The Mother Goose Mission Tom Meyer - Overview Penny Boston - Science Joe Martin - Instruments Dan Scheld - Systems Joe Berger - Mars Glider

History of Mother Goose Mission Outgrowth of collaborative efforts Scout Proposal Seeking funding for individual components ASTEP - Science Boston NIAC Cave Research SBIRs Instrument development proposals Doing in-house development

What is the Mother Goose? Mission strategy for detection of life Flying transformer robotic system Mimics human field biologist Autonomous search for life on Mars Search at multiple spatial scales: Aerial Walking Microscopic

Motivation and Goal Life often leaves tell tail biosignatures Changes in physical appearance of surface Chemical changes in surface material Life prefers hospitable locations warm, wet, protected hidden in cracks, cervices, caves The Challenge: narrow the field search from regional, to local, to microscopic Remote control from Earth is impractical The Goal: develop a robotic field biologist

Approach Mother Goose Overarching Concept Unique approach and goals Intelligent site selection at all levels of encounter Robotic mobility along a continuum of sequentially finer resolutions Glider / Lander combines hazard avoidance and scientific site selection Integrated guidance and data system serves glider, lander, walker and micro-robots

Mission Architecture - Entry Entry capsule deploys Mother Goose glider Glider wings inflate Glider cruise phase begins Begin remote sensing for navigation and science

Mission Architecture - Cruise Integrated guidance and data acquisition Mother Goose is a very bright bird, she Navigates the glider while in flight Collects remote sensing data Searches for an optimal landing site Navigates and takes data on the ground, and Collects data from her micro-robot goslings

Mission Architecture - Surface Mother Goose: Picks safe landing site near science target Walks to the science sites Collects local data Refines site selection Deploys Micro-Robot Goslings Wing provides power and communications

Mission Architecture - Goslings MG deploys micro-robot goslings Goslings penetrate cracks, crevices, caves MG communicates high level commands Goslings send data to Mother Goose Goslings may be sacrificed or recovered for next site

(Picture credits - Gus Frederick) Team Penny Boston - Complex Systems Dan Scheld, Joe Martin - Equinox Interscience Joe Berger - Performance Software Intl Jeff Hayden - Prescipoint Solutions Tom Meyer - BCSP/National Link (Picture credits - Gus Frederick) FOR MORE INFO... http://eisci.com/mothergoose http://norwebster.com/eisci

Human Emulation in Robotic Missions R.D. Frederick © 2001

The Field Scientist in the Wild

The Field Scientist In A Can R.D. Frederick © 2001

Science Search Strategy Mimic classic human-conducted field science Aerial Recon Phase – Airborne Mother Goose Walkabout Phase – Rover Mother Goose Intensive Investigation Phase – Scientist Mother Goose Access to “difficult” sites via microrobotic Goslings Small Autonomously acting Multiple spatial scales Bird’s eye view Scientist’s eye view Microbe’s eye view Multiple data sets Imaging 3 D Microscopy Raman spectroscopy Direct sensing of gases ic

Techniques: Technique Development Laboratory Analysis In Situ Geochemistry Mineralogy Chemistry 2  Laboratory Analysis Geology Biology In Situ Techniques Technique Development Hydrology Physics Geophysics

Non-invasive Techniques Surface detection methods No sample removed Leaves communities intact Minimal disturbance

Planetary Protection Protocol for possible biological sites Dirty/clean model Suitable for humans Contamination zone model Suitable for mechanisms P.J. Boston © 2001

Planetary Protection Aseptic reconnaissance Preliminary assessments Long-term monitoring Intermediates in chain of asepsis Permanent Class IV+ containment R.D. Frederick © 2001

Science Goals & Objectives Recon Phase - Features (TES, Radar, Imaging) Water Reduced gases Temperature anomalies Minerals & Biominerals Outcrops Shape Color and pattern Texture Rover Phase – Site refinement (Imaging) Biominerals Rover Phase – Microanalysis (Microscopy, Spectroscopy) Mineral grains Soil properties Microtextures Biominerals Biofabrics Microfossils Organic compounds Organisms or parts Gosling Phase – Seeking (Imaging, Sensing) Water Reduced gases Mineral & Biominerals Outcrops Shape Color and pattern Texture Image of lithified fossil bacteria, filaments, and biofilm. Courtesy L. Melim, M. Spilde, & D. Northup.

Desert Surfaces On Earth • High intensity sunlight and UV • Low humidity (5-40% typically) • Temperature extremes • Low nutrients (usually) • Mineral-rich (usually) • Extensive weather, e.g. high winds, flash floods, frost, etc.

Desert Caves On Earth No sunlight High humidity (99-100% in the deep zone) Temperatures relatively constant Low nutrients Mineral-rich No weather Photo by David Jagnow

Life in Mars Caves… Traces on the Surface? Visualization of order Biotextures and structure Geochemical traces Change in oxidation states Chemistry independent Isotopic signatures? Other disequilibria? Energy sources Energy flow Growth Reproduction R.D. Frederick © 2001

Mother Goose Instruments Joe Martin - Equinox Interscience

Glider Mode

Glider Mode Instruments Wide FOV imaging . (0.42 kg). The Mike Malin low resolution MARDI descent imager from the ill-fated ‘98 Mars Polar Lander 73° FOV for aerial reconnaissance with a 7.1 mm focal length IFOV: 1.25 mrad. Thus at 1 km altitude; ground resolution 1.25 m Thermal Emission Spectrometer (mini-TES) (1.9 kg) A miniaturized TES evolved from MGS TES reduced 14.4 kg to 1.9 kg, proposed for MESUR missions as mini-TES. Spectral range: 400 to 5000 cm-1 (2-25 µm), 5 cm-1 resolution Energy/sample = 4.4 W x 3.7 min/ sample / 60 min/hr = 0.27 W-hr/sample

Glider Mode Instruments (Cont.) Ground Penetrating Radar (GPR) (2.4 kg) A surface penetrating radar to determine buried water and water bearing rocks GPR defined by Rolando Jordan (JPL) for Dave Paige’s proposed Mars Polar Pathfinder mission. Folded dipole antenna on the bottom of the Pathfinder lander petal. to probe the ground below: depth of 4.5 km; depth resolution 2 m 100 MHz pulses The MG antenna would be built into the skin of the lower surface of the glider.

Rover Mode

Rover Mode Instruments Stereo Imaging (0.54 kg) Panoramic stereo camera system; Assess site geology and morphology and select targets for investigation. Use a version of 2003 Mars Exploration Rovers (MER) MER system has 1024 x 2048 pixel CCDs, 280 µrad resolution 42.7 mm focal length optics for 16x16° FOV. 8 filters from 400 to 1100 nm Analysis time: 10 sec/frame 62 Mp/frame (both cameras)

Rover Mode Instruments (Cont.) Raman Spectrometer (RS) (0.7-1.1kg) The roving robot presses its robotic arm against a rock. Thin green or ultraviolet laser beam scans the rock, Raman scattered light identifies photon wavelength shifting effect of molecular and crystalline structures in the target rock. Potential Raman developments Larry Haskin green light RS (0.7 kg); for minerals Michael Storrie-Lombardi UV RS (1.1Kg); for organics or prebiotic molecules. EIC labs (NASA SBIR); rugged, portable, high resolution RS with illumination Raman measurement through fiber optic extension. Fiber optic extension: insert the fiber optic probe inside a crevice.

Raman Spectrograph EIC LABORATORIES, INC. Small Business Innovation Research Raman Spectrograph EIC LABORATORIES, INC. NORWOOD, MA Rugged, portable, high resolution Raman spectrograph with fiber optic sampling INNOVATION ACCOMPLISHMENTS Specific gas-phase sensing of hydrazine and other air contaminants Novel micro-optics probe head allows point and shoot fiber optic sampling and monitoring from over 500 meters 10 times more compact than prior equipment and no moving parts COMMERCIALIZATION $3 million in sales in last two years Patented Raman probe New company division organized to provide commercial Raman instrumentation and services Spectrograph with fiber optic sensor GOVERNMENT/SCIENCE APPLICATIONS Space applications: sensing hypergolic vapors; hydrogen monitoring; rapid analysis of minerals; compact, on-board chemical analysis Commercial applications: chemical process monitoring, pharmaceutical analysis, forensics, environmental site characterization, and a general laboratory complement to IR spectroscopy Kennedy Space Center 1988 Phase 2; SS-52; 10/18/95

Rover Mode Instruments (Cont.) Mineral Identification by In-situ X-ray Analysis (MIBIXA) (0.4 kg) The roving robot presses its robotic arm against a rock. The surface is illuminated by X-rays, Measures Bragg scattered X-rays and fluorescent X-rays. MIBIXA Proposed by Equinox as NASA SBIR Deep depletion 600 x 600 CCD (e2v Technologies) measures: photon energies from 200 eV to 20 keV scattering angle of elastically scattered photons. energy of fluorescent photons. Carbon nanotube field emission cathode x-ray source (Applied Nanotechnologies, Inc.).

Rover Mode Instruments (Cont.) Confocal Microscope (1.5 kg) The roving robot presses its robotic arm against a rock. The surface is illuminated by X-rays, Measures Bragg scattered X-rays and fluorescent X-rays. MIBIXA Proposed by Equinox as NASA SBIR Deep depletion 600 x 600 CCD (e2v Technologies) measures: photon energies from 200 eV to 20 keV scattering angle of elastically scattered photons. energy of fluorescent photons. Carbon nanotube field emission cathode x-ray source (Applied Nanotechnologies, Inc.).

Rover Mode Instruments (Cont.) Confocal Microscope (1.5 kg0) (Leica) All out of focus structures are suppressed at image formation by an arrangement of diaphragms which, at optically conjugated points of the path of rays, act as a point source and as a point detector respectively. Out-of-focus rays are suppressed by the detection pinhole. The focal plane depth is determined by the wavelength, the objective numerical aperture, and the diaphragm diameter. To obtain a full image, the image point is moved across the specimen by mirror scanners. The emitted/reflected light passing through the detector pinhole is detected by a photomultiplier and displayed on a computer monitor.

Microbots Mode

Microbot Mode Instruments Imagers (50g x 10 microbots = 0.5 kg) Supercircuits Model: PC-169XS High resolution color microvideo camera 1/3" Color CCD; 768(H) x 492(V); 377,856 pixels Power: 1W Interchangeable lens Chemical Sensors (50g x 10 microbots = 0.5 kg) Temp, pH, conductivity Gas sensors Anion, cation sensors

MOTHER GOOSE Related Technologies & Robotics

Mother Goose MOTHER GOOSE Mission Systems MG I Astrobiology Mission MOTHER GOOSE and Goslings Enter Cave Site at Mars Mother Goose TEAM Equinox Interscience Inc. Complex Systems Res., Inc. Aerostar/Raven Industries Boulder Center for Space Science/ National Link MIT Performance Software Associates Oregon Public Education Network ITN Energy Systems/Globalsolar MOTHER GOOSE has Landed and Deposited Rover and Micro-Rovers (Goslings) in Area Of High Scientific Interest.

MOTHER GOOSE Mission Systems MG II Astrobiology Mission Mother Goose II TEAM Equinox Interscience, Inc. Complex Systems Res., Inc. Aerostar International, Inc. Boulder Center for Space Science/ National Link MIT Field & Space Robotics Lab MD Robotics for Canadian Space Agency Performance Software Associates Oregon Public Education Network ITN Energy Systems/Globalsolar Prescipoint Solutions

MOTHER GOOSE Mission Systems DDB Detectable Desert BioMarkers DDB Layers of Investigation “ROCKTASTER” Schematic DDB TEAM Equinox Interscience, Inc. Complex Systems Res., Inc. Performance Software Associates Boulder Center for Space Science/ National Link UTD, Inc. Prescipoint Solutions

Autonomous Landing Techniques -WHY FLY in with Mother Goose MOTHER GOOSE DELIVERY SYSTEM Target Zone dependence is gone – WE LAND where the Science Demands On-board Guidance (LEIF) particpates fully in the landing LEIF system continuously monitors and learns from the evironment minimizing the unknowns to safe touchdown Near Zero velocity touchdown requires no impact protection system The configuration is inherently stable - no tip over – in addition, the LEIF system has sought out the inherently safest site closest to the science objective NASA Smart Landers Current Target Zones no smaller then 161x97 km (100x60 miles) *Smart Lander Target Zones smaller but “undefined” On-board guidance ends to early in landing No ability to handle unknowns at the landing site Must carry impact protection systems Must carry additional capability to prevent tip over Smart in this case really means “safer” than

Mission Technologies & Robotics

Mars Located vs Star Field Earth Relative Doppler Signal LEIF– Landing Enabled by Intelligent Functions Mars Located vs Star Field Earth Relative Doppler Signal Ø3 Ø1 Ø2 APPLICATIONS Mars Sample Return -Europa Lander -Titan Organics Explorer Lander -Mars Cargo Landers -Comet Nucleus Sample Return -Near Earth Asteroid Landers SAILSaR TEAM Equinox Interscience Inc. Boulder Center for Space Science/ National Link Prescipoint Solutions Performance Software Associates ITN Energy Systems Limb View Landmark View Autonomous Pre-Entry LEIF Pilots the Way! Lune View LEIF Provides Methods for Complete Autonomous Approach and Safe Landing In Area of Scientific Interest.

LEIF– Landing Enabled by Intelligent Functions

Next Generation Control for Scientific Spacecraft and Instruments SAIF– Science Augmented by Intelligent Functions Next Generation Control for Scientific Spacecraft and Instruments SAIF/LEIF Design Highlights -Reduced Mass/Power Consumption/COST -Functional Superiority -Uniquely Synergistic Hardware/Software Design -Extreme Dense Electronic Miniaturization -Commercial Packaging -In Development by Equinox and Partners SAIF/LEIF TEAM Equinox Interscience Inc.. Prescipoint Solutions Performance Software Associates

SAIF-LEIF Systems To Investigate and verify aspects of Landing on hostile planetary surfaces. Frequent testing of approaches on local test ranges. Key is the Autonomous Control System LEIF (Landing Enabled by Intelligent Functions) An integrated computer and control system based on: Miniaturized electronics using HDI Software derived from Performance Software Anchor products Based on successful IEC 1131-3 commercial automation software Proposed as NASA SBIR Central Instrument Controller -awarded phase I, Phase II not funded but rated highly. FPGA based Programmable Direct Memory Access designed by Beyond the Horizon Simplified SAIF/LEIF Electronics Unit Block Diagram

SAIF-LEIF Sytems LEIF Presented Iceland Mars Polar Science Conference LEIF Introduced by Dave Paige/UCLA Full presentation on Equinox web site www.eisci.com Describes the Equinox thrust Automated Landing Technology Proposals by Equinox Interscience in DSF . Development of LEIF Flight demonstration Autonomous Rendezvous Fine Pointing Laser Tracker Flight Demonstration (FPLTD) Deep Space Comm. Extended Effort Propose Avionics Navigation System Lockheed Martin for Pluto/Kuiper mission. LEIF Applied to MOTHER GOOSE Glider Control and Landing

Primary Landed Systems Robotics Concepts & Notionals BIG MAMA Walker 6 legs Stereo Vision 2 Micro Manipulators

Primary Landed Systems Robotics Concepts & Notionals UREY MISSION style Tethered Rover

Secondary Landed Systems Robotics Concepts & Notionals Gosling 1 Walker 4 legs Micro Vis Top Mounted Solar Cell Micro Manipulator Gosling 2 Walker 6 legs Micro Vis Top Mounted Solar Cell Micro Manipulator

Secondary Landed Systems Robotics Concepts & Notionals MIT Micro-rover Concept MIT Evolutionary Roadmap From Discrete to Continuous Robotic Systems Tilden (LANL) Skitter Bug Concept

Secondary Landed Systems Robotics Concepts & Notionals Investigations of LIFE BELOW & LIFE “OUT THERE” SPELEOSCOPE TEAM Equinox Interscience Inc. Complex Systems Res., Inc. Boulder Center for Space Science/ National Link Performance Software Associates Oregon Public Education Network

Secondary Landed Systems Robotics Concepts & Notionals Speleoscope Locomotion Concepts

Secondary Landed Systems Robotics Concepts & Notionals Speloscope robotic variations SPELEOSCOPE Team Concept NASA (JPL) Snake Tilden (LANL) Snake Concepts

Welcome The Future … & …Thank You! EQUINOX INTERSCIENCE Engineering Instruments of SCIence

The Mars Flying Wing Joe Berger R.D. Frederick © 2001

The Mars Flying Wing Features: Low Wing Loading High Lift over Drag (L/D) Capable of Low Speed Landing Autonomous Operation Precision Landing R.D. Frederick © 2001

The Mars Flying Wing Wing Performance Prediction: Approx 35:1 L/D Speed Range from 8 to 40 Kts IAS Full Stall Landing at Less Than 8 Kts IAS Highly Maneuverable Throughout Flight Regime R.D. Frederick © 2001

The Mars Flying Wing Wing Current Progress: 8 Foot Model Flying Successfully Flight Controls Proven 12 Foot Model to Fly 3 Qtr 2002 Higher Performance Airfoil High Tech Wing Tips with Winglettes 21 Foot Model Higher Aspect Ratio Flight Computer integrated to Video Real-time RF link to Ground Station for Telemetry, Video R.D. Frederick © 2001

Mars Flying Wing The 8 Foot Wing: With Pilot & Launch Assistant

Mars Glider Movie:

The Mars Flying Wing: Mission Accomplished! R.D. Frederick © 2001