Goodrich Corporation

Abstract: Decades of speculation about a warmer, wetter Mars climate in the planet’s first billion years postulate a denser CO2-rich atmosphere than at present. Such an atmosphere should have led to the formation of outcrops rich in carbonate minerals, for which evidence has been sparse. Using the Mars Exploration Rover Spirit, we have now identified outcrops rich in magnesium-iron carbonate (16 to 34 weight percent) in the Columbia Hills of Gusev crater. Its composition approximates the average composition of the carbonate globules in martian meteorite ALH 84001. The Gusev carbonate probably precipitated from carbonate-bearing solutions under hydrothermal conditions at near-neutral pH in association with volcanic activity during the Noachian era.

Abstract: In December 2013, 16 teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics Challenge DRC Trials, an aggressive robotics competition partly inspired by the aftermath of the Fukushima Daiichi reactor incident. While the focus of the DRC Trials is to advance robotics for use in austere and inhospitable environments, the objectives of the DRC are to progress the areas of supervised autonomy and mobile manipulation for everyday robotics. NASA's Johnson Space Center led a team comprised of numerous partners to develop Valkyrie, NASA's first bipedal humanoid robot. Valkyrie is a 44 degree-of-freedom, series elastic actuator-based robot that draws upon over 18 years of humanoid robotics design heritage. Valkyrie's application intent is aimed at not only responding to events like Fukushima, but also advancing human spaceflight endeavors in extraterrestrial planetary settings. This paper presents a brief system overview, detailing Valkyrie's mechatronic subsystems, followed by a summarization of the inverse kinematics-based walking algorithm employed at the Trials. Next, the software and control architectures are highlighted along with a description of the operator interface tools. Finally, some closing remarks are given about the competition, and a vision of future work is provided.

Abstract: A principal goal of the Mars Science Laboratory (MSL) rover Curiosity is to identify and characterize past habitable environments on Mars. Determination of the mineralogical and chemical composition of Martian rocks and soils constrains their formation and alteration pathways, providing information on climate and habitability through time. The CheMin X-ray diffraction (XRD) and X-ray fluorescence (XRF) instrument on MSL will return accurate mineralogical identifications and quantitative phase abundances for scooped soil samples and drilled rock powders collected at Gale Crater during Curiosity’s 1-Mars-year nominal mission. The instrument has a Co X-ray source and a cooled charge-coupled device (CCD) detector arranged in transmission geometry with the sample. CheMin’s angular range of 5∘ to 50∘ 2θ with 13 that are contained in the sample. The CheMin XRD is equipped with internal chemical and mineralogical standards and 27 reusable sample cells with either Mylar® or Kapton® windows to accommodate acidic-to-basic environmental conditions. The CheMin flight model (FM) instrument will be calibrated utilizing analyses of common samples against a demonstration-model (DM) instrument and CheMin-like laboratory instruments. The samples include phyllosilicate and sulfate minerals that are expected at Gale crater on the basis of remote sensing observations.