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By NASA
5 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
This artist’s concept shows how NASA’s Curiosity Mars rover was lowered to the planet’s surface using the sky crane maneuver.NASA / JPL-Caltech The rocket-powered descent stage that lowered NASA’s Curiosity onto the Martian surface is guided over the rover by technicians at the agency’s Kennedy Space Center in September 2011, two months before the mission’s launch. NASA/Kim Shiflett Twelve years ago, NASA landed its six-wheeled science lab using a daring new technology that lowers the rover using a robotic jetpack.
NASA’s Curiosity rover mission is celebrating a dozen years on the Red Planet, where the six-wheeled scientist continues to make big discoveries as it inches up the foothills of a Martian mountain. Just landing successfully on Mars is a feat, but the Curiosity mission went several steps further on Aug. 5, 2012, touching down with a bold new technique: the sky crane maneuver.
A swooping robotic jetpack delivered Curiosity to its landing area and lowered it to the surface with nylon ropes, then cut the ropes and flew off to conduct a controlled crash landing safely out of range of the rover.
Of course, all of this was out of view for Curiosity’s engineering team, which sat in mission control at NASA’s Jet Propulsion Laboratory in Southern California, waiting for seven agonizing minutes before erupting in joy when they got the signal that the rover landed successfully.
Encased in its aeroshell, NASA’s Curiosity rover descended through the Martian atmosphere on a parachute on Aug. 5, 2012. The scene was captured from far above by the High Resolution Imaging Science Experiment (HiRISE) camera aboard NASA’s Mars Reconnaissance Orbiter.NASA/JPL-Caltech/University of Arizona This was one of the first images sent back by NASA’s Curiosity Mars rover after landing on Aug. 5, 2012. It was taken by the one of the hazard-avoidance camera on the rover’s left-rear side.NASA/JPL-Caltech The sky crane maneuver was born of necessity: Curiosity was too big and heavy to land as its predecessors had — encased in airbags that bounced across the Martian surface. The technique also added more precision, leading to a smaller landing ellipse.
During the February 2021 landing of Perseverance, NASA’s newest Mars rover, the sky crane technology was even more precise: The addition of something called terrain relative navigation enabled the SUV-size rover to touch down safely in an ancient lake bed riddled with rocks and craters.
Watch as NASA’s Perseverance rover lands on Mars in 2021 with the same sky crane maneuver Curiosity used in 2012.
Credit: NASA/JPL-Caltech Evolution of a Mars Landing
JPL has been involved in NASA’s Mars landings since 1976, when the lab worked with the agency’s Langley Research Center in Hampton, Virginia, on the two stationary Viking landers, which touched down using expensive, throttled descent engines.
How We Land on Mars For the 1997 landing of the Mars Pathfinder mission, JPL proposed something new: As the lander dangled from a parachute, a cluster of giant airbags would inflate around it. Then three retrorockets halfway between the airbags and the parachute would bring the spacecraft to a halt above the surface, and the airbag-encased spacecraft would drop roughly 66 feet (20 meters) down to Mars, bouncing numerous times — sometimes as high as 50 feet (15 meters) — before coming to rest.
The entry, descent, and landing team for NASA’s Curiosity Mars rover celebrates the spacecraft’s touchdown on Aug. 5, 2012. Al Chen, who was part of the team, is at right.Curiosity Landing Team Celebrates It worked so well that NASA used the same technique to land the Spirit and Opportunity rovers in 2004. But that time, there were only a few locations on Mars where engineers felt confident the spacecraft wouldn’t encounter a landscape feature that could puncture the airbags or send the bundle rolling uncontrollably downhill.
“We barely found three places on Mars that we could safely consider,” said JPL’s Al Chen, who had critical roles on the entry, descent, and landing teams for both Curiosity and Perseverance.
It also became clear that airbags simply weren’t feasible for a rover as big and heavy as Curiosity. If NASA wanted to land bigger spacecraft in more scientifically exciting locations, better technology was needed.
Rover on a Rope
In early 2000, engineers began playing with the concept of a “smart” landing system. New kinds of radars had become available to provide real-time velocity readings — information that could help spacecraft control their descent. A new type of engine could be used to nudge the spacecraft toward specific locations or even provide some lift, directing it away from a hazard. The sky crane maneuver was taking shape.
JPL Fellow Rob Manning worked on the initial concept in February 2000, and he remembers the reception it got when people saw that it put the jetpack above the rover rather than below it.
“People were confused by that,” he said. “They assumed propulsion would always be below you, like you see in old science fiction with a rocket touching down on a planet.”
Manning and colleagues wanted to put as much distance as possible between the ground and those thrusters. Besides stirring up debris, a lander’s thrusters could dig a hole that a rover wouldn’t be able to drive out of. And while past missions had used a lander that housed the rovers and extended a ramp for them to roll down, putting thrusters above the rover meant its wheels could touch down directly on the surface, effectively acting as landing gear and saving the extra weight of bringing along a landing platform.
But engineers were unsure how to suspend a large rover from ropes without it swinging uncontrollably. Looking at how the problem had been solved for huge cargo helicopters on Earth (called sky cranes), they realized Curiosity’s jetpack needed to be able to sense the swinging and control it.
“All of that new technology gives you a fighting chance to get to the right place on the surface,” said Chen.
Best of all, the concept could be repurposed for larger spacecraft — not only on Mars, but elsewhere in the solar system. “In the future, if you wanted a payload delivery service, you could easily use that architecture to lower to the surface of the Moon or elsewhere without ever touching the ground,” said Manning.
More About the Mission
Curiosity was built by NASA’s Jet Propulsion Laboratory, which is managed by Caltech in Pasadena, California. JPL leads the mission on behalf of NASA’s Science Mission Directorate in Washington.
For more about Curiosity, visit:
science.nasa.gov/mission/msl-curiosity
News Media Contacts
Andrew Good
Jet Propulsion Laboratory, Pasadena, Calif.
818-393-2433
andrew.c.good@jpl.nasa.gov
Karen Fox / Alana Johnson
NASA Headquarters, Washington
202-358-1600
karen.c.fox@nasa.gov / alana.r.johnson@nasa.gov
2024-104
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Last Updated Aug 07, 2024 Related Terms
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By NASA
6 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
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In this time-lapse video of a test conducted at JPL in June 2023, an engineering model of the Planetary Instrument for X-ray Lithochemistry (PIXL) instrument aboard NASA’s Perseverance Mars rover places itself against a rock to collect data. NASA/JPL-Caltech Artificial intelligence is helping scientists to identify minerals within rocks studied by the Perseverance rover.
Some scientists dream of exploring planets with “smart” spacecraft that know exactly what data to look for, where to find it, and how to analyze it. Although making that dream a reality will take time, advances made with NASA’s Perseverance Mars rover offer promising steps in that direction.
For almost three years, the rover mission has been testing a form of artificial intelligence that seeks out minerals in the Red Planet’s rocks. This marks the first time AI has been used on Mars to make autonomous decisions based on real-time analysis of rock composition.
PIXL, the white instrument at top left, is one of several science tools located on the end of the robotic arm aboard NASA’s Perseverance rover. The Mars rover’s left navcam took the images that make up this composite on March 2, 2021NASA/JPL-Caltech The software supports PIXL (Planetary Instrument for X-ray Lithochemistry), a spectrometer developed by NASA’s Jet Propulsion Laboratory in Southern California. By mapping the chemical composition of minerals across a rock’s surface, PIXL allows scientists to determine whether the rock formed in conditions that could have been supportive of microbial life in Mars’ ancient past.
Called “adaptive sampling,” the software autonomously positions the instrument close to a rock target, then looks at PIXL’s scans of the target to find minerals worth examining more deeply. It’s all done in real time, without the rover talking to mission controllers back on Earth.
“We use PIXL’s AI to home in on key science,” said the instrument’s principal investigator, Abigail Allwood of JPL. “Without it, you’d see a hint of something interesting in the data and then need to rescan the rock to study it more. This lets PIXL reach a conclusion without humans examining the data.”
This image of a rock target nicknamed “Thunderbolt Peak” was created by NASA’s Perseverance Mars rover using PIXL, which determines the mineral composition of rocks by zapping them with X-rays. Each blue dot in the image represents a spot where an X-ray hit.NASA/JPL-Caltech/DTU/QUT Data from Perseverance’s instruments, including PIXL, helps scientists determine when to drill a core of rock and seal it in a titanium metal tube so that it, along with other high-priority samples, could be brought to Earth for further study as part of NASA’s Mars Sample Return campaign.
Adaptive sampling is not the only application of AI on Mars. About 2,300 miles (3,700 kilometers) from Perseverance is NASA’s Curiosity, which pioneered a form of AI that allows the rover to autonomously zap rocks with a laser based on their shape and color. Studying the gas that burns off after each laser zap reveals a rock’s chemical composition. Perseverance features this same ability, as well as a more advanced form of AI that enables it to navigate without specific direction from Earth. Both rovers still rely on dozens of engineers and scientists to plan each day’s set of hundreds of individual commands, but these digital smarts help both missions get more done in less time.
“The idea behind PIXL’s adaptive sampling is to help scientists find the needle within a haystack of data, freeing up time and energy for them to focus on other things,” said Peter Lawson, who led the implementation of adaptive sampling before retiring from JPL. “Ultimately, it helps us gather the best science more quickly.”
Using AI to Position PIXL
AI assists PIXL in two ways. First, it positions the instrument just right once the instrument is in the vicinity of a rock target. Located at the end of Perseverance’s robotic arm, the spectrometer sits on six tiny robotic legs, called a hexapod. PIXL’s camera repeatedly checks the distance between the instrument and a rock target to aid with positioning.
Temperature swings on Mars are large enough that Perseverance’s arm will expand or contract a microscopic amount, which can throw off PIXL’s aim. The hexapod automatically adjusts the instrument to get it exceptionally close without coming into contact with the rock.
“We have to make adjustments on the scale of micrometers to get the accuracy we need,” Allwood said. “It gets close enough to the rock to raise the hairs on the back of an engineer’s neck.”
Making a Mineral Map
Once PIXL is in position, another AI system gets the chance to shine. PIXL scans a postage-stamp-size area of a rock, firing an X-ray beam thousands of times to create a grid of microscopic dots. Each dot reveals information about the chemical composition of the minerals present.
Minerals are crucial to answering key questions about Mars. Depending on the rock, scientists might be on the hunt for carbonates, which hide clues to how water may have formed the rock, or they may be looking for phosphates, which could have provided nutrients for microbes, if any were present in the Martian past.
There’s no way for scientists to know ahead of time which of the hundreds of X-ray zaps will turn up a particular mineral, but when the instrument finds certain minerals, it can automatically stop to gather more data — an action called a “long dwell.” As the system improves through machine learning, the list of minerals on which PIXL can focus with a long dwell is growing.
“PIXL is kind of a Swiss army knife in that it can be configured depending on what the scientists are looking for at a given time,” said JPL’s David Thompson, who helped develop the software. “Mars is a great place to test out AI since we have regular communications each day, giving us a chance to make tweaks along the way.”
When future missions travel deeper into the solar system, they’ll be out of contact longer than missions currently are on Mars. That’s why there is strong interest in developing more autonomy for missions as they rove and conduct science for the benefit of humanity.
More About the Mission
A key objective for Perseverance’s mission on Mars is astrobiology, including the search for signs of ancient microbial life. The rover will characterize the planet’s geology and past climate, pave the way for human exploration of the Red Planet, and be the first mission to collect and cache Martian rock and regolith (broken rock and dust).
Subsequent NASA missions, in cooperation with ESA (European Space Agency), would send spacecraft to Mars to collect these sealed samples from the surface and return them to Earth for in-depth analysis.
The Mars 2020 Perseverance mission is part of NASA’s Moon to Mars exploration approach, which includes Artemis missions to the Moon that will help prepare for human exploration of the Red Planet.
JPL, which is managed for NASA by Caltech in Pasadena, California, built and manages operations of the Perseverance rover.
For more about Perseverance:
mars.nasa.gov/mars2020/
News Media Contacts
Andrew Good
Jet Propulsion Laboratory, Pasadena, Calif.
818-393-2433
andrew.c.good@jpl.nasa.gov
Karen Fox / Alana Johnson
NASA Headquarters, Washington
202-358-1600 / 202-358-1501
karen.c.fox@nasa.gov / alana.r.johnson@nasa.gov
2024-099
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Last Updated Jul 16, 2024 Related Terms
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By NASA
5 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
A 2019 image of the SHIIVER tank sitting inside the In-Space Propulsion Facility’s vacuum chamber at NASA’s Neil Armstrong Test Facility in Sandusky, Ohio. The tank was part of a Cryogenic Fluid Management project effort to test the tank at extreme temperatures and ensure the new technologies kept the propellants inside cold and in a liquid state.Credit: NASA Establishing sustained operations at the Moon and Mars presents a multitude of opportunities and challenges NASA has yet to encounter. Many of these activities require new technologies and processes to ensure the agency is prepared for its ambitious Artemis missions and those beyond.
One of those challenges is working with cryogenic fluids, meaning fluids existing in a liquid state between minus 238 degrees Fahrenheit and absolute zero (minus 460 F). These fluids – liquid hydrogen (the most difficult to work with), methane, and oxygen – are vital to spacecraft propulsion and life support systems. The fluids may also be produced in the future on the lunar and Martian surfaces via in-situ resource utilization (ISRU).
Human exploration in deep space requires storing large amounts of cryogenic fluids for weeks, months, or longer, as well as transferring between spacecraft or fuel depots in orbit and on the surface. Each aspect is challenging, and, to date, large amounts of cryogenic fluids have only been stored for hours in space. Engineers working in NASA’s Cryogenic Fluid Management (CFM) portfolio – led by Technology Demonstration Missions within the Space Technology Mission Directorate and managed at the agency’s Glenn Research Center in Cleveland and Marshall Space Flight Center in Huntsville, Alabama – are solving those issues ahead of future missions.
“This is a task neither NASA, nor our partners, have ever done before,” said Lauren Ameen, deputy CFM Portfolio manager. “Our future mission concepts rely on massive amounts of cryogenic fluids, and we have to figure out how to efficiently use them over long durations, which requires a series of new technologies far exceeding today’s capabilities.”
Cryogenic Challenges
For a cryogenic fluid to be useable, it must remain in a frigid, liquid state. However, the physics of space travel – moving in and out of sunlight and long stays in low gravity – make keeping those fluids in a liquid state and knowing how much is in the tank complicated.
The heat sources in space – like the Sun and the spacecraft’s exhaust – create a hot environment inside and around storage tanks causing evaporation or “boiloff.” When fluid evaporates, it can no longer efficiently fuel a rocket engine. It also increases the risk of leakage or, even worse, a tank rupture.
Being unsure of how much gas is left in the tank isn’t how our explorers want to fly to Mars. Low gravity is challenging because the fuel wants to float around – also known as “slosh” – which makes accurately gauging the amount of liquid and transferring it very difficult.
“Previous missions using cryogenic propellants were in space for only a few days due to boiloff or venting losses,” Ameen noted. “Those spacecraft used thrust and other maneuvers to apply force to settle propellant tanks and enable fuel transfers. During Artemis, spacecraft will dwell in low gravity for much longer and need to transfer liquid hydrogen in space for the first time, so we must mitigate boiloff and find innovative ways to transfer and measure cryogenic propellants.”
So, What’s NASA Doing?
NASA’s CFM portfolio encompasses 24 development activities and investments to reduce boiloff, improve gauging, and advance fluid transfer techniques for in-space propulsion, landers, and ISRU. There are four near-term efforts taking place on the ground, in near-Earth orbit, and soon on the lunar surface.
Flight Demos
In 2020, NASA awarded four CFM-focused Tipping Point contracts to American industry – Eta Space, Lockheed Martin, SpaceX, and United Launch Alliance – to assist in developing and demonstrating CFM technologies in space. Each company is scheduled to launch its respective demonstration in either 2024 or 2025, performing multiple tests using liquid hydrogen to validate technologies and processes.
Radio Frequency Mass Gauge
To improve gauging, NASA has developed Radio Frequency Mass Gauges (RFMG) to allow for more accurate fluid measurement in low-gravity or low-thrust conditions. Engineers do this by measuring the electromagnetic spectrum, or radio waves, within a spacecraft’s tank throughout the mission, comparing them to fluid simulations to accurately gauge remaining fuel.
The RFMG has been proven in ground tests, sub-orbital parabolic flight, and on the International Space Station, and it will soon be tested on the Moon during an upcoming Commercial Lunar Payload Services flight with Intuitive Machines. Once demonstrated in the lunar environment, NASA will continue to develop and scale the technology to enable improved spacecraft and lander operations.
Cryocoolers
Cryocoolers act like heat exchangers for large propellant tanks to mitigate boiloff when combined with innovative tank insulation systems. With industry partners, like Creare, NASA has begun testing high-capacity cryocooler systems that pump the “working” fluid through a network of tubes installed on the tank to keep it cool. NASA plans to increase tank size and capabilities to meet mission requirements before conducting future flight demonstrations.
CryoFill
NASA is also developing a liquefaction system to turn gaseous oxygen into liquid oxygen on the surface of the Moon or Mars to refuel landers using propellant produced in situ. This approach uses various methods to cool oxygen down to critical temperature (at least minus 297 degrees Fahrenheit), where it condenses, turning from a gas to a liquid. Initial development and testing have proven NASA can do this efficiently, and the team continues to scale the technology to relevant tank sizes and quantities for future operations.
Ultimately, NASA efforts to develop and test CFM systems that are energy-, mass-, and cost-efficient are critical to the success of the agency’s ambitious missions to the Moon, Mars, and beyond.
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