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This paper describes NASA’s first successful precision robotics instrument placement and release on another astronomical body since Apollo. This operations breakthrough enabled NASA’s InSight lander to detect the first known ‘marsquake’, a faint trembling of Mars’s surface on 6th April 2019, 128 Martian days after landing on Mars on the 26th November 2018. This is the first quake detected on an astronomical body other than Earth or the Moon. This paper describes the operations of the Robotics Instrument Deployment Systems (IDS) that successfully deployed the InSight science payload to the surface of Mars. The payload includes a seismometer (SEIS), Wind and Thermal Shield (WTS) and Heat Flow and Physical Properties Package (HP3), enabling scientists to perform the first comprehensive surface-based geophysical investigation of Mars’ interior structure. In addition, the paper describes the IDS planning and command sequence generation process used for the successful deployment of SEIS, WTS and HP3 on the surface of Mars. The paper concludes with recommendations based on the experience gained from InSight IDS operations. This includes identified technology gaps in the operations of in-situ manipulators for planetary exploration.

The InSight lander’s Heat Flow and Physical Properties Package (HP3) was deployed on Mars in February 2019and began attempting to penetrate to its target depth range of3-5 meters shortly thereafter. However, the mole’s downwardprogress stopped after only 35 cm of penetration. In response,the project convened an Anomaly Response Team (ART) andsince then has been attempting to diagnose the problem andassist the mole using the tools available on Mars. The key assetused in this effort has been the Instrument Deployment System(IDS), which includes two cameras and a robotic InstrumentDeployment Arm (IDA). Since the IDS was originally intendedonly to deploy InSight’s primary instruments to the Martiansurface, new testbed setups, experiments, and operational protocols (e.g., command sequences) were required and had to bedeveloped on a short timeline. The HP3 Mole ART first focusedon gathering all observable data on Mars about the state ofthe mole and Support Structure Assembly (SSA), as well asthe physical properties of the Martian regolith. This includedusing the robotic arm to point the IDC at the SSA duringdiagnostic hammering attempts to observe motion of the SSAand science tether. Images taken during these attempts revealedsome motion of the SSA, but no apparent change in mole depth.At JPL, the IDS and Testbed teams re-created the hardwareconfiguration on Mars based on limited knowledge of the mole’sstate. They devised and tested techniques to use the roboticarm and cameras to accomplish previously untested activitieson Mars, including imaging the HP3, using the IDA to interactwith the terrain, and using the IDA to move the SSA awayfrom the partially-embedded mole. The team executed the morepromising techniques on Mars. After diagnostic hammering onMars, the team decided to move the SSA to gain visibility ofthe mole’s configuration and access to the soil around the mole.After developing the technique and practicing the maneuver inthe InSight testbed, the team lifted the SSA on Mars and placedit behind the mole. This revealed a pit surrounding the nowexposed mole, observations of which provided essential cluesfor determining the root cause of the mole’s lack of progress.The IDS and Testbed teams altered the testbed to match thesituation on Mars. They devised IDA techniques to determinethe Martian soil properties and assist the mole’s descent. Theytested these techniques in the testbed and executed the more978-1-7281-2734-7/20/$31.00 c 2021 IEEE. Copyright 2020 CaliforniaInstitute of Technology. U.S. Government sponsorship acknowledged.promising ones on Mars. These include using the robotic arm toalter the regolith near the mole and to push on the mole while ithammers. This paper discusses the anomaly resolution testing inthe testbed at JPL, describes how the IDS team prepared for theanomaly recovery activities on Mars, and provides preliminaryresults of the efforts to assist the HP3 mole on Mars.

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This paper will discuss the motivation and details of the implementation of the SEIS tether model and the ways in which the SEIS tether impacted placement accuracy in certain configurations. It will also show results from testing this model on Earth and deploying SEIS to the Martian surface on sol 22 of InSight’s mission.

This software evaluates the terrain within reach of a lander s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth. Onboard dig hazard assessment is accomplished by executing a workspace panorama command sequence. This sequence acquires a set of stereo pairs of images of the terrain the arm can reach, generates a set of candidate dig sectors, and assesses the dig hazard of each candidate dig sector. The 3D perimeter points of candidate dig sectors are generated using configurable parameters. A 3D reconstruction of the terrain in front of the lander is generated using a set of stereo images acquired from the mast cameras. The 3D reconstruction is used to evaluate the dig goodness of each candidate dig sector based on a set of eight metrics. The eight metrics are: 1. The maximum change in elevation in each sector, 2. The elevation standard deviation in each sector, 3. The forward tilt of each sector with respect to the payload frame, 4. The side tilt of each sector with respect to the payload frame, 5. The maximum size of missing data regions in each sector, 6. The percentage of a sector that has missing data, 7. The roughness of each sector, and 8. Monochrome intensity standard deviation of each sector. Each of the eight metrics forms a goodness image layer where the goodness value of each sector ranges from 0 to 1. Goodness values of 0 and 1 correspond to high and low risk, respectively. For each dig sector, the eight goodness values are merged by selecting the lowest one. Including the merged goodness image layer, there are nine goodness image layers for each stereo pair of mast images.

The 360 camera head consists of a set of six color cameras arranged in a circular pattern such that their overlapping fields of view give a full 360 view of the immediate surroundings. The cameras are enclosed in a watertight container along with support electronics and a power distribution system. Each camera views the world through a watertight porthole. To prevent overheating or condensation in extreme weather conditions, the watertight container is also equipped with an electrical cooling unit and a pair of internal fans for circulation.

A non-actuated tool has been developed for preparing regolith for in situ measurement by smoothing uneven surfaces and excavating fresher subsurface material for planetary exploration. The STAMP tool contains two tools to prepare regolith for in situ measurement: a tamper to smooth uneven surfaces, and a blade to excavate fresher subsurface material.

Previous robotic sample return missions lacked in situ sample verification/ quantity measurement instruments. Therefore, the outcome of the mission remained unclear until spacecraft return. In situ sample verification systems such as this Distributed Capacitive (DisC) sensor would enable an unmanned spacecraft system to re-attempt the sample acquisition procedures until the capture of desired sample quantity is positively confirmed, thereby maximizing the prospect for scientific reward. The DisC device contains a 10-cm-diameter pressure-sensitive elastic membrane placed at the bottom of a sample canister. The membrane deforms under the weight of accumulating planetary sample. The membrane is positioned in close proximity to an opposing rigid substrate with a narrow gap. The deformation of the membrane makes the gap narrower, resulting in increased capacitance between the two parallel plates (elastic membrane and rigid substrate). C-V conversion circuits on a nearby PCB (printed circuit board) provide capacitance readout via LVDS (low-voltage differential signaling) interface. The capacitance method was chosen over other potential approaches such as the piezoelectric method because of its inherent temperature stability advantage. A reference capacitor and temperature sensor are embedded in the system to compensate for temperature effects. The pressure-sensitive membranes are aluminum 6061, stainless steel (SUS) 403, and metal-coated polyimide plates. The thicknesses of these membranes range from 250 to 500 m. The rigid substrate is made with a 1- to 2-mm-thick wafer of one of the following materials depending on the application requirements glass, silicon, polyimide, PCB substrate. The glass substrate is fabricated by a microelectromechanical systems (MEMS) fabrication approach. Several concentric electrode patterns are printed on the substrate. The initial gap between the two plates, 100 m, is defined by a silicon spacer ring that is anodically bonded to the glass substrate. The fabricated proof-of-concept devices have successfully demonstrated tens to hundreds of picofarads of capacitance change when a simulated sample (100 g to 500 g) is placed on the membrane.

This paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.

Mass balances usually use a strain gauge that requires an impedance measurement and is susceptible to noise and thermal drift. A piezoelectric balance can be used to measure mass directly by monitoring the voltage developed across the piezoelectric balance, which is linear with weight or it can be used in resonance to produce a frequency change proportional to the mass change (see figure). The piezoelectric actuator/balance is swept in frequency through its fundamental resonance. If a small mass is added to the balance, the resonance frequency shifts down in proportion to the mass. By monitoring the frequency shift, the mass can be determined. This design allows for two independent measurements of mass. Additionally, more than one sample can be verified because this invention allows for each sample to be transported away from the measuring device upon completion of the measurement, if required. A piezoelectric actuator, or many piezoelectric actuators, was placed between the collection plate of the sampling system and the support structure. As the sample mass is added to the plate, the piezoelectrics are stressed, causing them to produce a voltage that is proportional to the mass and acceleration. In addition, a change in mass delta m produces a change in the resonance frequency with delta f proportional to delta m. In a microgravity environment, the spacecraft could be accelerated to produce a force on the piezoelectric actuator that would produce a voltage proportional to the mass and acceleration. Alternatively, the acceleration could be used to force the mass on the plate, and the inertial effects of the mass on the plate would produce a shift in the resonance frequency with the change in frequency related to the mass change. Three prototypes of the mass balance mechanism were developed. These macro-mass balances each consist of a solid base and an APA 60 Cedrat flextensional piezoelectric actuator supporting a measuring plate. A similar structure with 3 APA 120 Cedrat flextensional piezoelectric actuators spaced equidistantly at 120 degrees supporting the plate and a softer macro balance with an APA 150 actuator/sensor were developed. These flextensional actuators were chosen because they increase the sensitivity of the actuator to stress, allow the piezoelectric to be pre-stressed, and the piezoelectric element is a stacked multilayer actuator, which has a considerably lower input impedance than a monolithic element that allows for common instruments (e.g., input impedance of 10 megohms) to measure the voltage without rapidly discharging the charge/voltage on the piezoelectric actuator.

In many in-situ instruments information about the mass of the sample could aid in the interpretation of the data and portioning instruments might require an accurate sizing of the sample mass before dispensing the sample. In addition, on potential sample return missions a method to directly assess the captured sample size would be required to determine if the sampler could return or needs to continue attempting to acquire sample. In an effort to meet these requirements piezoelectric balances were developed using flextensional actuators which are capable of monitoring the mass using two methods. A piezoelectric balance could be used to measure mass directly by monitoring the voltage developed across the piezoelectric which is linear with force, or it could be used in resonance to produce a frequency change proportional to the mass change. In this case of the latter, the piezoelectric actuator/balance would be swept in frequency through its fundamental resonance. If a mass is added to the balance the resonance frequency would shift down proportionally to the mass. By monitoring the frequency shift the mass could be determined. This design would allow for two independent measurements of the mass. In microgravity environments spacecraft thrusters could be used to provide acceleration in order to produce the required force for the first technique or to bring the mass into contact with the balance in the second approach. In addition, the measuring actuators, if driven at higher voltages, could be used to fluidize the powder to aid sample movement. In this paper, we outline some of our design considerations and present the results of a few prototype balances that we have developed.

A mission reliability estimation method has been designed to translate mission requirements into choices of robot modules in order to configure a multi-robot team to have high reliability at minimal cost. In order to build cost-effective robot teams for long-term missions, one must be able to compare alternative design paradigms in a principled way by comparing the reliability of different robot models and robot team configurations. Core modules have been created including: a probabilistic module with reliability-cost characteristics, a method for combining the characteristics of multiple modules to determine an overall reliability-cost characteristic, and a method for the generation of legitimate module combinations based on mission specifications and the selection of the best of the resulting combinations from a cost-reliability standpoint. The developed methodology can be used to predict the probability of a mission being completed, given information about the components used to build the robots, as well as information about the mission tasks. In the research for this innovation, sample robot missions were examined and compared to the performance of robot teams with different numbers of robots and different numbers of spare components. Data that a mission designer would need was factored in, such as whether it would be better to have a spare robot versus an equivalent number of spare parts, or if mission cost can be reduced while maintaining reliability using spares. This analytical model was applied to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Particularly scrutinized were teams using either redundancy (spare robots) or repairability (spare components). Using conservative estimates of the cost-reliability relationship, results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares. This suggests that the current design paradigm of building a minimal number of highly robust robots may not be the best way to design robots for extended missions.

A computer program converts, into a format suitable for processing on Earth, files of downlinked telemetric data pertaining to the operation of the Instrument Deployment Device (IDD), which is a robot arm on either of the Mars Explorer Rovers (MERs). The raw downlinked data files are in comma-separated- value (CSV) format. The present program converts the files into Rover Kinematics State Markup Language (RKSML), which is an Extensible Markup Language (XML) format that facilitates representation of operations of the IDD and enables analysis of the operations by means of the Rover Sequencing Validation Program (RSVP), which is used to build sequences of commanded operations for the MERs. After conversion by means of the present program, the downlinked data can be processed by RSVP, enabling the MER downlink operations team to play back the actual IDD activity represented by the telemetric data against the planned IDD activity. Thus, the present program enhances the diagnosis of anomalies that manifest themselves as differences between actual and planned IDD activities.

The document discusses a procedure for localizing the Mars rovers in site frame, a locally defined reference frame on the Martian surface. MER onboard position within a site frame is estimated onboard and is based on wheel odometry. Odometry estimation of rover position is only reliable over relatively short distances assuming no wheel slip, sinkage, etc. As the rover traverses, its onboard estimate of position in the current site frame accumulates errors and will need to be corrected on occasions via relocalization on the ground (mission operations). The procedure provides a systematic process for ground operators to localize the rover. The method focuses on analysis of acquired images used to declare a site frame and images acquired post-drive. Target selection is performed using two main steps. In the first step, the user identifies features of interest from the images used to declare the current site. Each of the selected target s position in site frame is recorded. In the second step, post-traverse measurements of the selected features positions are recorded again, this time in rover frame, using images acquired post-traverse. In the third step, we transform the post-traverse target s positions to local level frame. In the fourth step, we compute the delta differences in the pre- and post-traverse target s position. In the fifth step, we analyze the delta differences with techniques that compute their statistics to determine the rover s position in the site frame.

This paper describes the operations of a 5 degree-of-freedom Instrument Deployment Device (IDD), a dexterous robotic manipulator on the Mars Exploration Rovers, Spirit and Opportunity.

This paper will review the utilization of terrain modelling for immersive environments in support of MER.

Spirit is one of two rovers, that landed on Mars in January 2004 as part of NASA's Mars Exploration Rovers mission. Since then, Spirit has traveled over 4 kilometers accross the Martian surface while investigating rocks and soils, digging trenches to examine the subsurface environment, and climbing hills to reach outcrops of bedrock.

In this paper we present the first method for analytically predicting the probability of mission completion for teams of repairable mobile robots.