Mars Underground Mole: In Situ Infrared Reflectance and Raman Spectroscopy from a Mobile Subsurface

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Mars Underground Mole In Situ Infrared
Reflectance and Raman Spectroscopy from a Mobile
Subsurface Penetrometer

• Carol Stoker, PI

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Mars Underground Mole In Situ Infrared
Reflectance and Raman Spectroscopy from a Mobile
Subsurface Penetrometer
Objectives Develop self contained Mole
system for accessing the subsurface Develop and
integrate onboard optical instrument (Dual
Spectral Sensor) used for determining mineralogy,
stratigraphy, and detecting organics, water, ice,
and hydrated minerals Field test package in
Mars analog environments. Bring MUM system to
TRL6 by 2006
PI Carol Stoker Co-Investigators Mole
Technology L. Richter (DLR, Germany) L.G. Lemke
(NASA Ames Research Center) H. Vu (NASA Ames
Research Center) B. Glass (NASA Ames Research
Center) Combined Raman and SWIR spectrometer W.H.
Smith (Medeco, Inc. Washington U.) P. Hammer
(NASA Ames Research Center) A. Zent (NASA Ames
Research Center) B. Dalton (NASA Ames Research
Center)
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WBS Elements

DSS control computers Software- instrument
controller data processing
Mole Controller
Deploy/Retrieve Module
DSS Instrument
Software
Tether
Mechanical Assembly DSS Optics Sensors Electronics
module
Mole
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MUM MECHANICAL SYSTEMS

• Major Sub-systems and Components
• Hammering Mechanism delivers mechanical energy
  (impact) for forward and reverse propulsion.
• Soil Sampling Mechanism collects and stores
  one sample of the local soil per deployment.
• Payload Bays packages of onboard science and
  engineering instruments.
• Payload Bay No. 1 sapphire window and optical
  package for the DSS.
• Payload Bay No.2 electronics and sensors.
• Mole skins inner and outer shells, bulkheads,
  connectors, and pathways for instrumentation
  wiring.

External View
Internal View
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Technical Accomplishments

• Prototype No.1 for Hammering Mechanism (HM)
  designed, built, and tested (Summer and Fall 03).
• Soil Sampling Mechanism designed, built (Spring
  04), and being tested (Summer 04).
• HM Prototype No.2 designed, built (Winter 03,
  Spring 04), and being tested (Summer 04).
• Structural components for Payload Bays for DSS
  and Electronics designed and being built (Summer
  04).
• Outer and inner shells in design, first
  prototypes fabricated.

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Level 2 Milestone

• Hammering Mechanism Tested
• A prototype of the Hammering Mechanism (HM) and
  test rig were built late Summer 2003. The first
  HM prototype was tested in the Fall of 2003.
• Limited number of forward and reverse operation
  cycles ( several hundred of forward hammering
  less than one hundred of reverse hammering)
  proved that HM is capable of penetration and
  self-extraction.
• Testing and troubleshooting identified a few
  problem areas. Adjustments were made and
  individual components were improved.
• Successfully proved that the design concept is
  functional. Durability complete duty cycle
  testing is now underway.

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Technical Accomplishments

• Soil Sampling Mechanism Built (Spring 04).
• Complete Soil Sampling Mechanism (SM) designed
  and built (Spring 04).
• SM assembled and functionally tested (Summer 04).
• To be integrated and tested with improved version
  of the HM (Summer 04).

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Sample Mechanism Detail
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Technical Accomplishments

• Payload Bay Structures and Shell Components
  designed and are in fabrication.
• DSS payload structural components designed, to be
  delivered for DSS testing 7/19/04.
• Sensor suite bulkheads and shell designed.
• Outside and inside shells designed. An aluminum
  version is being manufactured for light duty
  integrated system test and validation.

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Plans for Next Quarter

• Assemble 2nd prototype of HM, with SM, and
  mock-ups of DSS and Sensor Suite.
• Design, build, and conduct integrated systems
  test. Objectives and Goals
• Proof of full range of operation of (improved)
  HM, and of SM.
• Proof of durability and strength of the mole over
  a selected life cycle.
• Provide data of hammering performance.
• Characterize shock vibration, as well as
  addressing concerns regarding assembly and
  disassembly.
• Provide a test bed for other Mole subsystems
  (electronics, motor control, data acquisition
  hardware and software, on-board scientific and
  engineering instrumentation).

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Mole Electronics Development

• Purpose
• To design, build, test, and integrate the
  electronics necessary to control mole motors and
  to collect sensor data.
• Features
• Two microcontroller based boards.
• Surface controller to control tether reel motor
  and to collect surface sensor data.
• Subsurface controller to control mole motor and
  to collect subsurface sensor data.
• Surface controller has similar architecture as
  subsurface controller to reduce development time
  and for design reusability.
• Communicates with LABVIEW driven Mole System
  Controller via RS-485 serial protocol.
• Distributes power to motors and sensors.

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Technical Accomplishments and Plans

• Technical Accomplishments
• Parts procurement for subsurface electronics
  development including procurement of sensors.
• Designed subsurface controller schematic.
• Developed firmware to verify functionality of
  circuits and sensors with microcontroller.
• Surface and Subsurface Controllers Preliminary
  Design Review completed in May 2004.
• Subsurface Controller Critical Design Review
  completed in July 2004.
• Plans for Next Quarter
• Complete subsurface controller layout and
  fabricate board.
• Complete subsurface controller firmware.
• Populate subsurface controller and test populated
  subsurface controller on bench.
• Complete surface controller schematic.
• Surface controller critical design review.
• Complete surface controller layout and fabricate
  board.
• Complete surface controller firmware.
• Populate surface controller and test populated
  subsurface controller on bench.

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DEPLOY/RETRIEVE MODULE
Technical Accomplishments Designed functional
prototype system of tether reel and launch
tube Fabricated and/or purchased parts for
tether reel subassembly Designed and procured
tether Determined requirements for conductors
and fibers Identified candidate fiber
composition and possible vendors Obtained
samples and tested spectral properties of
candidate fibers, selected GeO2 for SWIR, Low OH
silica for laser Let tether procurement (expect
delivery Sept. 2004) PLANS FOR NEXT QUARTER
Design rotating interface for fiber and
conductors Assembly and test of reel system
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DSS Instrument
Technical Accomplishments Completed CDR (Sept.
03) for end-to-end design Purchased all
components Designed jig for mounting light
collection optics in Mole, fabrication
underway Assembled surface detector system
Writing software drivers for data acquisition
Begin development of flat field and data
calibration software
Plans for Next Quarter Finish subsurface optics
construction and integrate with shock mounted
end plates Bench test with external fiber
optics Design interface between tether at
surface and detectors via rotating tether reel
Prepare user manual for operation of instrument
Deliver instrument package to Ames
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FINANCIAL STATUS
No significant deviation from financial plan or
financial issues to report
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Action Items/Issues/Concerns

• No Year End Review action item(s) (if any) from
  last quarterly review.
• Major issues/concerns none