonstrate how it responds to the mission requirements. Another major electro-mechanical system developed as part of this work is the one dedicated to sample tube acquisition. The concept of operations of this machinery was defined to be robust against the unknown conditions that characterise the mission. The design process led to a highly automated robotic system which is described here in its main components: vision system, robotic arm and tube storage

    3rd International Workshop on Instrumentation for Planetary Missions : October 24–27, 2016, Pasadena, California

    Get PDF
    The purpose of this workshop is to provide a forum for collaboration, exchange of ideas and information, and discussions in the area of the instruments, subsystems, and other payload-related technologies needed to address planetary science questions. The agenda will compose a broad survey of the current state-of-the-art and emerging capabilities in instrumentation available for future planetary missions.Universities Space Research Association (USRA); Lunar and Planetary Institute (LPI); Jet Propulsion Laboratory (JPL)Conveners: Sabrina Feldman, Jet Propulsion Laboratory, David Beaty, Jet Propulsion Laboratory ; Science Organizing Committee: Carlton Allen, Johnson Space Center (retired) [and 12 others

    Analogue sites for Mars missions : MSL and beyond : March 5-6, 2011, The Woodlands, Texas

    Get PDF
    The goal of the workshop is to develop an inventory of analogue sites that have value to NASA's Mars Science Laboratory (MSL), the Mars 2018 missions, and Mars analogue missions by the Canadian Space Agency and other space agencies. There will be a strong focus on outstanding science questions and Mars habitability.National Aeronautics and Space Administration, Lunar and Planetary Instituteconveners, Mary Voytek ... [and others]PARTIAL CONTENTS: Rover Science Operations: Lessons from Rocky 7 and FIDO Field Experiments and Mars Exploration Rover Flight Operations / R.E. Arvidson--Small, Fresh Craters at the Nevada Test Site / L.E. Kirkland and K.C. Herr--Lava Tubes as Analog Repositories for Life, Geochemistry, and Climate Records on Mars / P. Boston, J.G. Blank, D.E. Northup, and M. Deans

    Adaptive Multi-Functional Space Systems for Micro-Climate Control

    Get PDF
    This report summarizes the work done during the Adaptive Multifunctional Systems for Microclimate Control Study held at the Caltech Keck Institute for Space Studies (KISS) in 2014-2015. Dr. Marco Quadrelli (JPL), Dr. James Lyke (AFRL), and Prof. Sergio Pellegrino (Caltech) led the Study, which included two workshops: the first in May of 2014, and another in February of 2015. The Final Report of the Study presented here describes the potential relevance of adaptive multifunctional systems for microclimate control to the missions outlined in the 2010 NRC Decadal Survey. The objective of the Study was to adapt the most recent advances in multifunctional reconfigurable and adaptive structures to enable a microenvironment control to support space exploration in extreme environments (EE). The technical goal was to identify the most efficient materials, architectures, structures and means of deployment/reconfiguration, system autonomy and energy management solutions needed to optimally project/generate a micro-environment around space assets. For example, compact packed thin-layer reflective structures unfolding to large areas can reflect solar energy, warming and illuminating assets such as exploration rovers on Mars or human habitats on the Moon. This novel solution is called an energy-projecting multifunctional system (EPMFS), which are composed of Multifunctional Systems (MFS) and Energy-Projecting Systems (EPS)

    Marshall Space Flight Center Faculty Fellowship Program

    Get PDF
    The 2017 Marshall Faculty Fellowship Program involved 21 faculty in the laboratories and departments at Marshall Space Flight Center. These faculty engineers and scientists worked with NASA collaborators on NASA projects, bringing new perspectives and solutions to bear. This Technical Memorandum is a compilation of the research reports of the 2017 Marshall Faculty Fellowship program, along with the Program Announcement (Appendix A) and the Program Description (Appendix B). The research affected the following six areas: (1) Materials (2) Propulsion (3) Instrumentation (4) Spacecraft systems (5) Vehicle systems (6) Space science The materials investigations included composite structures, printing electronic circuits, degradation of materials by energetic particles, friction stir welding, Martian and Lunar regolith for in-situ construction, and polymers for additive manufacturing. Propulsion studies were completed on electric sails and low-power arcjets for use with green propellants. Instrumentation research involved heat pipes, neutrino detectors, and remote sensing. Spacecraft systems research was conducted on wireless technologies, layered pressure vessels, and two-phase flow. Vehicle systems studies were performed on life support-biofilm buildup and landing systems. In the space science area, the excitation of electromagnetic ion-cyclotron waves observed by the Magnetospheric Multiscale Mission provided insight regarding the propagation of these waves. Our goal is to continue the Marshall Faculty Fellowship Program funded by Center internal project offices. Faculty Fellows in this 2017 program represented the following minority-serving institutions: Alabama A&M University and Oglala Lakota College

    Deep Space Gateway Concept Science Workshop : February 27–March 1, 2018, Denver, Colorado

    Get PDF
    The purpose of this workshop is to discuss what science could be leveraged from a deep space gateway, as well as first-order determination of what instruments are required to acquire the scientific data.Institutional Support, National Aeronautics and Space Administration, Lunar and Planetary Institute, Universities Space Research Association ; Executive Committee, Ben Bussey, HEOMD Chief Scientist, NASA Headquarters, Jim Garvin, Goddard Space Flight Center Chief Scientist, Michael New, NASA Headquarters, Deputy AA for Research, SMD, Paul Niles, Executive Secretary, NASA Johnson Space Center, Jim Spann, MSFC Chief Scientist, Eileen Stansbery, Johnson Space CenterPARTIAL CONTENTS: Deep Space Gateway as a Deployment Staging Platform and Communication Hub of Lunar Heat Flow Experiment--Lunar Seismology Enabled by a Deep Space Gateway--In-Situ Measurements of Electrostatic Dust Transport on the Lunar Surface--Science Investigations Enabled by Magnetic Field Measurements on the Lunar Surface--Enhancing Return from Lunar Surface Missions via the Deep Space Gateway--Deep Space Gateway Support of Lunar Surface Ops and Tele-Operational Transfer of Surface Assets to the Next Landing Site--Development of a Lunar Surface Architecture Using the Deep Space Gateway--The Deep Space Gateway: The Next Stepping Stone to Mar

    Space Exploration Robotic Systems - Orbital Manipulation Mechanisms

    Get PDF
    In the future, orbital space robots will assist humans in space by constructing and maintaining space modules and structures. Robotic manipulators will play essential roles in orbital operations. This work is devoted to the implemented designs of two different orbital manipulation mechanical grippers developed in collaboration with Thales Alenia Space Italy and NASA Jet Propulsion Laboratory – California Institute of Technology. The consensus to a study phase for an IXV (Intermediate eXperimental Vehicle) successor, a preoperational vehicle called SPACE RIDER (Space Rider Reusable Integrated Demonstrator for European Return), has been recently enlarged, as approved during last EU Ministerial Council. One of the main project task consists in developing SPACE RIDER to conduct on orbit servicing activity with no docking. SPACE RIDER would be provided with a robotic manipulator system (arm and gripper) able to transfer cargos, such as scientific payloads, from low Earth orbiting platforms to SPACE RIDER cargo bay. The platform is a part of a space tug designed to move small satellites and other payloads from Low Earth Orbit (LEO) to Geosynchronous Equatorial Orbit (GEO) and viceversa. The assumed housing cargo bay requirements in terms of volume (<100l) and mass (<50kg) combined with the required overall arm dimensions (4m length), and mass of the cargo (5-30kg) force to developing an innovative robotic manipulator with the task-oriented end effector. It results in a seven degree-of-freedom arm to ensure a high degree of dexterity and a dedicate end-effector designed to grasp the cargo interface. The gripper concept developed consists in a multi-finger hand able to lock both translational and rotational cargo degrees of freedom through an innovative underactuation strategy to limit its mass and volume. A configuration study on the cargo handle interface was performed together with some computer aided design models and multibody analysis of the whole system to prove its feasibility. Finally, the concept of system control architecture, the test report and the gripper structural analysis were defined. In order to be able to accurately analyze a sample of Martian soil and to determine if life was present on the red planet, a lot of mission concepts have been formulating to reach Mars and to bring back a terrain sample. NASA JPL has been studying such mission concepts for many years. This concept is made up of three intermediate mission accomplishments. Mars 2020 is the first mission envisioned to collect the terrain sample and to seal it in sample tubes. These sealed sample tubes could be inserted in a spherical envelope named Orbiting Sample (OS). A Mars Ascent Vehicle (MAV) is the notional rocket designed to bring this sample off Mars, and a Rendezvous Orbiting Capture System (ROCS) is the mission conceived to bring this sample back to Earth through the Earth Entry Vehicle (EEV). MOSTT is the technical work study to create new concepts able to capture and reorient an OS. This maneuver is particularly important because we do not know an OS incoming orientation and we need to be able to capture, to reorient it (2 rotational degrees of freedom), and to retain an OS (3 translational degrees of freedom and 2 rotational ones). Planetary protection requirements generate a need to enclose an OS in two shells and to seal it through a process called Break-The-Chain (BTC). Considering the EEV would return back to Earth, the tubes orientation and position have to be known in detail to prevent any possible damage during the Earth hard landing (acceleration of ∼1300g). Tests and analysis report that in order for the hermetic seals of the sample tubes to survive the impact, they should be located above an OS equator. Due to other system uncertainties an OS presents the potential requirement to be properly reoriented before being inserted inside the EEV. Planetary protection issues and landing safety are critical mission points and provide potential strict requirements to MOSTT system configuration. This task deals with the concept, design, and testbed realization of an innovative electro-mechanical system to reorient an OS consistent with all the necessary potential requirements. One of these electro-mechanical systems consists of a controlled-motorized wiper that explores all an OS surface until it engages with a pin on an OS surface and brings it to the final home location reorienting an OS. This mechanism is expected to be robust to the incoming OS orientation and to reorient it to the desired position using only one degree of freedom rotational actuator

    Planetary Science Vision 2050 Workshop : February 27–28 and March 1, 2017, Washington, DC

    Get PDF
    This workshop is meant to provide NASA’s Planetary Science Division with a very long-range vision of what planetary science may look like in the future.Organizer, Lunar and Planetary Institute ; Conveners, James Green, NASA Planetary Science Division, Doris Daou, NASA Planetary Science Division ; Science Organizing Committee, Stephen Mackwell, Universities Space Research Association [and 14 others]PARTIAL CONTENTS: Exploration Missions to the Kuiper Belt and Oort Cloud--Future Mercury Exploration: Unique Science Opportunities from Our Solar System’s Innermost Planet--A Vision for Ice Giant Exploration--BAOBAB (Big and Outrageously Bold Asteroid Belt) Project--Asteroid Studies: A 35-Year Forecast--Sampling the Solar System: The Next Level of Understanding--A Ground Truth-Based Approach to Future Solar System Origins Research--Isotope Geochemistry for Comparative Planetology of Exoplanets--The Moon as a Laboratory for Biological Contamination Research--“Be Careful What You Wish For:” The Scientific, Practical, and Cultural Implications of Discovering Life in Our Solar System--The Importance of Particle Induced X-Ray Emission (PIXE) Analysis and Imaging to the Search for Life on the Ocean Worlds--Follow the (Outer Solar System) Water: Program Options to Explore Ocean Worlds--Analogies Among Current and Future Life Detection Missions and the Pharmaceutical/ Biomedical Industries--On Neuromorphic Architectures for Efficient, Robust, and Adaptable Autonomy in Life Detection and Other Deep Space Missions

    Space Exploration Robotic Systems ¿ Sample Chain Analysis and Development for Enceladus Surface Acquisition

    Get PDF
    L'abstract è presente nell'allegato / the abstract is in the attachmen

    Design and Experimental Evaluation of a Hybrid Wheeled-Leg Exploration Rover in the Context of Multi-Robot Systems

    Get PDF
    With this dissertation, the electromechanic design, implementation, locomotion control, and experimental evaluation of a novel type of hybrid wheeled-leg exploration rover are presented. The actively articulated suspension system of the rover is the basis for advanced locomotive capabilities of a mobile exploration robot. The developed locomotion control system abstracts the complex kinematics of the suspension system and provides platform control inputs usable by autonomous behaviors or human remote control. Design and control of the suspension system as well as experimentation with the resulting rover are in the focus of this thesis. The rover is part of a heterogeneous modular multi-robot exploration system with an aspired sample return mission to the lunar south pole or currently hard-to-access regions on Mars. The multi-robot system pursues a modular and reconfigurable design methodology. It combines heterogeneous robots with different locomotion capabilities for enhanced overall performance. Consequently, the design of the multi-robot system is presented as the frame of the rover developments. The requirements for the rover design originating from the deployment in a modular multi-robot system are accentuated and summarized in this thesis
    corecore