KECK INSTITUTE FOR SPACE STUDIES

       

Mission Concepts for Accessing and Sampling High-Risk Terrain

March 30-31, 2009
California Institute of Technology - Pasadena, CA 91125

Workshop Overview:

Some of the richest potential science targets for future planetary exploration missions are sited in terrains that are largely inaccessible to state-of-the-art robots, thereby limiting our ability to carry out in situ sampling and analysis. For example, bright new deposits have been discovered several hundred meters below the rims of steep craters in the Terra Sirenum and Centauri Montes regions on Mars. While the Opportunity rover has imaged layers of bedrock in the vertical promontories of Cape St. Vincent in Victoria crater, these geological features are currently inaccessible to conventional sampling methods. High-resolution images of stratified deposits of ice and dust captured by the Mars Reconnaissance Orbiter reveal a very challenging terrain. The recently reported large methane plumes rise over heavily cratered terrains in the Arabia Terra and Syrtis Major regions of Mars. The surfaces of Titan, Europa, Enceladus, and the Earth’s moon also offer challenging surface features. All of these geological features require a new generation of robots to access the challenging terrains in order to probe, sample and measure. Direct access to these complex terrains may enable new inquiries that could lead to significant scientific rewards.

Objective
This workshop will examine, in depth, science-driven mission concepts that could leverage recent technological advances in robotic mobility (e.g. tethered and cliff climbing vehicles) and sampling for such high-risk terrains. We will explore concepts that combine one or more low-mass robots with fixed or mobile host platforms to extend our capability in exploring high-risk terrains.

Expected Outcome
We plan to better define candidate mission concepts and their associated technological challenges. Based on these concepts, we expect to craft a roadmap for future research and development programs that will advance the art in robotic mobility platforms, on-board instrumentation, and the sample acquisition devices that are needed to enable future missions in complex terrains. Armed with this roadmap, we hope to collectively advocate for future NASA technology development programs that will enable in situ science in complex terrain missions.

Workshop
This two-day workshop brings together leading planetary scientists, mission architects, and robotic technologists from JPL, Caltech and leading external institutions to explore new potential mission concepts for the exploration of high-risk planetary surfaces. This workshop will also engage a number of Caltech graduate and undergraduate students.

Workshop Participants:

  • Leon Alkalai - JPL
  • Robert Anderson - JPL
  • Dimi Apostolopoulos - Carnegie Mellon
  • Paul Backes - JPL
  • David Beaty - JPL
  • Joel Burdick - Caltech
  • Pamela G. Conrad - JPL
  • Joy Crisp - JPL
  • Jeffrey Edlund - Caltech - student
  • John Elliot - JPL
  • Keith Grogan - JPL
  • Samad Hayati - JPL
  • Andrew Johnson - JPL
  • James Kaufman - JPL
  • Pablo Abad Manterola - Caltech - student
  • Jaret Matthews - JPL
  • Greg Mungas - Firestar Engineering, LLC
  • Issa Nesnas - JPL
  • Kevin Noertker - Caltech - student
  • Julian Nott - Nott Technology LLC
  • Tom Oliver - Caltech - student
  • Thomas R Spilker - JPL
  • Kim Reh - JPL
  • Srikanth Saripalli - Arizona State University
  • David Spencer - Georgia Institute of Technology
  • Andrew Steele - Carnegie Institute of Washington
  • Richard Volpe - JPL
  • Keith Warfield - JPL
  • David Wettergreen - Carnegie Mellon
  • Brian Wilcox - JPL

Workshop Presentations

Samad Hayati
Steering Committee Member, Keck Institute for Space Studies

Welcome and Introduction to KISS
(.pdf)

Issa Nesnas
JPL

Overview of High-Risk Terrain Mini-Program: Objectives and Expected Outcome
(.pdf)

Joel Burdick
Caltech

Overview of High-Risk Terrain Mini-Program: Examples to Stimulate Discussion
(.pdf)

David Beaty
JPL

The Future of the Mars Program
(.pdf)

Science Investigations

Pamela Conrad
JPL

Steep Terrain and the Evolution of Martian Surface Environments: Implications for Habitability
(.pdf)

All

Discussion and Brainstorming - See Science Questions in this
(.pdf)

Mission Considerations

Samad Hayati
JPL

EDL considerations for Future Mars Missions
(.pdf)

David Spencer
Georgia Institute of Technology

Considerations for Landing Accuracy and Landed Mass
(.pdf)

John Elliott,
Andrew Johnson

JPL

Mission Constraints for Extreme Terrain Exploration of Lunar Surface
(.pdf)

All

Discussion and Brainstorming - See Mission Questions in this
(.pdf)

Robotic and Sampling Technologies

David Wettergreen
Carnegie Mellon University

Accessing Craters: Design and Experiments of Two Robotic Systems
(.pdf)

All

Discussion and Brainstorming - See Robotic and Sampling Questions in this
(.pdf)

Issa Nesnas
JPL
Joel Burdick
Caltech

Recap and Instructions for Breakout Sessions Surface Access and Sampling from Balloon Missions
(.pdf)