Technology Development for NASA Mars Missions Samad Hayati Chief Technologist Mars Exploration Directorate Jet Propulsion Laboratory 2nd International Planetary Probe Workshop AUGUST 23 - 26, 2004 NASA Ames Conference Center Moffett Field, California USA https://ntrs.nasa.gov/search.jsp?R=20070014614 2020-07-17T23:05:19+00:00Z
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Tech
nolo
gy D
evel
opm
ent f
or N
ASA
Mar
s M
issi
ons
Sam
ad H
ayat
iC
hief
Tec
hnol
ogis
tM
ars E
xplo
ratio
n D
irec
tora
teJe
t Pro
puls
ion
Labo
rato
ry
2nd
Inte
rnat
iona
l Pla
neta
ry P
robe
Wor
ksho
pAU
GU
ST 2
3 -2
6, 2
004
NAS
A Am
es C
onfe
renc
e C
ente
rM
offe
tt Fi
eld,
Cal
iforn
ia U
SA
https://ntrs.nasa.gov/search.jsp?R=20070014614 2020-07-17T23:05:19+00:00Z
11
Pres
enta
tion
Con
tent
Pres
enta
tion
Con
tent
••M
ars m
issi
on ro
adm
aps
Mar
s mis
sion
road
map
s••
Focu
s and
Bas
e te
chno
logy
pro
gram
sFo
cus a
nd B
ase
tech
nolo
gy p
rogr
ams
••Te
chno
logy
infu
sion
Tech
nolo
gy in
fusi
on••
Feed
forw
ard
to fu
ture
mis
sion
sFe
ed fo
rwar
d to
futu
re m
issi
ons
22
Mar
s Tec
hnol
ogy
Prog
ram
(MTP
) M
ars T
echn
olog
y Pr
ogra
m (M
TP)
••C
ode
S de
term
ined
that
the
Mar
s Exp
lora
tion
Prog
ram
mus
t hav
e C
ode
S de
term
ined
that
the
Mar
s Exp
lora
tion
Prog
ram
mus
t hav
e a
stro
ng te
chno
logy
com
pone
nt to
ena
ble
incr
easi
ngly
mor
e a
stro
ng te
chno
logy
com
pone
nt to
ena
ble
incr
easi
ngly
mor
e ca
pabl
e m
issi
ons a
nd sc
ienc
eca
pabl
e m
issi
ons a
nd sc
ienc
e••
Acco
rdin
gly
the
rest
ruct
ured
pro
gram
con
tain
s an
aver
age
Acco
rdin
gly
the
rest
ruct
ured
pro
gram
con
tain
s an
aver
age
tech
nolo
gy in
vest
men
t of ~
10%
ove
r a d
ecad
ete
chno
logy
inve
stm
ent o
f ~ 1
0% o
ver a
dec
ade
Scie
nce
Goa
lsM
issi
onPa
thw
ays
Tech
nolo
gyPl
ans
33
Mar
s Exp
lora
tion
Path
way
s Mis
sion
sM
ars E
xplo
ratio
n Pa
thw
a ys M
issi
ons
2009
20
09 --
2020
2020
Net
wor
kN
etw
ork
Ast
robi
olog
yA
stro
biol
ogy
Fie
ldF
ield
Labo
rato
ryLa
bora
tory
Ast
robi
olog
y A
stro
biol
ogy
Fie
ld L
abF
ield
Lab
or
or
Dee
p D
rill
Dee
p D
rill
Gro
und
Gro
und --
Bre
akin
gB
reak
ing
MSR
MSR
All
core
mis
sion
s A
ll co
re m
issi
ons
sent
to a
ctiv
e or
se
nt to
act
ive
or
extin
ct
extin
ct
hydr
othe
rmal
hy
drot
herm
al
depo
sits
.de
posi
ts.
Scou
tSc
out
Dee
p D
rill
Dee
p D
rill
Scou
tSc
out
Scou
tSc
out
MSL
MSL toto
Hyd
roth
erm
al
Hyd
roth
erm
al
Dep
osit
Dep
osit
Expl
ore
Expl
ore
Hyd
roth
erm
al
Hyd
roth
erm
al
Hab
itats
Hab
itats
Path
rest
s on
proo
f Pa
th re
sts o
n pr
oof
that
Mar
s was
nev
er
that
Mar
s was
nev
er
wet
.w
et.
Scou
tSc
out
Aer
onom
yA
eron
omy
Gro
und
Gro
und --
Bre
akin
gB
reak
ing
MSR
MSR
Scou
tSc
out
MSL
MSL toto
Low
Lat
.Lo
w L
at.
Expl
ore
Expl
ore
Evol
utio
n of
Ev
olut
ion
of
Mar
sM
ars
Mis
sion
s to
mod
ern
Mis
sion
s to
mod
ern
habi
tat.
Pat
h ha
s ha
bita
t. P
ath
has
high
est r
isk.
high
est r
isk.
Dee
p D
eep
Dri
llD
rill
Scou
tSc
out
MSR
MSR
with
with
Rov
erR
over
Scou
tSc
out
Scou
tSc
out
MSL
MSL
to N
. Pol
eto
N. P
ole
or
or
Act
ive
Ven
tA
ctiv
e V
ent
Sear
ch fo
r Se
arch
for
Pres
ent L
ifePr
esen
t Life
All
core
mis
sion
s to
All
core
mis
sion
s to
mid
mid
-- latit
udes
. la
titud
es.
Mis
sion
in ‘1
8 M
issi
on in
‘18
driv
en b
y M
SL
driv
en b
y M
SL
resu
lts a
nd b
udge
t.re
sults
and
bud
get.
Scou
tSc
out
Scou
tSc
out
Scou
tSc
out
MSL
MSL toto
Low
Lat
.Lo
w L
at.
Sear
ch fo
r Se
arch
for
Evid
ence
of
Evid
ence
of
Past
Life
Past
Life
NO
TES
NO
TES
2020
2020
2018
2018
2016
2016
2013
2013
2011
2011
2009
2009
Path
way
Path
way
tele
com
repl
acem
ent
Tele
com
44
MSL
Foc
used
Tec
hnol
ogy
MRO
Foc
used
Tec
hnol
ogy
Tech
nolo
gy T
estb
ed F
ocus
ed T
echn
olog
y
MSR
Foc
used
Tec
hnol
ogy
Mar
s Tec
hnol
ogy
Prog
ram
Sup
port
s all
NAS
A M
ars M
issi
ons
Base
Tec
hnol
ogy
Mar
s ex
pres
s
66
Mar
s Tec
hnol
ogy
Prog
ram
Ele
men
ts
Mar
s Tec
hnol
ogy
Prog
ram
Ele
men
ts
••F
ocus
ed T
echn
olog
yF
ocus
ed T
echn
olog
y••
Dri
ven
by re
quir
emen
ts o
f mis
sion
s suc
h as
D
rive
n by
requ
irem
ents
of m
issi
ons s
uch
as M
SL a
nd M
SRM
SL a
nd M
SR••
Tech
nolo
gy d
evel
opm
ent i
s str
ongl
y co
uple
d an
d in
tera
ctiv
e w
ith
Tech
nolo
gy d
evel
opm
ent i
s str
ongl
y co
uple
d an
d in
tera
ctiv
e w
ith th
e pr
ojec
t th
e pr
ojec
t ea
rly
in th
e de
sign
pha
seea
rly
in th
e de
sign
pha
se
••Te
chno
logy
mus
t rea
ch
Tech
nolo
gy m
ust r
each
mat
urity
mat
urity
(TRL
6) b
y Pr
ojec
t PD
R(T
RL 6
) by
Proj
ect P
DR
••D
irec
ted
or c
ompe
ted
Dir
ecte
d or
com
pete
d••
Day
Day
-- toto-- d
ay m
anag
emen
t is d
one
by p
roje
cts
day
man
agem
ent i
s don
e by
pro
ject
s
••B
ase
Tech
nolo
gy
Bas
e Te
chno
logy
••
Is e
xplo
rato
ry in
nat
ure
Is e
xplo
rato
ry in
nat
ure
••Pr
ovid
es se
ed c
orn
for f
utur
e m
issi
on te
chno
logi
esPr
ovid
es se
ed c
orn
for f
utur
e m
issi
on te
chno
logi
es••
Incl
udes
pus
h te
chno
logy
dev
elop
men
tIn
clud
es p
ush
tech
nolo
gy d
evel
opm
ent
••En
able
s new
type
s of m
issi
ons
Enab
les n
ew ty
pes o
f mis
sion
s••
100%
com
pete
d vi
a N
ASA
NRA
pro
cess
100%
com
pete
d vi
a N
ASA
NRA
pro
cess
77
MR
O F
ocus
ed T
echn
olog
yM
RO
Foc
used
Tec
hnol
ogy
••El
ectr
a Pa
yloa
d:El
ectr
a Pa
yloa
d:••
Softw
are
reco
nfig
urab
le ra
dio
syst
em fo
r So
ftwar
e re
conf
igur
able
radi
o sy
stem
for
near
near
-- and
far
and
far --
term
Mar
s mis
sion
ste
rm M
ars m
issi
ons
••El
ectr
a w
ill b
e us
ed o
n al
l Mar
s mis
sion
s El
ectr
a w
ill b
e us
ed o
n al
l Mar
s mis
sion
s in
clud
ing
appr
opri
ate
scou
t mis
sion
s.in
clud
ing
appr
opri
ate
scou
t mis
sion
s.••
EM d
eliv
ered
EM d
eliv
ered
••O
ptic
al N
avig
atio
n C
amer
a:O
ptic
al N
avig
atio
n C
amer
a:••
Ligh
twei
ght,
low
pow
er, h
igh
reso
lutio
n Li
ghtw
eigh
t, lo
w p
ower
, hig
h re
solu
tion
navi
gatio
n ca
mer
a fo
r all
futu
re M
ars
navi
gatio
n ca
mer
a fo
r all
futu
re M
ars
mis
sion
sm
issi
ons
••In
stru
men
t dev
elop
men
t and
flig
ht te
st
Inst
rum
ent d
evel
opm
ent a
nd fl
ight
test
va
lidat
ion
is fu
nded
by
MTP
valid
atio
n is
fund
ed b
y M
TP••
Prot
oflig
htPr
otof
light
unit
deliv
ery
9/04
unit
deliv
ery
9/04
Elec
tra
Dat
a Ra
te: 1
-2 M
bps
Mas
s 2.5
kgPo
wer
: 2-5
wat
tsAc
cura
cy: 0
.1 p
ixel
Nav
igat
ion
Erro
r: 0
.5km
1-s
igm
a
88
Mar
s Sci
ence
Lab
orat
ory
Mar
s Sci
ence
Lab
orat
ory
(MSL
, 200
9)(M
SL, 2
009)
99
MSL
Foc
used
Tec
hnol
ogy
MSL
Foc
used
Tec
hnol
ogy
Para
chut
eSu
ppor
tSt
ruct
ure
Back
shell
Heat
shiel
d
Entr
y, D
esce
nt, a
nd L
andi
ng:
•Gui
ded
entr
y •E
ngin
e de
velo
pmen
t •S
oft l
andi
ng (S
kycr
ane)
Surf
ace
Syst
em T
echn
olog
y:
•In
crea
sed
auto
nom
y•
Long
er li
ved
actu
ator
s•
Real
istic
rove
r sim
ulat
ion
Sam
ple
Acqu
isiti
on &
Dis
trib
utio
n :•
Cor
ing/
Abra
ding
•Sa
mpl
e ac
quis
ition
/tran
sfer
•Ro
ck c
rush
ing
•Sa
mpl
e di
stri
butio
n•
Plan
etar
y pr
otec
tion
1010
MSL
Ent
ry, D
esce
nt, a
nd L
andi
ng
MSL
Ent
ry, D
esce
nt, a
nd L
andi
ng
Tech
nolo
gies
Tech
nolo
gies
••Ae
rosh
ell
Aero
shel
l ••
Des
cent
Eng
ine
D
esce
nt E
ngin
e
••ED
L G
uida
nce,
Nav
igat
ion,
and
Con
trol
ED
L G
uida
nce,
Nav
igat
ion,
and
Con
trol
••
EDL
Mod
elin
g an
d Si
mul
atio
n
EDL
Mod
elin
g an
d Si
mul
atio
n
••H
igh
Flow
Reg
ulat
or fo
r Des
cent
Eng
ine
H
igh
Flow
Reg
ulat
or fo
r Des
cent
Eng
ine
••
Subs
onic
Par
achu
te*
Su
bson
ic P
arac
hute
*
••Ph
ased
Arr
ay T
erra
in R
adar
*
Phas
ed A
rray
Ter
rain
Rad
ar*
••
POST
POST
-- bas
ed E
ndba
sed
End --
toto-- E
nd E
DL
Engi
neer
ing
End
EDL
Engi
neer
ing
Sim
ulat
ion
for M
SL
Sim
ulat
ion
for M
SL
••Sa
fe L
andi
ng a
nd D
esce
nt S
tage
Sa
fe L
andi
ng a
nd D
esce
nt S
tage
* N
o lo
nger
in th
e m
issi
on b
asel
ine
1111
Mar
s Tes
tbed
M
ars T
estb
ed -- 11
(201
1)(2
011)
••Te
stbe
ds w
ill b
e us
ed to
dev
elop
and
test
thos
e te
chno
logi
es
Test
beds
will
be
used
to d
evel
op a
nd te
st th
ose
tech
nolo
gies
th
at w
ill e
nabl
e hu
man
mis
sion
s to
Mar
sth
at w
ill e
nabl
e hu
man
mis
sion
s to
Mar
s••
NAS
A is
cur
rent
ly d
evel
opin
g re
quir
emen
ts fo
r the
se m
issi
ons
NAS
A is
cur
rent
ly d
evel
opin
g re
quir
emen
ts fo
r the
se m
issi
ons
••So
me
of th
e ca
ndid
ate
tech
nolo
gies
are
: So
me
of th
e ca
ndid
ate
tech
nolo
gies
are
: ••
Aero
capt
ure
Aero
capt
ure
••pi
npi
n --po
int l
andi
ngpo
int l
andi
ng••
ISRU
ISRU
••In
stru
men
ts to
cha
ract
eriz
e M
artia
n en
viro
nmen
t for
safe
ty fo
r hIn
stru
men
ts to
cha
ract
eriz
e M
artia
n en
viro
nmen
t for
safe
ty fo
r hum
an
uman
m
issi
ons
mis
sion
s••
Subs
urfa
ce a
cces
sSu
bsur
face
acc
ess
••W
ater
ext
ract
ion
Wat
er e
xtra
ctio
n••
Engi
neer
ing
inst
rum
enta
tion
to c
hara
cter
ize
the
atm
osph
ere
Engi
neer
ing
inst
rum
enta
tion
to c
hara
cter
ize
the
atm
osph
ere
••M
ach
3 pa
rach
ute
Mac
h 3
para
chut
e••
Mid
L/D
pro
bes
Mid
L/D
pro
bes
1212
Mar
s Sam
ple
Retu
rnM
ars S
ampl
e Re
turn
(MSR
, 201
3, o
r 201
6)(M
SR, 2
013,
or 2
016)
1313
OS
cap
ture
d by
ER
V, p
lace
d in
EE
V
Mar
s Sam
ple
Ret
urn
Mis
sion
M
ars S
ampl
e R
etur
n M
issi
on
Scen
ario
Scen
ario
Eart
h
Mar
s
Laun
ch: N
ov. 2
013
Del
ta 4
050H
(Max
C3
= 9.
3)(in
jcap
abili
ty =
786
8 kg
)
Orb
iter c
arrie
s
land
er to
Mar
s
Orb
iter r
elea
ses
land
er
to a
im-p
oint
& d
efle
cts
for M
OI a
t –1
hour
.
MO
I, th
en a
erob
rake
for 6
mon
ths,
then
rend
ezvo
us/c
aptu
re O
S
Mar
s ar
rival
: Sep
t 201
4A
fter 4
35 d
ays
at
Mar
s, E
RV
depa
rts fo
r Ea
rth (N
ov.2
015)
OS
ER
V
rele
ases
E
EV a
t -4
hr
(~St
ardu
st)
ERV
defle
cts
away
from
Ear
th
Sam
ple
Ret
urne
d: J
uly
2016
MO
I = M
ars
Orb
it In
serti
on
MAV
= M
ars
Asce
nt V
ehic
le
OS
= O
rbiti
ng S
ampl
e (c
onta
iner
)
ER
V =
Ear
th R
etur
n Ve
hicl
e (s
ame
as O
rbite
r
EEV
= Ea
rth E
ntry
Veh
icle
500k
m
orbi
t
OS
capt
ured
by
ERV,
pl
aced
in E
EV
Afte
r 2 w
eeks
of s
ampl
e co
llect
ion,
MAV
laun
ches
, re
leas
es O
S
Afte
r 435
day
s at
M
ars,
ER
V d
epar
ts fo
r Ea
rth (N
ov.2
015)
1414
MSR
Foc
used
Tec
hnol
ogy
MSR
Foc
used
Tec
hnol
ogy
Forw
ard
and
Back
Pl
anet
ary
Prot
ectio
n
Eart
h En
try
Vehi
cle
Cov
ered
sam
plin
g to
olM
ars A
scen
t Veh
icle
Rend
ezvo
us a
nd C
aptu
reM
ars R
etur
ned
Sam
ple
Han
dlin
g
1515
Exp
lora
tion
Met
rics
Exp
lora
tion
Met
rics
••80
080
0 --10
00 d
ay la
nded
10
00 d
ay la
nded
m
issi
onm
issi
on••
25 k
m li
near
trav
erse
25
km
line
ar tr
aver
se
capa
bilit
y @
0.2
5 km
/sol
ca
pabi
lity
@ 0
.25
km/s
ol
(4 h
ours
)(4
hou
rs)
••Re
peat
able
4 (r
ock
Repe
atab
le 4
(roc
k co
rer)
and
25
(dri
ll) d
ay
core
r) a
nd 2
5 (d
rill)
day
cy
cles
cycl
es••
2.5
m d
rilli
ng d
epth
(32.
5 m
dri
lling
dep
th (3
-- 5 5
hole
s) @
0.3
m/s
olho
les)
@ 0
.3 m
/sol
••10
0 sa
mpl
es fo
r the
10
0 sa
mpl
es fo
r the
or
gani
c or
gani
c an
alys
is/
anal
ysis
/ bio
sign
atur
ebi
osig
natu
rede
tect
ion
suite
(de
tect
ion
suite
( pyr
olys
ispy
roly
sis
and
liqui
d ph
ase
orga
nic
and
liqui
d ph
ase
orga
nic
extr
actio
n sy
stem
s)ex
trac
tion
syst
ems)
Astr
obio
logy
Fie
ld L
abor
ator
y(A
FL, 2
013
or 2
018)
Tech
nolo
gy:
•M
ore
auto
nom
y in
ro
ver t
echn
olog
y•
Mor
e au
tono
my
and
func
tiona
lity
for s
ampl
e pr
epar
atio
n an
d di
stri
butio
n
1616
Base
Tec
hnol
ogy
Base
Tec
hnol
ogy
••Th
ese
are
“pus
h” te
chno
logi
es to
ena
ble
incr
ease
d ca
pabi
lity
in
Thes
e ar
e “p
ush”
tech
nolo
gies
to e
nabl
e in
crea
sed
capa
bilit
y in
futu
re m
issi
ons
futu
re m
issi
ons
••10
0% c
ompe
ted
100%
com
pete
d••
Seve
n ar
eas h
ave
been
iden
tifie
d as
hig
h pr
iori
ty te
chno
logy
are
Seve
n ar
eas h
ave
been
iden
tifie
d as
hig
h pr
iori
ty te
chno
logy
are
as fo
r Mar
s as
for M
ars
mis
sion
sm
issi
ons
•C
urre
ntly
, 87
task
s are
with
in th
e Ba
se P
rogr
am
Rove
r Tec
hnol
ogy
Subs
urfa
ce A
cces
sPl
anet
ary
Prot
ectio
n
Prox
imity
Tel
ecom
/Nav
igat
ion
Low
Cos
t Mis
sion
Tec
hnol
ogie
s
Mar
s Sci
ence
Inst
rum
ents
Adva
nce
EDL
1717
Tech
nolo
gy In
fusi
onTe
chno
logy
Infu
sion
••M
TP’s
MTP
’sef
fect
iven
ess i
s mea
sure
d by
its s
ucce
ss in
tech
nolo
gy
effe
ctiv
enes
s is m
easu
red
by it
s suc
cess
in te
chno
logy
in
fusi
on in
to M
ars m
issi
ons
infu
sion
into
Mar
s mis
sion
s••
Fact
ors e
nabl
ing
tech
nolo
gy in
fusi
on a
re:
Fact
ors e
nabl
ing
tech
nolo
gy in
fusi
on a
re:
••C
aref
ul se
lect
ion
of te
chno
logi
es b
ased
on
futu
re m
issi
on n
eeds
Car
eful
sele
ctio
n of
tech
nolo
gies
bas
ed o
n fu
ture
mis
sion
nee
ds••
Tech
nolo
gy fu
ndin
g co
ntin
gent
upo
n w
ell d
efin
ed a
nd m
easu
red
Tech
nolo
gy fu
ndin
g co
ntin
gent
upo
n w
ell d
efin
ed a
nd m
easu
red
perf
orm
ance
mat
rice
spe
rfor
man
ce m
atri
ces
••Te
chno
logy
inte
grat
ion/
valid
atio
n to
dem
onst
rate
cap
abili
ties
Tech
nolo
gy in
tegr
atio
n/va
lidat
ion
to d
emon
stra
te c
apab
ilitie
s
••Te
n te
chno
logi
es w
ere
succ
essf
ully
infu
sed
into
Mar
s Te
n te
chno
logi
es w
ere
succ
essf
ully
infu
sed
into
Mar
s Ex
plor
atio
n Ro
ver (
MER
) mis
sion
Expl
orat
ion
Rove
r (M
ER) m
issi
on••
MRO
mis
sion
will
fly
two
new
tech
nolo
gies
:M
RO m
issi
on w
ill fl
y tw
o ne
w te
chno
logi
es:
••El
ectr
a U
HF
prox
imity
radi
oEl
ectr
a U
HF
prox
imity
radi
o••
Opt
ical
Nav
igat
ion
Cam
era
(ON
C)
Opt
ical
Nav
igat
ion
Cam
era
(ON
C)
1818
Tech
nolo
gyFu
ndin
g S
ourc
eD
escr
iptio
nP
I/Tec
hnol
ogis
t
1S
tere
o V
isio
nN
AS
A, c
alte
ch D
RD
, A
rmy,
DA
RP
AP
rovi
des
3-D
terr
ain
map
s fo
r rov
ers,
man
ipul
ator
s, a
nd h
uman
ope
rato
rsLa
rry
Mat
thie
sM
ark
Mai
mon
e
2Lo
ng R
ange
Sci
ence
R
over
NA
SA
(Cod
e R
and
MTP
)P
rovi
des
incr
ease
d tra
vers
e ra
nge
of ro
ver o
pera
tions
, im
prov
ed tr
aver
se a
cura
cy, l
ande
rless
and
di
strib
uted
gro
und
oper
atio
ns w
ith a
larg
e re
duct
ion
in m
ass
Sam
ad H
ayat
iR
icha
rd V
olpe
3S
cien
ce A
ctiv
ity P
lann
er
NA
SA
(Cod
e R
and
MTP
)P
rovi
des
dow
nlin
k da
ta v
isua
lizat
ion,
sci
ence
act
ivity
pla
nnin
g, m
ergi
ng o
f sci
ence
pla
ns fr
om
mul
tiple
sci
entis
tsP
aul B
acke
sJe
ff N
orris
4
Viz
- 3D
Ter
rain
V
isua
lizat
ion
NA
SA
(Cod
e R
)E
nabl
es th
e S
cien
ce te
am to
ope
rate
a ro
ver s
imul
atio
n w
ith a
n in
tera
ctiv
e tim
e of
day
sha
dow
si
mul
atio
n, p
rovi
des
mul
tiple
vie
ws
onto
the
visu
aliz
atio
n, d
emon
stra
tes
a pr
oof o
f con
cept
rove
r co
mm
and
spec
ifica
tion
Larr
y E
dwar
ds
5
FID
O: F
ield
Inte
grat
ed
Des
ign
and
Ope
ratio
ns
Rov
er
NA
SA
(MTP
)D
evel
oped
TR
L 4-
6 ro
ver s
yste
m d
esig
ns, a
dvan
cing
NA
SA
cap
abili
ties
for M
ars
expl
orat
ion;
de
mon
stra
ted
this
in fu
ll-sc
ale
terr
estri
al fi
eld
trial
s, In
tegr
ated
/ope
rate
d m
inia
turiz
ed s
cien
ce
payl
oads
of m
issi
on in
tere
st, c
oupl
ing
terr
estri
al fi
eld
trial
s to
flig
ht re
quire
men
ts
Pau
l Sch
enke
rE
ric B
aum
gartn
er
6
Man
ipul
ator
Col
lisio
n P
reve
ntio
n S
oftw
are
NA
SA
(MTP
)C
ompu
tatio
nally
effi
cien
t alg
orith
m fo
r pre
dict
ing
and
prev
entin
g co
llisi
ons
betw
een
man
ipul
ator
an
d ro
ver/t
erra
in.
Eric
Bau
mga
rtner
Chr
is L
eger
7
Des
cent
Imag
e M
otio
n E
stim
atio
n S
yste
m
(DIM
ES
)
NA
SA
(Cod
e R
and
MTP
)S
oftw
are
and
hard
war
e sy
stem
for m
easu
ring
horiz
onta
l vel
ocity
dur
ing
desc
ent,
Alg
orith
m
com
bine
s im
age
feat
ure
corr
elat
ion
with
gyr
osco
pe a
ttitu
de a
nd ra
dar a
ltitu
de m
easu
rem
ents
.A
ndre
w J
ohns
onY
ang
Che
nget
al.
8
Par
alle
l Tel
emet
ry
Pro
cess
or (P
TeP
) N
AS
A (C
ode
R a
nd M
TP)
Dat
a ca
talo
ging
sys
tem
from
PTe
P is
use
d in
the
ME
R m
issi
on to
cat
alog
dat
abas
e fil
es fo
r the
S
cien
ce A
ctiv
ity P
lann
er s
cien
ce o
pera
tions
tool
M
ark
Pow
ell
Pau
l Bac
kes
9V
isua
l Odo
met
ryN
AS
A (M
TP)
Onb
oard
rove
r mot
ion
estim
atio
n by
feat
ure
track
ing
with
ste
reo
imag
ery,
ena
bles
rove
r mot
ion
estim
atio
n w
ith e
rror
< 2
% o
f dis
tanc
e tra
vele
d La
rry
Mat
thie
sY
ang
Che
ng
10
Rov
er L
ocal
izat
ion
and
Map
ping
NA
SA
(MTP
)A
n im
age
netw
ork
is fo
rmed
by
findi
ng c
orre
spon
denc
es w
ithin
and
bet
wee
n st
ereo
imag
e pa
irs,
then
bun
dle
adju
stm
ent (
a ge
omet
rical
opt
imiz
atio
n te
chni
que)
is u
sed
to d
eter
min
e ca
mer
a an
d la
ndm
ark
posi
tions
, res
ultin
g in
loca
lizat
ion
accu
racy
goo
d fo
r tra
vel u
p 1
km
Ron
Li
Cla
rk O
lson
et. a
l.
11
Grid
-bas
ed E
stim
atio
n of
S
urfa
ce T
rave
rsab
ility
A
pplie
d to
Loc
al T
erra
in
(GE
STA
LT)
NA
SA
(Cod
e R
and
MTP
)P
erfo
rms
trave
rsab
ility
ana
lysi
s on
3-D
rang
e da
ta to
pre
dict
veh
icle
saf
ety
at a
ll ne
arby
loca
tions
; ro
bust
to p
artia
l sen
sor d
ata
and
impr
ecis
e po
sitio
n es
timat
ion.
Con
figur
able
for a
void
ing
obst
acle
du
ring
long
trav
erse
or f
or d
rivin
g to
war
d ro
cks
for s
cien
ce a
naly
sis
Mar
k M
aim
one
12C
olla
bora
tive
Info
rmat
ion
Por
tal (
CIP
)N
AS
A (C
ode
R)
An
enha
nced
situ
atio
nal a
war
enes
s to
ol to
pro
vide
mis
sion
man
agem
ent,
scie
ntis
ts a
nd
engi
neer
s w
ith in
sigh
t int
o th
e st
atus
of m
issi
on o
pera
tions
.Jo
an W
alto
nJo
hn S
chre
iner
13
MA
PG
EN
and
Con
stra
int
Edi
tor
NA
SA
(Cod
e R
)P
rovi
des
mix
ed in
itiat
ive
deci
sion
sup
port
syst
em fo
r com
plex
act
ivity
pla
nnin
g w
ith c
onst
rain
ts,
activ
ity p
lan
deve
lopm
ent a
nd w
hat-i
f ana
lysi
s, a
utom
ated
act
ivity
and
reso
urce
con
flict
reso
lutio
n to
impr
ove
reso
urce
man
agem
ent f
or th
e ro
ver,
enab
ling
incr
ease
d sc
ienc
e ac
tiviti
es
Kan
na R
ajan
John
Bre
sina
14M
ER
boar
dN
AS
A (C
ode
R)
Rep
lace
d fli
p ch
art b
ased
man
ual S
ol T
ree
proc
ess
with
com
pute
r too
l, ca
pabi
lity
for r
e-pl
anni
ng,
calc
ulat
ion
of m
issi
on s
ucce
ss c
riter
ia fo
r diff
eren
t pla
nnin
g op
tions
Jay
Trim
ble
15
Sci
ence
Pro
cess
Des
ign
and
Eva
luat
ion
NA
SA
(Cod
e R
)C
reat
ed a
sys
tem
to c
aptu
re a
nd h
ando
ver s
cien
ce in
tent
info
rmat
ion
acro
ss m
ultip
le s
hifts
- pr
evio
us p
roce
ss re
quire
d co
ntin
uous
team
mem
ber p
rese
nce
of s
ame
peop
le in
long
mon
olith
ic
uplin
k sh
ift -
not s
usta
inab
le fr
om a
hum
an fa
ctor
s st
andp
oint
Rox
ana
Wal
esJa
y Tr
imbl
e
16Fa
tigue
Cou
nter
mea
sure
sN
AS
A (C
ode
R)
Pro
cedu
res,
sch
edul
ing
tech
niqu
es a
nd c
ount
erm
easu
res
for O
pera
ting
on “M
ars-
time”
Mel
issa
Mal
lis
17
Sta
tic A
naly
sis
of M
ER
Fl
ight
Sof
twar
eN
AS
A (C
ode
R)
Sta
tic a
naly
sis,
bas
ed o
n ab
stra
ct in
terp
reta
tion,
offe
rs c
ompi
le-ti
me
tech
niqu
es u
sed
to
exha
ustiv
ely
chec
k fo
r run
time
erro
rs (e
.g.,
out-o
f-bo
und
arra
y ac
cess
es) i
n la
rge
softw
are
s yst
ems
(~50
0 K
LOC
).
Gui
llaum
e B
rat
18Li
thiu
m-Io
n B
atte
ries
NA
SA
(Cod
e R
and
MTP
), A
ir Fo
rce
(AFR
L)S
igni
fican
t mas
s an
d vo
lum
e sa
ving
s (3
-4 X
) com
pare
d to
the
SO
A N
i-Cd
and
Ni-H
2 b
atte
ries.
R
icha
rd E
wel
l
Tech
nolo
gies
Infu
sed
to M
ER
1919
•• SAP
is th
e pr
imar
y sc
ienc
e op
erat
ion
tool
for
SAP
is th
e pr
imar
y sc
ienc
e op
erat
ion
tool
for
MER
and
is u
sed
on d
aily
bas
isM
ER a
nd is
use
d on
dai
ly b
asis
••D
evel
oped
as a
gro
und
oper
atio
ns so
ftwar
e,
Dev
elop
ed a
s a g
roun
d op
erat
ions
softw
are,
st
arte
d in
199
5st
arte
d in
199
5••
Prov
ides
dow
nlin
k da
ta v
isua
lizat
ion,
Pr
ovid
es d
ownl
ink
data
vis
ualiz
atio
n,
scie
nce
activ
ity p
lann
ing,
mer
ging
of s
cien
ce
scie
nce
activ
ity p
lann
ing,
mer
ging
of s
cien
ce
plan
s fro
m m
ultip
le sc
ient
ists
plan
s fro
m m
ultip
le sc
ient
ists
••Pu
blic
out
reac
h ve
rsio
n, c
alle
d Pu
blic
out
reac
h ve
rsio
n, c
alle
d M
aest
roM
aest
ro, ,
alon
g w
ith a
ctua
l Spi
rit a
nd O
ppor
tuni
ty
alon
g w
ith a
ctua
l Spi
rit a
nd O
ppor
tuni
ty
data
sets
, is a
vaila
ble
for d
ownl
oad
from
da
ta se
ts, i
s ava
ilabl
e fo
r dow
nloa
d fr
om
MER
mis
sion
mai
n w
eb p
age;
hun
dred
s of
MER
mis
sion
mai
n w
eb p
age;
hun
dred
s of
thou
sand
s of p
ublic
dow
nloa
ds in
firs
t mon
th
thou
sand
s of p
ublic
dow
nloa
ds in
firs
t mon
th
of th
e m
issi
on
of th
e m
issi
on
•• FU
TURE
USE
RS a
nd A
PPLI
CAT
ION
SFU
TURE
USE
RS a
nd A
PPLI
CAT
ION
S••
’07
Phoe
nix
’07
Phoe
nix
––do
wnl
ink
data
vis
ualiz
atio
n do
wnl
ink
data
vis
ualiz
atio
n an
d ro
botic
arm
com
man
d ge
nera
tion
and
robo
tic a
rm c
omm
and
gene
ratio
n ••
’09
Mar
s Sci
ence
Lab
orat
ory
’09
Mar
s Sci
ence
Lab
orat
ory
––do
wnl
ink
dow
nlin
k da
ta v
isua
lizat
ion
and
scie
nce
goal
da
ta v
isua
lizat
ion
and
scie
nce
goal
sp
ecifi
catio
n sp
ecifi
catio
n
•• Win
ner o
f NA
SA’s
W
inne
r of N
ASA
’s
best
softw
are
awar
d be
st so
ftwar
e aw
ard
for F
Y ‘0
4fo
r FY
‘04
Tech
nolo
gy In
fusi
on in
to M
ERTe
chno
logy
Infu
sion
into
MER
Scie
nce
Activ
ity P
lann
er (S
AP)
Scie
nce
Activ
ity P
lann
er (S
AP)
2020
Tech
nolo
gy F
eed
Forw
ard
to M
ars M
issi
ons
Tech
nolo
gy F
eed
Forw
ard
to M
ars M
issi
ons
Entr
y, D
esce
nt, a
nd L
andi
ng E
xam
ple
Entr
y, D
esce
nt, a
nd L
andi
ng E
xam
ple
MRO
(’05
)O
ptic
al N
avig
atio
n C
amer
a is
use
d to
per
form
Opt
ical
N
avig
atio
n-D
emon
stra
tes i
mpr
oved
ent
ry a
ccur
acy
MSL
(’09
)
Gui
ded
Entr
yte
chno
logy
impr
oves
land
ing
accu
racy
by
an o
rder
of m
agni
tude
. Sky
cran
ete
chno
logy
ena
bles
ro
bust
land
ing
of la
rger
pay
load
s tha
n M
ER ro
ver
Test
bed
Mis
sion
(’11
)
Terr
ain
base
d na
viga
tion
and
optim
ized
des
cent
in
conj
unct
ion
with
opt
ical
nav
igat
ion
and
guid
ed e
ntry
de
mon
stra
tes 1
00 m
eter
pin
-poi
nt la
ndin
gca
pabi
lity
MSR
(’13
)
Abov
e te
chno
logi
es p
rovi
de a
bilit
y to
retu
rn sa
mpl
es
from
ver
y sp
ecifi
c re
gion
s of M
ars o
r sam
ples
cac
hed
by M
SL
2121
New
MTP
Web
site
New
MTP
Web
site
(http
://m
arst
ech.
jpl.n
asa.
gov)
(http
://m
arst
ech.
jpl.n
asa.
gov)
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