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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space CONTENTS Agenda 1 - Team Presentation 2 - Systems Design  Why SFR?  What  When  Where  Design Drivers  Key Features  SFR System Overview  Mission Timeline  Mission Feasibility  Critical Technologies to be developed (MREP/MREP2)

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space TEAM PRESENTATION 58.4% 25%8.3%5%3.3%

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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 pickup 2. 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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space  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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space  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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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 Landing 4/3/2026 1/9/2025 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 Ls 193- to 26th January Ls 213-, leading to almost 30sols of no communication with Earth OD=1 COMMS NO COMMS OD=1.5

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space WHERE MI-GEN-10 The SFR shall operate at a range of latitude between 5° South and 25° North 5 South 25 North MARS

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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 S MALL F AST R ELIABLE

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space KEY FEATURES - SMALL Dimensions STOWEDDEPLOYED MASS Kg ( incl. System Margin )

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space KEY FEATURES - FAST SFR Navigation capabilities: - Discontinuities Threshold0.18 m - Slopes Threshold20 deg - Continuous Navigation - Closed Loop Navigation Speed55 m/h - Ground Track Distance21 Km - Avg. Distance x Sol ~210 m/Sol Travel Distance & Speed

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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. 11

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space SFR OVERVIEW Executive Summary SubsystemSelected 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 18650NL Solar Array: Area 1.83m 2, organised in 3 panels (fixed 0.71m deployable 0.56m 2 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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space SFR OVERVIEW Configuration - External 6 x Flexible Wheels

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space SFR OVERVIEW Configuration - Internal

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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 -60 o C, 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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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 1.6m 2. However the end of the Mission (sol 149) will be after the Solar Conjunction, introducing problems on Safe Sol sustainability. A SA area of 1.8m 2 is thus the preferred option (Mission ends on sol 111).

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space MISSION FEASIBILITY Safe Sol Power Modelling Mission Feasibility Req. 2 Conclusion 2: The Safe Sol cannot be sustained for the entire lifetime even with 2.0m 2 of Solar Array Area. However the main derived requirement is to sustain the Safe Sol until mission completation, that for SA Area of 1.8m 2 is Sol 111. Thus the requirement is met with a SA Area of 1.8m 2.

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space MISSION FEASIBILITY Hibernation Sol Power Modelling Mission Feasibility Req. 3 Conclusion 3: The Hibernation Sol can be sustained for the entire lifetime with a SA panel area >= 1.8m 2 Note: Battery capacity taken in account for the last sols when the energy need is more than energy generated

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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).

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space 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

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space CRITICAL TECHNOLOGIES Critical Technologies

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space CRITICAL TECHNOLOGIES Critical Technologies

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space CRITICAL TECHNOLOGIES Critical Technologies

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space CRITICAL TECHNOLOGIES Critical Technologies

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space CRITICAL TECHNOLOGIES Critical Technologies

Page Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space CRITICAL TECHNOLOGIES Critical Technologies