The InSight Mars Lander is equipped with an Instrument Deployment System (IDS) and science payload with accompanying auxiliary peripherals mounted on the Lander. The InSight science payload includes a seismometer (SEIS) and Wind and Thermal Shield (WTS), heat flow probe (Heat Flow and Physical Properties Package, HP3) and a precision tracking system (RISE) to measure the size and state of the core, mantle and crust of Mars. The InSight flight system is a close copy of the Mars Phoenix Lander and comprises a Lander, cruise stage, heatshield and backshell. The IDS comprises an Instrument Deployment Arm (IDA), scoop, five finger "claw" grapple, motor controller, arm-mounted Instrument Deployment Camera (IDC), lander-mounted Instrument Context Camera (ICC), and control software. IDS is responsible for the first precision robotic instrument placement and release of SEIS and HP3 on a planetary surface that will enable scientists to perform the first comprehensive surface-based geophysical investigation of Mars' interior structure. This paper describes the design and operations of the Instrument Deployment Systems (IDS), a critical subsystem of the InSight Mars Lander necessary to achieve the primary scientific goals of the mission including robotic arm geology and physical properties (soil mechanics) investigations at the Landing site. In addition, we present test results of flight IDS Verification and Validation activities including thermal characterization and InSight 2017 Assembly, Test, and Launch Operations (ATLO), Deployment Scenario Test at Lockheed Martin, Denver, where all the flight payloads were successfully deployed with a balloon gravity offload fixture to compensate for Mars to Earth gravity.

Paul Backes, 1 Christopher McQuin, Mircea Badescu, Anthony Ganino, Harish Manohara, Youngsam Bae, Risaku Toda, Nicholas Wiltsie, Scott Moreland, Jesse Grimes-York, Phillip Walkemeyer, Eric Kulczycki, Charles Dandino, Russell Smith, Michael Williamson, Dennis Wai, Robert Bonitz, Alejandro San Martin, and Brian Wilcox Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, 91109

This paper describes a high fidelity mission concept systems testbed at JPL that was used to support the InSight (Interior Exploration Using Seismic Investigations, Geodesy, and Heat Transport) mission concept study. The InSight mission would conduct geophysical exploration of Mars' interior using three instruments 1. SEIS seismometer monitors seismic activity and tidal displacements; 2. RISE X-band radio Doppler tracking experiment measures rotational variations; and 3. HP3: Heat-flow and Physical Properties Probe determines the geothermal heat flux. CNES contributes SEIS and DLR contributes HP3. The measurements from these instruments would yield information about processes that occurred during the initial accretion of the planet, the formation and differentiation of its core, crust, and mantle, and subsequent evolution of its interior. The SEIS and HP3 instruments will be deployed to the surface of Mars using a robotic arm similar to the robotic arm used on the Mars Phoenix Lander mission and operational experience inherited from Phoenix and MER. The SEIS and HP3 will be monitored every three hours for one Mars year, with no ground-in-the-loop interaction required. InSight was one of three proposed missions selected by NASA Discovery Program in May 2011 for funding to conduct preliminary design studies and analyses. InSight was selected in August 2012 as the 12th mission in the NASA Discovery Program.

The 2011 Decadal Survey for planetary science released by the National Research Council of the National Academies identified Comet Surface Sample Return (CSSR) as one of five high priority potential New Frontiers-class missions in the next decade. The main objectives of the research described in this publication are: develop a concept for an end-to-end system for collecting and storing a comet sample to be returned to Earth; design, fabricate and test a prototype Dynamic Acquisition and Retrieval Tool (DART) capable of collecting 500 cc sample in a canister and eject the canister with a predetermined speed; identify a set of simulants with physical properties at room temperature that suitably match the physical properties of the comet surface as it would be sampled. We propose the use of a dart that would be launched from the spacecraft to impact and penetrate the comet surface. After collecting the sample, the sample canister would be ejected at a speed greater than the comet's escape velocity and captured by the spacecraft, packaged into a return capsule and returned to Earth. The dart would be composed of an inner tube or sample canister, an outer tube, a decelerator, a means of capturing and retaining the sample, and a mechanism to eject the canister with the sample for later rendezvous with the spacecraft. One of the significant unknowns is the physical properties of the comet surface. Based on new findings from the recent Deep Impact comet encounter mission, we have limited our search of solutions for sampling materials to materials with 10 to 100 kPa shear strength in loose or consolidated form. As the possible range of values for the comet surface temperature is also significantly different than room temperature and testing at conditions other than the room temperature can become resource intensive, we sought sample simulants with physical properties at room temperature similar to the expected physical properties of the comet surface material. The chosen DART configuration, the efforts to identify a test simulant and the properties of these simulants, and the results of the preliminary testing will be described in this paper.

The 2011 Decadal Survey for planetary science released by the National Research Council of the National Academies identified Comet Surface Sample Return (CSSR) as one of five high priority potential New Frontiers-class missions in the next decade. The main objectives of the research described in this publication are: develop a concept for an end-to-end system for collecting and storing a comet sample to be returned to Earth; design, fabricate and test a prototype Dynamic Acquisition and Retrieval Tool (DART) capable of collecting 500 cc sample in a canister and ejecting the canister with a predetermined speed; identify a set of simulants with physical properties at room temperature that suitably match the physical properties of the comet surface as it would be sampled. We propose the use of a DART that would be launched from the spacecraft to impact and penetrate the comet surface. After collecting the sample, the sample canister would be ejected at a speed greater than the comet's escape velocity and captured by the spacecraft, packaged into a return capsule and returned to Earth. The DART would be composed of an inner tube or sample canister, an outer tube, a decelerator, a means of capturing and retaining the sample, and a mechanism to eject the canister with the sample for later rendezvous with the spacecraft. One of the significant unknowns is the physical properties of the comet surface. Based on new findings from the recent Deep Impact comet encounter mission, we have limited our search of solutions for sampling materials to materials with 10 to 100 kPa shear strength in loose or consolidated form. As the possible range of values for the comet surface temperature is also significantly different than room temperature and testing at conditions other than the room temperature can become resource intensive, we sought sample simulants with physical properties at room temperature similar to the expected physical properties of the comet surface material. The chosen DART configuration, the efforts to identify a test simulant and the properties of these simulants, and the results of the preliminary testing will be described in this paper.

This work covers two programs that accomplish the same goal: creation of a reachability map from stereo imagery that tells where operators of a robotic arm can reach or touch the surface, and with which instruments. The programs are marsreach (for MER) and phxreach. These programs make use of the planetary image geometry (PIG) library. However, unlike the other programs, they are not multi-mission. Because of the complexity of arm kinematics, the programs are specific to each mission.

The recent planetary science decadal survey identified sample return from a comet as a major goal of the study of primitive solar system bodies. The survey identified a comet surface sample return mission as one of the candidates for a New Frontiers class mission. A touch-and-go (TAG) mission architecture where the spacecraft would maneuver close to the small body surface, a sampling device on the end of a robotic arm would acquire the sample in a few seconds, and then the spacecraft would retreat from the small body is a suitable architecture to achieve the candidate mission objectives. The brush wheel sampler (BWS) has been shown to be an effective sampling device for possible TAG missions to small bodies. This paper describes the technology development and test results of the BWS over the past several years.

This paper describes a high fidelity mission concept systems testbed at JPL, called Lunar Surface Operations Testbed (LSOT). LSOT provides a unique infrastructure that enables mission concept studies designers to configure and demonstrate end-to-end surface operations using existing JPL mission operations and ground support tools, Lander, robotic arm, stereo cameras, flight software, and soil simulant (regolith), in a high fidelity functional testbed. This paper will describe how LSOT was used to support the MoonRise mission concept study. MoonRise: Lunar South Pole-Aitken Basin Sample Return Mission would place a lander in a broad basin near the moon's South Pole and return approximately two pounds of lunar materials to Earth for study. MoonRise was one of three candidate missions competing to be selected as the third mission for NASA's New Frontiers Program of Solar System Explorations. LSOT was used to demonstrate JPL's extensive experience and understanding of the MoonRise Lander capabilities, design maturity, surface operations systems engineering issues, risks and challenges.

In many in-situ instruments information about the mass of the sample could aid in the interpretation of the data and portioning instruments might require an accurate sizing of the sample mass before dispensing the sample. In addition, on potential sample return missions a method to directly assess the captured sample size would be required to determine if the sampler could return or needs to continue attempting to acquire sample. In an effort to meet these requirements piezoelectric balances were developed using flextensional actuators which are capable of monitoring the mass using two methods. A piezoelectric balance could be used to measure mass directly by monitoring the voltage developed across the piezoelectric which is linear with force, or it could be used in resonance to produce a frequency change proportional to the mass change. In the case of the latter, the piezoelectric actuator/balance would be swept in frequency through its fundamental resonance. If a mass is added to the balance the resonance frequency would shift down proportionally to the mass. By monitoring the frequency shift the mass could be determined. This design would allow for two independent measurements of the mass. In microgravity environments spacecraft thrusters could be used to provide acceleration in order to produce the required force for the first technique or to bring the mass into contact with the balance in the second approach. In addition, the measuring actuators, if driven at higher voltages, could be used to fluidize the powder to aid sample movement. In this paper, we outline some of our design considerations and present the results of a few prototype balances that we have developed.

The Phoenix Mars Lander Robotic Arm (RA) has operated for 149 sols since the Lander touched down on the north polar region of Mars on May 25, 2008. During its mission it has dug numerous trenches in the Martian regolith, acquired samples of Martian dry and icy soil, and delivered them to the Thermal Evolved Gas Analyzer (TEGA) and the Microscopy, Electrochemistry, and Conductivity Analyzer (MECA). The RA inserted the Thermal and Electrical Conductivity Probe (TECP) into the Martian regolith and positioned it at various heights above the surface for relative humidity measurements. The RA was used to point the Robotic Arm Camera to take images of the surface, trenches, samples within the scoop, and other objects of scientific interest within its workspace. Data from the RA sensors during trenching, scraping, and trench cave-in experiments have been used to infer mechanical properties of the Martian soil. This paper describes the design and operations of the RA as a critical component of the Phoenix Mars Lander necessary to achieve the scientific goals of the mission.

The Phoenix Lander investigated the polygonal terrain and associated soil and icy soil deposits of a high northern latitude site on Mars. The soil physical properties component involved the analysis of force data determined from motor currents from the Robotic Arm (RA)'s trenching activity. Using this information and images of the landing site, soil cohesion and angle of internal friction were determined. Dump pile slopes were used to determine the angle of internal friction of the soil: 38° ± 5°. Additionally, an excavation model that treated walls and edges of the scoop as retaining walls was used to calculate mean soil cohesions for several trenches in the Phoenix landing site workspace. These cohesions were found to be consistent with the stability of steep trench slopes. Cohesions varied from 0.2 ± 0.4kPa to 1.2 ± 1.8 kPa, with the exception of a subsurface platy horizon unique to a shallow trough for which cohesion will have to be determined using other methods. Soil on polygon mounds had the greatest cohesion (1.2 ± 1.8 kPa). This was most likely due to the presence of adsorbed water or pore ice above the shallow icy soil surface. Further evidence for enhanced cohesion above the ice table includes lateral increase in excavation force, by over 30 N, as the RA approached ice.

This article compares and contrasts the operations of the robotic manipulators on the Mars Phoenix Lander and Mars Exploration Rovers (MERs), Spirit and Opportunity. Unlike the MERs, the Phoenix Mars Lander stays in one spot at a particular geographic location on the Martian surface with exploration emphasis on vertical mobility sampling. In this article the operations of Phoenix robotic arm (RA) were described during the prime mission and compare and contrast it with MER instrument deployment device (IDD) operations. In addition, the technology gaps were identified in operations and deployment of in situ manipulators in planetary exploration.

The primary purpose of the Mars 2007 Phoenix Lander Robotic Arm (RA) and associated Icy Soil Acquisition Device (ISAD) is to acquire samples of Martian dry and icy soil (DIS) by digging, scraping, and rasping, and delivering them to the Thermal Evolved Gas Analyzer and the Microscopy, Electrochemistry, and Conductivity Analyzer. The RA will also position (1) the Thermal and Electrical Conductivity Probe (TECP) in the DIS; (2) the TECP at various heights above the surface for relative humidity measurements, and (3) the Robotic Arm Camera to take images of the surface, trench, DIS samples within the ISAD scoop, magnetic targets, and other objects of scientific interest within its workspace. The RA/ISAD will also be used to generate DIS piles for monitoring; conduct DIS scraping, penetration, rasping, and chopping experiments; perform compaction tests; and conduct trench cave‐in experiments. Data from the soil mechanics experiments will yield information on Martian DIS properties such as angle of repose, cohesion, bearing strength, and grain size distribution.

This paper describes a system design concept to enable automated sample acquisition on planetary surfaces without the use of additional sensor information such as cameras and force/torque sensors. A simple and robust solution is presented to the unique problems encountered in in situ science applications with its tight constraints on mass, power, computing resources and lack of flight-qualified hardware. Problems addressed include end-effector contact detection, trajectory generation, hardware fault monitoring and autonomous determination of terrain profile.

This article has described in detail the Mars exploration rover's instrument positioning system and the use of this subsystem to carryout in situ operations of the Martian surface and subsurface. All told, the instrument deployment device (IDD) has served as an exceptional robotic mechanism for performing robust and reliable in situ science. The ability to carry out high precision mobile manipulation functions provided by the rover and the IDD has been critical to gaining a fundamental understanding of the water processes at work at both the Spirit and Opportunity landing sites. As such, the MER's IPS has paved the way for the use of future robotic devices that advance NASA's capabilities in autonomous manipulation, sample acquisition, and in situ science investigations