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Presentation on theme: "83230352-DOC-TAS-EN-001 EXOMARS 2018 RSM Optimisation A.Merlo C. Legnani."— Presentation transcript:

1 83230352-DOC-TAS-EN-001 EXOMARS 2018 RSM Optimisation A.Merlo C. Legnani

2 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Environment and RM Power Generation ENVIRONMENTAL CONSTRAINTS AND RM POWER GENERATION 2

3 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Environmental Conditions and Constraints 1 - Solar Longitude (LS) : from 336 (after Egress and commissioning) to 70 (End Of Mission) 2 - Latitude : from 5 South to 25 North ParametersDiscretization 1 – Solar Longitude336 | 20 | 70 2 – Latitude-5 | 10 | 25 9 simulator runs Note: Solar Panel Dust Degradation and Optical Depth linked to LS as for Mars Environmental Spec (2018 MENV-340) Dust Deposition modelled by linear degradation with rate 0.3%/sol from start of the mission until sol 100 followed by a linear degradation with rate 0.03%/sol 3

4 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Favored Landing Sites LS Name Ellipse pattern's centre coordinates MOLA altitude: max (avg) km Mawrth Vallis 1&222.20° N, 342.00° E–1.8 (–2.2) Oxia Planum 118.20° N, 335.45° E–2.8 (–3.1) Hypanis Vallis11.80° N, 314.96° E–2.3 (–2.7) Oxia Palus07.87° N, 348.80° E–1.9 (–2.1) 4

5 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Solar Fluxes – Direct / Reflected Solar Longitude (LS) Latitude -5 10 25 336 20 70 Mars Climate Database v.4.1 05:48 a.m.05:59 p.m. 06:01 a.m.05:50 p.m. 06:16 a.m.05:36 p.m. 06:01 a.m.05:50 p.m. 05:48 a.m. 06:03 p.m. 05:43 a.m.06:08 p.m. 06:06 a.m.05:49 p.m. 05:44 a.m. 06:16 p.m. 05:15 a.m.06:41 p.m. 5 -Day / Night duration: The analysis leads to define the daylight duration as 12hours (6 a.m. to 6 p.m.). It is to be noted that the Rover activities can be effectively executed only when the energy generation is above a certain threshold: as a consequence the daily Rover activity duration is assumed to be 10 hours. -Solar Fluxes: Based on the analyzed data it was agreed that the typical case is represented by the 10deg North Latitude, 20deg Solar Longitude.

6 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Temperatures – Ground / Air / Sky 3362070 Solar Longitude (LS) Latitude -5 10 25 Max Ground Temp266Min Ground Temp173 Max Air Temp246Min Air Temp175 Max sky Temp169Min sky Temp145 Max Ground Temp282Min Ground Temp180 Max Air Temp261Min Air Temp181 Max sky Temp179Min sky Temp151 Max Ground Temp289Min Ground Temp183 Max Air Temp268Min Air Temp184 Max sky Temp185Min sky Temp154 Max Ground Temp278Min Ground Temp175 Max Air Temp256Min Air Temp177 Max sky Temp165Min sky Temp141 Max Ground Temp281Min Ground Temp176 Max Air Temp259Min Air Temp177 Max sky Temp167Min sky Temp141 Max Ground Temp278Min Ground Temp174 Max Air Temp255Min Air Temp175 Max sky Temp164Min sky Temp139 Max Ground Temp279Min Ground Temp176 Max Air Temp257Min Air Temp178 Max sky Temp162Min sky Temp139 Max Ground Temp275Min Ground Temp172 Max Air Temp252Min Air Temp174 Max sky Temp157Min sky Temp135 Max Ground Temp264Min Ground Temp167 Max Air Temp241Min Air Temp168 Max sky Temp149Min sky Temp129 Mars Climate Database v.4.1 6 -Temperature (Ground, Air, Sky): Based on the analyzed data it was agreed that the typical case is represented by the 10deg North Latitude, 20deg Solar Longitude.

7 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Winds – NS / EW (1m height) 3362070 Solar Longitude (LS) Latitude -5 10 25 Mars Climate Database v.4.1 7 -Winds: Based on the analyzed data it was agreed that the typical case is represented by the 10deg North Latitude, 20deg Solar Longitude. The winds are affecting the warm- up time, hence the biggest impact on the power budget and preparation of operations has been identified in the morning timeframe. It is to be noted that the magnitude of the winds is always less than 6m/s for the Typical Sol.

8 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RM Generation – Parameters & Assumptions Simulation parameters/assumptions: 40 strings (assuming 1 failed) of 18 cells 3G30, for a total of 2.2m 2 5000 : Number of photons launched per spectral band 324 to EoM : Ls Solar longitude (deg) -5 to 25 : Latitude (deg) 0 to 24 : Local True Solar Time 0.2 : Surface ground albedo (Spectrally integrated) 0 : Surface spectral type X: Optical depth of dust at reference wavelength (0.67 micron) 0.0 : Optical depth of cloud layer at reference wavelength (0.67 micron) 0.4 : Height of cloud (given by dust optical thickness below cloud) 1: Number of solar panel direction 0.0 : Zenith angle of normal vector to solar panel (deg) 0.0 : Azimuth angle 0: RM on flat surface (deg) Y: dust deposition on SA (%) 27.1: Solar Cells conversion efficiency in percentage (%) 10: Shadowing (%) 8

9 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Power - Energy Generation Curves NOMINAL LANDING 2018 Rover Module Energy effective generation capability of the current RM design (full environment and RM generation chain implemented, including cell type, number of cells, efficiencies, dust deposition, shadowing, OD profile, battery model, etc...). GENERATION - ROSEX ENERGY: RM designed to support Ops at this Landing date. Advise to select a Landing Site in the North hemisphere. NO IMPACT COMMS: Superior Solar conjunction happens just after the end of Reference surface Mission. NO IMPACT (or impact on the extended mission, if any) NO COMMS 9 -Power Generation capability (depending on Latitude, Solar Longitude, Optical Depth, dust deposition on solar arrays): Based on the analyzed data it was agreed that the typical case is represented by the 10deg North Latitude, 20deg Solar Longitude, corresponding 1200Wh x Sol. In the identified Typical Sol case the Optical Depth to be considered is 0.75. The dust deposition on the Rover external surfaces to be considered are the typical values applicable after 109 Sols on the Mars surface.

10 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Summary of Environmental Constraints affecting Ops -Day / Night duration: The analysis leads to define the daylight duration as 12hours (6 a.m. to 6 p.m.). It is to be noted that the Rover activities can be effectively executed only when the energy generation is above a certain threshold: as a consequence the daily Rover activity duration is assumed to be 10 hours. -Power Generation capability (depending on Latitude, Solar Longitude, Optical Depth, dust deposition on solar arrays): Based on the analyzed data it was agreed that the typical case is represented by the 10deg North Latitude, 20deg Solar Longitude, corresponding 1200Wh x Sol. Currently RSM daily Operations cannot be completed within the (assumed 10hour) operational window. Problem to be discussed at ESWT with the aim of reducing/moving science ops to fit the 10hours daily operational time. Depending on what has been done on the previous day, sometimes the battery state of charge is not enough for completing the planned RSM operations in sequence. Dozing sols are needed. Problem to be discussed at ESWT with the aim of reducing/moving science ops to fit the daily max pwr consumption of 1200Wh. -Communication/TGO passes: the daily essential data is sometime not fully upload-able because of TGO communications variability. The induced inefficiency on RSM execution is included in P.Franceschetti presentation 10

11 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space What to do on Mars REFERENCE SURFACE MISSION & FEASIBILITY 11

12 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Definitions – ESA RSM 12 Extract from EXM-PL-RS-ESA-00002 Is.5 Rev.1 Nominal Landing Ls = 324 deg Backup Landing Ls =34 deg 5 South < Latitude < 25 North 12

13 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Definitions – RSM Operational Macro-Bricks Extract from MOCD EXM-RM-DRP-AI-0014 issue 6 EC VS LT MC 13

14 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM FEASIBILITY ANALYSIS – Favored Landing Sites LS Name Ellipse pattern's centre coordinates MOLA altitude: max (avg) km Mawrth Vallis 1&222.20° N, 342.00° E–1.8 (–2.2) Oxia Planum 118.20° N, 335.45° E–2.8 (–3.1) Hypanis Vallis11.80° N, 314.96° E–2.3 (–2.7) Oxia Palus07.87° N, 348.80° E–1.9 (–2.1) A closed loop RSM simulation run has been executed for each of the four favoured landing sites and presented at the RSM Optimisation Meeting (July 2014) and at the S-PDR(October 2014), demonstrating the feasibility in terms of power/energy balance of the Surface Operations Phase, but with very low margin (<10sols with no system margin applied on power consumption) and not considering the TGO induced inefficiency. This because:  the Measurement Cycle/Vertical Survey sequences were longer then foreseen (science/engineering activities split in 2 sols because lasting more than 10 hours)  several Dozing sols have been added to tackle the lack of power (avoiding switch to Hibernation Mode) PhaseSols #Comment EC#1 – LT for 70m11 x Foreseen Travel Sol (70m) EC#1 – MC201 x Interleaved MC EC#2 – LT for 100m22 x Foreseen Travel Sol (140m) EC#2 – MC201 x Interleaved MC EC#3 – LT for 200m33 x Foreseen Travel Sol (210m) EC#3 – MC201 x Interleaved MC EC#4 – LT for 300m55 x Foreseen Travel Sol (350m) EC#4 – MC201 x Interleaved MC EC#5 – LT for 400m66 x Foreseen Travel Sol (420m) EC#5 – MC201 x Interleaved MC VS#1251 x VS EC#6 – LT for 500m77 x Foreseen Travel Sol (490m) EC#6 – MC201 x Interleaved MC VS#2251 x VS ROVER MODULE ROSEX SIMULATIONS EXM-RM-TNO-AI-0379 Is.1 RESULTS CAN BE FOUND IN 14

15 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimization Meeting - Outcome These results have been presented at the RSM Optimisation Meeting (July 2014) and at the S- PDR(October 2014), and the following conclusions & way forward were drawn 15 Identified issues affecting margin 1 - Operations cannot be completed within the (assumed 10–hour) operational window 3 - The duration between the daily uplink and downlink communications sessions that TGO can support is insufficient for the duration of the expected sequence of operations for the day (meaning reduction of the effective working time and limited data transfer availability) 2 - Energy balance is insufficient to support the entire sequence of operations of the day. Depending on what has been done on the previous day, sometimes the battery state of charge is not enough for completing the planned operations. Refer to Paola presentation -Drilling + MaMiss Sols: Drill ops are long and leave few time to MaMiss ops. 1 - Priority should be given to the 2m depth drilling; 2 - Decrease the medium soil to drill from 20 to 10cm -WISDOM region characterization (WISDOM Pattern): 5x5m grid cannot fit in one Sol. 1 - Replace PanCam with Navcam Images? 2 - Change WSD pattern? -Survey analysis (MicrOmega + Raman + MOMA LDMS broad survey) Sol: cannot fit in one Sol (as for RSM). 1 – Reduce number of RLS measures? -Parallelization (e.g. for warm-up) should be used whenever possible Refer to next slides -Long Travelling: power demanding engineering ops. Increase efficiency: 1 - Increase speed? 2 - Increase distance to be travelled at each stop; 3 - blind travelling, etc. -WISDOM region characterization (WISDOM Pattern): 1 - Change WSD pattern? 2 - Change sounding strategy (distance, #, etc)? -Drilling: stationary ops. 1 - Trimming Solar Arrays to increase generation? 2 - Decrease the medium soil to drill from 20 to 10cm? Refer to next slides

16 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: Drilling + MaMiss RSM OPTIMISATION - Drilling + MaMiss - RSM OPTIMISATION - Drilling + MaMiss - 16

17 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #8: Requirement 17

18 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #8: Clean run without MaMiss 18 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]03:10:27 Global Energy w/o 20% System Margin [Wh]799.7 Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 Warm-Up Mobility SS 08:30:00 0 hours 30 minutes 09:00:00 AbsLoc + Move 5m for Drill Placement 09:00:00 1 hours 22 minutes 10:21:37 Warmup, Deploy and Move Drill to Drilling Position 10:21:37 0 hours 23 minutes 10:44:21 Drill in Loose Soil for 500mm (30mm/min) 10:44:21 0 hours 16 minutes 11:00:40 Retract of 500mm (50mm/ min) and retract rod 11:00:40 0 hours 17 minutes 11:17:05 CLUPI Colour Image of the Drill Fines 11:17:05 0 hours 07 minutes 11:23:48 ADRON PASSIVE 10 x WAC RRGB 11:23:48 0 hours 17 minutes 11:40:27 Dozing 11:40:27 6 hours 20 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00

19 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #8: Considerations & Science 19 Time currently left to MaMiss science [hh:mm:ss] 06:19:33 Executable MaMiss Tasks (Operational Procedures) (from EXM-MA-PLN-SES-0011 Is.2d 26/11/2014) MaMiss_Calibration 00:13:30 MaMiss_Ring_Max_Resolution(631points) 00:43:59 MaMiss_Ring_High_Resolution(315points) 00:27:36 MaMiss_Ring_Low_Resolution(63points) 00:14:32 MaMiss_Column_High_Resolution(2mm step) 03:45:56 MaMiss_Column_Low_Resolution(10mm step) 01:45:37 Ops Duration RSM Request 2 x MaMiss_Calibration 5 x MaMiss_Ring_High_Resolution(315points) 1 x MaMiss_Column_Low_Resolution(10mm step) Total MaMiss Ops Time: 04:30:37 OK

20 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #9: Requirement 20

21 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #9: Clean run without MaMiss 21 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]02:55:31 Global Energy w/o 20% System Margin [Wh]719.3 ADRON PASSIVE Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 Warmup and Move Drill to Drilling Position 08:30:00 0 hours 17 minutes 08:46:34 Go down 500mm in existing hole (50mm/min) 08:46:34 0 hours 10 minutes 08:56:34 Mount Extension Rod #1 08:56:34 0 hours 50 minutes 09:46:14 Drill in Loose Soil for 500mm (30mm/min) 09:46:14 0 hours 17 minutes 10:02:33 Retract of 500mm (50mm/min) 0 hours 10 minutes 10:02:33 10:12:33 Unmount Extension Rod #1 10:12:33 0 hours 50 minutes 11:02:18 Retract of 500mm (50mm/ min) and retract rod 11:02:18 0 hours 17 minutes 11:18:47 CLUPI Color Image of the Drill Fines 11:18:47 0 hours 07 minutes 11:25:31 Dozing 11:25:31 6 hours 34 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00

22 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #9: Considerations & Science 22 Time currently left to MaMiss science [hh:mm:ss] 06:34:29 Executable MaMiss Tasks (Operational Procedures) (from EXM-MA-PLN-SES-0011 Is.2d 26/11/2014) MaMiss_Calibration 00:13:30 MaMiss_Ring_Max_Resolution(631points) 00:43:59 MaMiss_Ring_High_Resolution(315points) 00:27:36 MaMiss_Ring_Low_Resolution(63points) 00:14:32 MaMiss_Column_High_Resolution(2mm step) 03:45:56 MaMiss_Column_Low_Resolution(10mm step) 01:45:37 Ops Duration RSM Request 2 x MaMiss_Calibration 5 x MaMiss_Ring_High_Resolution(315points) 1 x MaMiss_Column_Low_Resolution(10mm step) Total MaMiss Ops Time: 04:30:37 OK

23 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #10: Requirement 23

24 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #10: Clean run without MaMiss 24 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]08:16:14 Global Energy w/o 20% System Margin [Wh]1103.1 ADRON PASSIVE Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 Warmup and Move Drill to Drilling Position 08:30:00 0 hours 17 minutes 08:46:34 Go down 500mm in existing hole (50mm/min) 08:46:34 0 hours 10 minutes 08:56:34 Mount Extension Rod #1 08:56:34 0 hours 50 minutes 09:46:14 Go down 500mm in existing hole (50mm/min) 09:46:14 0 hours 10 minutes 09:56:14 Mount Extension Rod #2 09:56:14 0 hours 50 minutes 10:46:07 Drill in Loose Soil for 400mm (30mm/min) 10:46:07 0 hours 13 minutes 10:59:08 Drill in Medium Soil for 100mm (1mm/min) 10:59:08 1 hours 37 minutes 12:36:10 Collect Sample in Medium Soil (coring) 12:36:10 0 hours 38 minutes 13:14:15 Retract of 500mm (50mm/min) 13:14:15 0 hours 10 minutes 13:24:15 Unmount Extension Rod #2 13:24:15 0 hours 50 minutes 14:14:14 Retract of 500mm (50mm/min) 14:14:14 0 hours 10 minutes 14:24:14 Unmount Extension Rod #1 14:24:14 0 hours 50 minutes 15:14:03 Retract of 500mm (50mm/ min) and retract rod 15:14:03 0 hours 17 minutes 15:30:36 CLUPI Color Image of the Drill Fines 15:30:36 0 hours 07 minutes 15:37:11 Move to Sample deliv. pos., open CSTM, warmup PTU 15:37:11 0 hours 39 minutes 16:16:54 CSTM Image with HRC and Sample Release 16:16:54 0 hours 12 minutes 16:28:49 Image with HRC/CLUPI and CSTM closure 16:28:49 0 hours 12 minutes 16:40:15 Park Drill and move RM to dozing configuration 16:40:15 0 hours 06 minutes 16:46:14 Dozing 16:46:14 1 hours 14 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00

25 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #10: Considerations & Science 25 Time currently left to MaMiss science [hh:mm:ss] 01:13:46 Executable MaMiss Tasks (Operational Procedures) (from EXM-MA-PLN-SES-0011 Is.2d 26/11/2014) MaMiss_Calibration 00:13:30 MaMiss_Ring_Max_Resolution(631points) 00:43:59 MaMiss_Ring_High_Resolution(315points) 00:27:36 MaMiss_Ring_Low_Resolution(63points) 00:14:32 MaMiss_Column_High_Resolution(2mm step) 03:45:56 MaMiss_Column_Low_Resolution(10mm step) 01:45:37 Ops Duration RSM Request 2 x MaMiss_Calibration 5 x MaMiss_Ring_High_Resolution(315points) 1 x MaMiss_Column_Low_Resolution(10mm step) Total MaMiss Ops Time: 04:30:37 KO

26 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space Vertical Survey: Considerations & Science 26 Take sample at 0.5m depth and deliver to CSTM (assuming 400mm loose soil and 100mm in medium soil, coring in medium soil) Take sample at 1.0m depth and deliver to CSTM (assuming 500mm insertion in previous hole, 400mm loose soil and 100mm in medium soil, coring in medium soil) Take sample at 2.0m depth and deliver to CSTM (assuming 1500mm insertion in previous hole, 400mm loose soil and 100mm in medium soil, coring in medium soil) Take sample at 1.5m depth and deliver to CSTM (assuming 1000mm insertion in previous hole, 400mm loose soil and 100mm in medium soil, coring in medium soil) VS: Drilling Sol #1VS: Drilling Sol #3 VS: Drilling Sol #2VS: Drilling Sol #4 Ops Duration (no MaMiss): 04:10:00 Time left to MaMiss science:05:20:00 OK Ops Duration (no MaMiss): 08:10:00 Time left to MaMiss science:01:20:00 KO Ops Duration (no MaMiss): 06:10:00 Time left to MaMiss science:03:20:00 Reduced Ops Duration (no MaMiss): 10:10:00 Time left to MaMiss science:00:00:00 KO

27 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: Drilling + MaMiss Discussion & Way Forward -MaMiss can sometimes be unusable due to the type of terrain and/or drilling depth. This will be decided onboard thanks to the MMS validation + replanning strategy. Priority will be given to the Drilling Operation. - In case of shortage of time/energy, which are the most important MaMiss Tasks to keep in the sequence? Is it better to compromise resolution or reduce the number of measures? Which is the minimum set of representative measures? Discussion & Way Forward -MaMiss can sometimes be unusable due to the type of terrain and/or drilling depth. This will be decided onboard thanks to the MMS validation + replanning strategy. Priority will be given to the Drilling Operation. - In case of shortage of time/energy, which are the most important MaMiss Tasks to keep in the sequence? Is it better to compromise resolution or reduce the number of measures? Which is the minimum set of representative measures? 27

28 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: WISDOM region characterization RSM OPTIMISATION - WISDOM region characterization - RSM OPTIMISATION - WISDOM region characterization - 28

29 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #7: Requirement 29

30 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #7: Current Implem. 5mx5m 2 Sols 30 5m 1m 2 POINT TURNS Number of 90deg Point Turns: 10 Time to perform 90deg Point Turn:180s Time to perform all Point Turns:1800s WAC RR Images Number of WAC RR Images:7 Time to perform a WAC RR Image:315s Time to perform all WAC RR Images:2205s WISDOM Full Soundings (EXM-WI-BDG-LAT-0140 1.4) Number of WAC RR Images:306 Stop for a Full Sounding duration:47s Time to perform all Point Turns:14382s 30m “WISDOM Active” Path + 5m “WISDOM Passive” Path to cover the 5mx5m Region, performing Path Checking stop every 2.3m and WISDOM Full soundings every 10cm. Active & Passive WISDOM lines strategy Number of 2.3m Navigation Cycles:14 Perception and Path checking @each stop:279s Travelling for 2.3m Active at 9.6m/h:862s Travelling for 5m Passive at 32m/h:562s Time to perform all Point Turns:16536s Start Sol_2 TOTAL OPS DURATION ( assuming all equipment ready and warmed up ): 9 hour 45min TOTAL AVAILABLE TIME ( excluding comms & preparatory activities ): 8 hour 15min X X

31 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #7: Rosex TAPS Output 31 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]06:23:55 Global Energy w/o 20% System Margin [Wh]1184.7 ADRON PASSIVE Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 Warm-up, AbsLoc and 5m Autonav to candidate site 08:30:00 1 hours 16 minutes 09:45:33 WAC RR Image at begin of path (including warmup) 09:45:33 0 hours 10 minutes 09:55:00 WISDOM Initialisation and Parameters Adjustement 09:55:00 0 hours 12 minutes 10:06:44 1# WISDOM Active Path (5m, full sounding @ 0.1m) 10:06:44 1 hours 20 minutes 11:27:09 WAC RR Image and move to next WISDOM row (1m) 11:27:09 0 hours 14 minutes 11:41:53 2# WISDOM Active Path (5m, full sounding @ 0.1m) 11:41:53 1 hours 19 minutes 13:00:19 WAC RR Image and move to next WISDOM row (1m) 13:00:19 0 hours 14 minutes 13:14:40 3# WISDOM Active Path (5m, full sounding @ 0.1m) 13:14:40 1 hours 19 minutes 14:33:05 WAC RR Image and move to next WISDOM row (1m) 14:33:05 0 hours 20 minutes 14:53:55 Dozing 14:53:55 3 hours 06 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00

32 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #7: Proposal “square spiral” 32 4m 5m 1m 2 POINT TURNS Number of 90deg Point Turns: 9 Time to perform 90deg Point Turn:180s Time to perform all Point Turns:1620s WAC RR Images Number of WAC RR Images:6 Time to perform a WAC RR Image:315s Time to perform all WAC RR Images:1890s WISDOM Full Soundings (EXM-WI-BDG-LAT-0140 1.4) Number of WAC RR Images:291 Stop for a Full Sounding duration:47s Time to perform all Point Turns:13677s 29m “WISDOM Active” Path length to cover the 4mx5m Region, performing Path Checking stop every 2.3m and WISDOM Full soundings every 10cm. “Active WISDOM” lines strategy Number of 2.3m Navigation Cycles:13 Perception and Path checking @each stop:279s Travelling for 2.3m at 9.6m/h:862s Time to perform all Point Turns:14833s TOTAL OPS DURATION ( assuming all equipment ready and warmed up ): 8 hour 55min TOTAL AVAILABLE TIME ( excluding comms & preparatory activities ): 8 hour 15min X X

33 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #7: Proposal “Archimedean Spiral” 33 5m 1m 2 WAC RR Images Number of WAC RR Images:4 Time to perform a WAC RR Image:315s Time to perform all WAC RR Images:1260s WISDOM Full Soundings (EXM-WI-BDG-LAT-0140 1.4) Number of WAC RR Images:287 Stop for a Full Sounding duration:47s Time to perform all Point Turns:13489s 28.6m “WISDOM Active” Path length to cover the Region, performing Path Checking stop every 2.3m and WISDOM Full soundings every 10cm. “Active WISDOM” lines strategy Number of 2.3m Navigation Cycles:13 Perception and Path checking @each stop:279s Travelling for 2.3m at 9.6m/h:862s Time to perform all Point Turns:14833s 1m TOTAL OPS DURATION ( assuming all equipment ready and warmed up ): 8 hour 15min TOTAL AVAILABLE TIME ( excluding comms & preparatory activities ): 8 hour 15min √ √

34 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: WISDOM region characterization Discussion & Way Forward -WISDOM region characterization as foreseen by the RSM is not possible in one Sol. -An alternative Solution is provided to keep the Sounding Type (Full Polarimetric) and distance (10cm). This solution is “incremental”, meaning that if time/energy will be available the RM will keep mapping until possible, increasing the spiral length and area coverage. This will be decided onboard thanks to the MMS validation + replanning strategy. -Other solutions may be discussed but lead to compromise the type of measure or path safety: Less soundings per spot? More distance between spots? Decrease control accuracy (-> increase RV speed)? Remove path checking? Discussion & Way Forward -WISDOM region characterization as foreseen by the RSM is not possible in one Sol. -An alternative Solution is provided to keep the Sounding Type (Full Polarimetric) and distance (10cm). This solution is “incremental”, meaning that if time/energy will be available the RM will keep mapping until possible, increasing the spiral length and area coverage. This will be decided onboard thanks to the MMS validation + replanning strategy. -Other solutions may be discussed but lead to compromise the type of measure or path safety: Less soundings per spot? More distance between spots? Decrease control accuracy (-> increase RV speed)? Remove path checking? 34

35 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: Long Travelling RSM OPTIMISATION - Long Travelling- RSM OPTIMISATION - Long Travelling- 35

36 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: Long Travelling Definition Extract from MOCD EXM-RM-DRP-AI-0014 issue 6 TBC In the RSM Long Travelling sequences are expected as follows:  About 60m from landing site  About 50m to MC#1  About 100m to MC#2  About 200m to MC#3  About 300m to MC#4  About 400m to MC#5 & VS#1  About 500m to MC#6 & VS#2 Expected travel per day is a requirement (debated between 70 and 100 meters) as it depends on several parameters: Ls, Latitude, Elapsed time, …

37 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: Long Travelling Dependences The “reality” is that the rover can travel at a net speed of 14m/h (autonomous navigation)… and the travelling time is driven by the boundary conditions (GNC_NavigateTo Action) Travelling can also be executed “blind”. In this case a path is uploaded and the rover does not stop to compute the DEM, leading to a net speed of 38m/h (40m/h - 5% slippage) (GNC_MoveTo Action) Sol distance is the result the mixture of environmental condition (LS and related OD, Latitude), elapsed time (Solar Arrays degradation), type of travelling (blind or autonav). Availability of HiRise Images @ high accuracy (e.g. 25cm pixel) will let the planning of “blind” paths from Ground, improving the LT performances

38 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #14-17: Requirement 38

39 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #14-17: Rosex TAPS Output 39 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]06:46:32 Global Energy w/o 20% System Margin [Wh]1274.7 ADRON PASSIVE Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 Wait 45minutes for power generation and Thrm. Env. 08:30:00 0 hours 45 minutes 09:15:00 Warm-up Mobility equipment 09:15:00 0 hours 30 minutes 09:45:00 Move 40m “blind”, with WSD sounding every 10m 09:45:00 1 hours 15 minutes 11:00:35 Autonav 60m, with WSD sounding every 10m 11:00:35 4 hours 46 minutes 15:46:39 11 x WAC RR Stereo to select next sol path 15:46:39 0 hours 15 minutes 16:01:32 Dozing 16:01:32 1 hours 59 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00

40 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: Long Travelling Discussion & Way Forward -Availability of HiRise Images @ high accuracy (e.g. 25cm pixel) + PanCam Images at the end of the path will let the planning of “blind” paths from Ground, improving the LT performances -Other engineering solutions are currently not supported by the RV design: - Increase the speed when extra power is available; - Increase the distance executed between each autonomous navigation path planning (depending on the nature of the terrain to be traversed) -Solar Array trimming functionality is currently under discussion. However the expected gain is very low (<7% per Sol) Discussion & Way Forward -Availability of HiRise Images @ high accuracy (e.g. 25cm pixel) + PanCam Images at the end of the path will let the planning of “blind” paths from Ground, improving the LT performances -Other engineering solutions are currently not supported by the RV design: - Increase the speed when extra power is available; - Increase the distance executed between each autonomous navigation path planning (depending on the nature of the terrain to be traversed) -Solar Array trimming functionality is currently under discussion. However the expected gain is very low (<7% per Sol) 40

41 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: Survey Analysis RSM OPTIMISATION - Survey Analysis- RSM OPTIMISATION - Survey Analysis- 41

42 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #4: Requirement 42

43 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #4: Rosex TAPS Output 43 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]03:31:00 Global Energy w/o 20% System Margin [Wh]820.1 ADRON PASSIVE Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 Warm-up Mobility SS and Move over the outcrop 08:30:00 1 hours 28 minutes 09:58:11 Warm-up & deploy Drill. Image with CLUPI. 09:58:11 0 hours 24 minutes 10:21:51 Collect Sample in Medium Soil (coring) 10:21:51 0 hours 53 minutes 11:14:20 CLUPI Color Image of the Drill Fines 11:14:20 0 hours 07 minutes 11:21:03 Move to Sample deliv. pos., open CSTM 11:21:03 0 hours 19 minutes 11:39:23 Sample Release & Image with HRC and CLUPI 11:39:23 0 hours 13 minutes 11:51:53 CSTM closure & Park Drill 11:51:53 0 hours 10 minutes 12:01:00 Dozing 12:01:00 5 hours 59 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00

44 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #4: Considerations & Science 44 Time currently left to RLS Calibration [hh:mm:ss] 05:59:00 Executable RAMAN Operational Procedures (from RLS-INT-RP-050 Is.1.1 16/07/2014) OK

45 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #5: Requirement 45

46 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #5: Rosex TAPS Output 1 st 46 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]08:21:48 Global Energy w/o 20% System Margin [Wh]959.4 Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 Crush, Dose, Flatten and bring Sample to MMega 08:30:00 2 hours 02 minutes 10:31:43 2 x MicrOmega Spectral Cubes + PSHS movement 10:31:43 0 hours 30 minutes 11:01:04 20 x RAMAN spectra + PSHS movements 11:01:04 5 hours 50 minutes 16:51:39 Dozing 16:51:39 1 hours 09 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00 ADRON PASSIVE

47 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #5: Rosex TAPS Output 2 nd 47 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]01:51:50 Global Energy w/o 20% System Margin [Wh]752.0 ADRON PASSIVE Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 MOMA LDMS broad survey (3 PSHS positions) 08:30:00 2 hours 02 minutes 10:21:50 Dozing 10:21:50 7 hours 38 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00

48 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #5: Considerations & Science 48 2h 00min 0h 30min 5h 50min 2h 00min TOTAL OPS DURATION (without communication): 10 hour 20 min X X

49 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #6: Requirement 49

50 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Measurement Cycle Sol #6: Rosex TAPS Output 50 Activity / State Duration Start Time End Time RAPDL Input File Ops Duration excluding Comms [hh:mm:ss]04:35:26 Global Energy w/o 20% System Margin [Wh]1005.3 ADRON PASSIVE Nominal Night 00:00:00 8 hours 0 minutes 08:00:00 RV_WakeUp + Comms 08:00:00 0 hours 30 minutes 08:30:00 Fill MOMA oven and analyze with MMega 08:30:00 0 hours 26 minutes 08:55:24 Tap MOMA Oven and present to MOMA GCMS 08:55:24 0 hours 17 minutes 09:12:05 MOMA GCMS run 09:12:05 3 hours 16 minutes 12:27:24 6xWAC RRGB to select region to map with WSD 12:27:24 0 hours 38 minutes 13:05:26 Dozing 13:05:26 4 hours 54 minutes 18:00:00 Comms + Prepare4Night 18:00:00 0 hours 30 minutes 18:30:00 Nominal Night 18:30:00 5 hours 30 minutes 24:00:00

51 This document is not to be reproduced, modified, adapted, published, translated in any material form in whole or in part nor disclosed to any third party without the prior written permission of Thales Alenia Space -  2012, Thales Alenia Space RSM Optimisation: Survey Analysis Discussion & Way Forward -RSM Measurement Cycle Sol #4: RAMAN Calibration (currently < 2h) can be performed before the surface sample acquisition, depending on the duration of Mobility & Drill warm-ups and drilling/coring ops. It can be hard to fit the RAMAN calibration for the subsurface sample (refer to RSM Measurement Cycle Sol #10, slide 23-24-25). -RSM Measurement Cycle Sol #5: cannot be performed in one sol. At least one hour shall be recovered to fit in one sol (RAMAN reduction from 20 to 15 spots? MOMA LDMS broad script reduction to 1 hour?). -RSM Measurement Cycle Sol #6: Ok as is. -No info found related to the MMS processing needed to extract from MicrOmega the interesting spots for RAMAN and MOMA. Currently Open Loop Discussion & Way Forward -RSM Measurement Cycle Sol #4: RAMAN Calibration (currently < 2h) can be performed before the surface sample acquisition, depending on the duration of Mobility & Drill warm-ups and drilling/coring ops. It can be hard to fit the RAMAN calibration for the subsurface sample (refer to RSM Measurement Cycle Sol #10, slide 23-24-25). -RSM Measurement Cycle Sol #5: cannot be performed in one sol. At least one hour shall be recovered to fit in one sol (RAMAN reduction from 20 to 15 spots? MOMA LDMS broad script reduction to 1 hour?). -RSM Measurement Cycle Sol #6: Ok as is. -No info found related to the MMS processing needed to extract from MicrOmega the interesting spots for RAMAN and MOMA. Currently Open Loop 51


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