15-6-2013Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space Template reference : 100181708K-EN SAMPLE FETCHING ROVER (SFR) FOR MSR Andrea

15-6-2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

Te

mplate

refe

rence

: 1001

817

08K

-EN

SAMPLE FETCHING ROVER (SFR) FOR MSR

Andrea MERLO

[email protected]

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15-6-2013 Sample Fetching RoverAll rights reserved, 2013, Thales Alenia Space

CONTENTS

Agenda

1 - Team Presentation

2 - Systems DesignWhy SFR? What WhenWhereDesign DriversKey FeaturesSFR System OverviewMission TimelineMission FeasibilityCritical Technologies to be developed (MREP/MREP2)

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TEAM PRESENTATION

PrimeRover System

Locomotion and Mechanisms

Rover Autonomy Rover Localization

Planetary Protection

58.4%

25% 8.3% 5% 3.3%

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WHY SFR?

The proposed Mars Sample Return (MSR) mission would be a campaign of three missions:1. a sample caching mission (2018), which would cache rock cores for later pickup2. a MSR Orbiter Mission (2022), which would return the OS to the Earth’s surface

MSR Campaign

3a. a MSR Lander Mission (2024), which would retrieve the sample (through the SFR) and place it in Mars orbit in the form of a container called the OS

3b. the activity also considers an alternative nominal mission scenario where the SFR is landed separately from the MAV platform and by a Mars Precision Lander (MPL)

OR

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Departure from the landing point (Mars Lander or proximities in case of MPL) Cache maximum distance = MSR Lander or MPL landing accuracy (7,5km semi-major axis) Operations:

• The rover will navigate and transverse from its landing site to the location of a sample cache deposited on the Martian surface by a previous rover mission (e.g. Max-C 2018 MSR mission element)• The rover will retrieve and carry the sample cache by using a Cache Acquisition System (CAS)• Return to the MAV and possible manipulation of the collected samples

WHAT (Nominal)

SFR Nominal Mission

MAV

CACHE

7.5Km

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Departure from the landing point (Mars Lander or proximities in case of MPL) Operations:

• Identification of the target location by using the PanCam• Travel to the target location• Target verification and confirmation by using the PanCam• Sample Acquisition by using the Sample Acquisition System (SAS)• Return to the MAV and possible manipulation of the collected samples.

WHAT (Backup)

SFR Backup Mission

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WHEN

MI-GEN-20 The SFR surface mission shall start in 09/2025 (Ls 133)

FP-GEN-30 The rover nominal mission shall be at least 180 sols

SFR operations

Ls133 Landing4/3/20261/9/2025

Ls237 End of Mission

Optical Depth: first five months of the mission OD=1 (i.e. from 1 Sep 2025 (Ls 133) to 2 Feb 2026 (Ls 218)) and OD=1.5 for the remaining 3 months (i.e. from 2 Feb 2026 (Ls 218) to 4 Mar 2026 (Ls 237))

Solar Conjunction: from 23rd Dec 2025 -Ls 193- to 26th January 2026 -Ls 213-, leading to almost 30sols of no communication with Earth

OD=1

COMMS COMMSNO COMMS

OD=1.5

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WHERE

MI-GEN-10 The SFR shall operate at a range of latitude between 5° South and 25° North

5 South

25 North

MARS

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SFR DESIGN DRIVERS

MASS & ENVELOPE

MOBILITY

RELIABILITY

- Target Mass for Rover + Payload (SAS or CAS) + margins is 60Kg (FP-GEN-10)- The maximum volume for the rover shall be less than 1 x 1 x 0.7 m3 (FP-GEN-20)

- Travel a straight line distance of 15 Km (FP-MOB-10) in about 110 sols (180 sols for the entire mission FB-GEN-30) - Absolute localisation required to approach the MAV (and the cache for the Nominal Reference Mission)

Rover design shall provide single-fault failure tolerance (PS-GEN-10) loss of SFR means loss of Mars Sample and return Mission primary objective

SM

AL

LF

AS

TR

EL

IAB

LE

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KEY FEATURES - SMALL

Dimensions

STOWED DEPLOYED

MASS 82.14 Kg (incl. System Margin)

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KEY FEATURES - FAST

SFR Navigation capabilities:- Discontinuities Threshold 0.18 m- Slopes Threshold 20 deg- Continuous Navigation- Closed Loop Navigation Speed 55 m/h- Ground Track Distance 21 Km- Avg. Distance x Sol ~210 m/Sol

Travel Distance & Speed

-50,00

0,00

50,00

100,00

150,00

200,00

250,00

300,00

350,00

400,00

0 20 40 60 80 100 120 140 160 180 200

Sol #

Da

ily G

rou

nd

Tra

ck

Dis

tan

ce

[m

]

1.2m2 SA

1.4m2 SA

1.6m2 SA

1.8m2 SA

2.0m2 SA

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KEY FEATURES - RELIABLE

In case of an anomaly not recoverable automatically or a missed communication (i.e. no communication with the Orbiter in a Communication Timed Window) the rover switches to Safe Mode. This mode has to be supported during the entire mission for 14 sols in every condition (even Local Dust Storm with OD = 2). The rover is ready for a communication with the Orbiter (communication RX chain always ON night and day), waiting instructions from ground.

The rover SW implements Mission Execution Autonomy Level of E3, as defined by ECSS

All critical equipments redundant by design and On-board Fault Management Level of F2 as defined by ECSS

Reliability

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KEY FEATURES - PP

Planetary Protection

SFR is part of a Category V Restricted Return mission (MSR) Restrictions on return of Martian contaminated HW to Earth SFR will not return, but issues must be kept in mind

For forward contamination of Mars, SFR must conform to Category IVb requirements Low bioburden and bioburden density Very highly controlled sample handling equipment

The SFR subsystems which are involved in the acquisition and delivery of samples (or cache of samples) to be used for life detection must be must carry a bioburden of < 30 spores at a density of < 0.03 spores / m2, or meet levels of biological burden driven by the nature and sensitivity of the particular life‐detection experiments

The elements of the SFR not involved in sample / cache acquisition and handling shall carry a biological burden of < 5x104 bacterial spores on exposed external and internal surfaces

AIT of SAS / CAS in a very highly controlled environment

e.g. ISO 3 cabinet Precision cleaning of contact surfaces

Permanent Biobarrier to be removed on Mars C.f. Phoenix Biobarrier.

Control of individual elements and AIT carried out in a bioburden controlled environment (c.f. Exomars)

Each component must be assessed for appropriate bioburden reduction

Dry Heat Microbial Reduction preferred as the only qualified process

Other options possible as only surface bioburden needs be controlled (e.g. H2O2, IPA wiping)

Isolation of volumes by HEPA filters to render them “unaccountable” for bioburden.

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SFR OVERVIEW

Executive SummarySubsystem Selected configuration

Structure Main body 660 (length) x 600 (width) x 300 (height) mm made by parallelepiped-shaped CRFP sandwich

Mechanisms Telescopic Mast + PTU and Spring-actuated Solar Array Hinges

Autonomy Autonomy level E3

GNC Continuous navigation, perception based on Stereo Vision, standard equipment without Sun Sensor nor LocCam (i.e. NavCam exploiting Navigation and Localisation, IMU). Redundancy is foreseen for NavCam and IMU (only accelerometers). Absolute localisation performed by Ground using Bundle Adjustment technique.

Locomotion Locomotion formula 6 x 6 x 4 and Exomars 3 bogies suspension system. 6 x Flexible wheels (188mm Diameter, 66mm Width, 6mmx12places Grousers). Linear Deployment Mechanism

Power Battery: space qualified ABSL 18650NLSolar Array: Area 1.83m2, organised in 3 panels (fixed 0.71m2 + 2 deployable 0.56m2 each) with AZUR 3G30 cells (BoL 29.5% EoL 25.5%)PCDU: based on Maximum Power Point “Tracking (MMPT) with temp measurement SA Regulator and unregulated bus

Telecommunication UHF link implemented with monopole antenna and Redundant UHF Transceiver (heritage from MREP DUX development) – hot during day, cold during night

Data Handling Two PM in cold redundancy. Each PM (LEON3 based) includes FPGAs for GNC image processing algorithms

Thermal Thermal regulation based on an insulated space inside the body, by means of a gas gap, where the internal units (heaters, evaporators, passive LHP) are installed. 3 radiators are placed on the external part of the body - RHU-free

Payload PanCam + Cache Acquisition System (CAS) or Sample Acquisition System (SAS) for back-up mission scenario

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SFR OVERVIEW

Configuration - External

6 x Flexible Wheels

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SFR OVERVIEW

Configuration - Internal

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MISSION FEASIBILITY

SFR feasibility objectives

The objective is to satisfy 3 main requirements to assess Baseline Mission feasibility:

1. Perform the Baseline Reference Mission within 180 sols, travelling 15Km straight line distance (21Km ground track distance)

2. Support the Safe Sol for the entire mission timeline with OD = 2, or until the Baseline Reference Mission is concluded

3. Support the Hibernation Sol for the entire mission timeline (180 sols) with OD = 2

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MISSION FEASIBILITY

Locomotion Sol Power Modelling

X has been computed for all the SA configuration and for the entire mission duration as the minimum value between: the time window during the sol when the power generated is above the power needed for travelling (+20% Margin) and the coldest wheel temperature is above -60oC, thus allowing travelling without discharging the Battery and without the need of Locomotion SS heaters the value computed from the energy budget maximising the X in order to have power consumption = power generated

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MISSION FEASIBILITY

Mission Feasibility Req. 1

Nominal Mission feasibility (both 15Km and 21Km ground track travelling requirement considered) have been assessed

Conclusion 1: The Nominal Reference Mission, with the current SFR Design, can be completed within the Mission Lifetime (180 sols) with a SA area of 1.6m2. However the end of the Mission (sol 149) will be after the Solar Conjunction, introducing problems on Safe Sol sustainability. A SA area of 1.8m2 is thus the preferred option (Mission ends on sol 111).

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MISSION FEASIBILITY

Safe Sol Power Modelling


Conclusion 2: The Safe Sol cannot be sustained for the entire lifetime even with 2.0m2 of Solar Array Area. However the main derived requirement is to sustain the Safe Sol until mission completation, that for SA Area of 1.8m2 is Sol 111. Thus the requirement is met with a SA Area of 1.8m2.

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MISSION FEASIBILITY

Hibernation Sol Power Modelling


Conclusion 3: The Hibernation Sol can be sustained for the entire lifetime with a SA panel area >= 1.8m2 Note: Battery capacity taken in account for the last sols when the energy need is more than energy generated

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MISSION FEASIBILITY

Conclusions

Conclusion 1: The Nominal Reference Mission, with the current SFR Design, can be completed within the Mission Lifetime (180 sols) with a SA area of 1.6m2. However the end of the Mission (sol 149) will be after the Solar Conjunction, introducing problems on Safe Sol sustainability. A SA area of 1.8m2 is thus the preferred option (Mission ends on sol 111).

Conclusion 2: The Safe Sol cannot be sustained for the entire lifetime even with 2.0m2 of Solar Array Area. However the main derived requirement is to sustain the Safe Sol until mission completation, that for SA Area of 1.8m2 is Sol 111. Thus the requirement is met with a SA Area of 1.8m2.

Conclusion 3: The Hibernation Sol can be sustained for the entire lifetime with a SA panel area >= 1.8m2.

The Nominal Reference Mission, with the current SFR Design, can be completed before the Solar Conjunction (sol 111) with a SA area of 1.8m2, while being safe since the Safe Sol can be sustained for all the 111 sols. The SFR will be however able to survive the entire mission lifetime (180 sols) in hibernation mode (with 2 communications per day).

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CRITICAL TECHNOLOGIES

Critical Technologies

In the frame of this contract several technologies have been identified which are needed for the SFR development but which have low Technology Readiness Level. A priority has been assigned to each of the technologies, with the following meaning: •High: TRL 5 shall be reached by 2014/2015. Critical technology to be developed for SFR since they are part of the design

•Medium: TRL 5 should be reached by 2014/2015. This is considered a goal as would increase rover capabilities, but not a critical technology blocking the SFR development (not baselined)

•Low: technologies which should probably bring an increase of rover performances and/or increase of the understanding and confidence on the design and analyses done in this study

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Documents

15-6-2013Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space Template reference : 100181708K-EN SAMPLE FETCHING ROVER (SFR) FOR MSR Andrea