Perseverance

Program pages NASA: Perseverance

Perseverance photographed by the WATSON camera on its arm turret at the Three Forks sample depot in Jezero crater on sol 684, 22 January 2023, a mosaic of 59 frames. One of the ten deposited sample tubes lies on the ground in front of the rover; the 52.5 cm wheels, the MMRTG at the rear and the mast head carrying Mastcam-Z and SuperCam are all visible NASA/JPL-Caltech/MSSS. Public domain (NASA / US government work).

Overview

Perseverance caches rock cores for later return to Earth. Chassis, mobility system and sky crane landing architecture are inherited from Curiosity; payload, avionics and entry sensing were reworked.

Specifications

Parameter	Value
Mass	1025 kg
Length	approximately 3 m
Wheel diameter	52.5 cm
Distance advanced per wheel revolution	1.65 m
Maximum wheel speed	4.2 cm/s, approximately 150 m/h
Arm	5 joints, 2.1 m
Power source	MMRTG, approximately 110 W at launch, approximately 45 kg

Values from [6].

Mission profile

Parameter	Value	Source
Landing	18 February 2021, Jezero crater	[13], [19]
Landing point	about 2 km from the western delta front	[13]
Jezero crater diameter	45 km, on the western edge of Isidis Planitia	[19]
Traverse through the crater floor campaign	more than 5 km, seven abrasion patches	[13]
Distance driven as of October 2024	more than 30 km	[19]
Samples collected	24 rock and regolith samples and one atmospheric sample
Sample depot	ten tubes deposited at Three Forks

The mission page carries totals the retrieved literature does not: more than 30 km driven as of October 2024 and 24 rock and regolith samples plus one atmospheric sample [19], against the more than 5 km and seven abrasion patches recorded for the crater floor campaign in the mission overview paper [13]. It also records the July 2024 Cheyava Falls sample from Sapphire Canyon, validated in September 2025 as containing a potential biosignature.

Commissioning ran on a fixed schedule: cruise to surface flight software transition on sols 5 to 8, Remote Sensing Mast deployment on sol 2, robotic arm deployment on sol 12, first drive on sol 14 [13]. Ingenuity was deployed over sols 36 to 43 and flew its technology demonstration campaign over sols 44 to 73. By the end of the crater floor campaign the rover had traversed more than 5 km and created seven abrasion patches [19].

Mobility

The suspension is the Curiosity rocker-bogie with six driven and four steered wheels. The wheels were redesigned against Curiosity’s damage record: 52.5 cm diameter aluminum with curved titanium spokes and cleats, one revolution advancing the rover 1.65 m [6]. The skin is thicker and the grousers more numerous and less aggressive than Curiosity’s, spreading the load an embedded rock applies over more material.

Drive rate	Value	Source
Maximum wheel speed	4.2 cm/s, approx 150 m/h	[6]
Top speed, flat hard ground	approx 152 m/h	[3]
Curiosity autonomous rate, stop-to-compute	15 to 18 m/h
Perseverance autonomous rate, computing while driving	approx 110 m/h

The gap between the two autonomous rates is a compute architecture result, not an actuator one: the actuators are the same class as Curiosity’s and the maximum commanded wheel speed differs by only a few percent [3], [6].

Power and energy

An MMRTG of the same class as Curiosity’s supplies approximately 110 W at launch, declining a few percent per year, buffered by two lithium-ion rechargeable batteries; the generator masses approximately 45 kg [6].

Awake and idle load exceeds MMRTG output, so battery state of charge rises only while the rover sleeps [4]. Every plan interleaves sleep with activity, and the ground scheduler enforces a minimum state of charge below which the predicted energy value may not fall; an activity that would violate it is not scheduled. Actuator preheats are scheduled as explicit setup activities preceding the activity they enable, and are themselves energy consumers. Sampling activities carry a prerequisite abrasion whose added time and power must be budgeted before the proximity science it enables [13].

Thermal

Perseverance uses the Curiosity thermal architecture: a pumped fluid loop through the warm electronics box that distributes MMRTG waste heat and rejects excess, with electrical heaters on components outside the box. Perseverance-specific plate temperature requirements distinct from Curiosity’s are not published, so they are not restated here. One flight thermal figure is on record from the sampling chain: tubes are sealed at approximately 40 C [2]. Sealing temperature is one of the three parameters that govern the leak rate achieved, alongside tube wall thickness and diametric tooth interference.

Compute and avionics

Element	Specification	Source
Main computer	BAE RAD750, PowerPC 750, up to 200 MHz	[6]
Main memory	256 MB DRAM, 2 GB flash, 256 kB EEPROM
Redundancy	two, one prime one backup
Vision Compute Element	separate RAD750 plus Computer Vision Accelerator Card	[3]
Accelerator	FPGA implementing the image processing pipeline in hardware
Stereo correlation and visual odometry, 1280 x 960	seconds on the VCE, approximately one minute on the main computer

The Vision Compute Element processes navigation imagery independently of the main computer, so the main computer continues to run the drive while imagery from the previous step is still being reduced [3]. The same VCE ran the Lander Vision System during entry, descent and landing and was converted to full-time surface navigation afterwards. Curiosity’s single 133 MHz RAD750 takes 47 s per visual odometry stereo pair including data product writing, which bounds its drive rate to the stop-and-compute figure above [3].

Autonomy

Terrain-relative navigation was added to entry, descent and landing. During parachute descent the Lander Vision System images the ground, matches those images against an onboard map built from orbital reconnaissance, estimates position relative to a hazard map, and commands the descent stage to divert to a safe point [3]. The image matching completes within the available seconds because the FPGA accelerator performs it. Landing site selection therefore moves from a pre-launch judgment about ellipse-scale terrain to an in-flight decision at hazard scale, which is what made the broken terrain near the Jezero delta front an admissible target [13].

Surface autonomy is the ENav algorithm, which performs orientation-sensitive hazard assessment rather than treating the rover as a point or a disc [3]. Evaluating clearance against vehicle orientation over each candidate patch is a substantially larger computation than an orientation-free check, and is affordable only on the accelerator. Orientation matters because the rocker-bogie determines wheel contact angles, and it is the contact angle distribution across the six 52.5 cm wheels that decides whether a given rock is climbed or driven into [6].

Communications

Link	Rate
X-band DTE, 34 m DSN antenna	160 bps or better
X-band DFE, 34 m DSN antenna	500 bps or better
X-band DTE, favorable geometry	800 bps or better
X-band DFE, favorable geometry	3000 bps or better
UHF rover to orbiter	up to 2 Mbps

Link rates from [6].

Bulk return is by UHF relay through the Mars Relay Network of MRO, Odyssey, MAVEN and the ESA Trace Gas Orbiter [6]. No open equivalent of the DESCANSO telecommunications article exists for Mars 2020, so channel plans, coding and Proximity-1 configuration are not stated here; the Curiosity entry describes the Electra relay conventions the network imposes on both rovers.

Payload and instruments

The 2.1 m five-joint arm carries a turret with the rotary-percussive corer, PIXL, SHERLOC with its WATSON imager, and the gaseous Dust Removal Tool [6], [13]. Turret instruments are placed within a few cm of the natural or abraded surface. Mast instruments are Mastcam-Z and SuperCam. MEDA provides meteorology and RIMFAX ground-penetrating radar.

Instrument	Key parameters	Source
SuperCam mast unit	6.11 kg, 383 x 201 x 163 mm, 27 W peak	[14]
SuperCam body unit	4.44 kg, 221 x 157 x 205 mm, 43 W peak with thermo-electric coolers, 12 W idle
SuperCam total	10.80 kg, 70 W
SuperCam LIBS laser	1064 nm, up to 14 mJ, more than 10 MW/mm2; requirement above 12 mJ across -30 to +10 C	[14][15]
SuperCam Raman laser energy	above 9 mJ over -30 to +10 C	[15]
SuperCam microphone	100 Hz to 10 kHz, sampled at 25 kHz or 100 kHz
SuperCam mast unit operating range	-30 to +10 C
SuperCam Raman	same laser frequency doubled to 532 nm, time-gated detection	[14]
SuperCam footprint	1.5 mm close in, approx 5 mm diameter at 7 m standoff
SuperCam transmission spectrometer	535 to 853 nm at 12 cm⁻¹ FWHM, Raman shift 105 to 7070 cm⁻¹
SHERLOC laser	248.6 nm pulsed neon-copper, at least 9 µJ per pulse, 80 Hz, 40 µs pulses, peak power under approximately 200 mW	[16]
SHERLOC mass	9.73 kg total: 6.83 kg turret assembly, 2.90 kg body assembly, 0.44 kg calibration target
SHERLOC turret survival heating	128.8 W peak; decontamination 80.4 W
SHERLOC spot / working distance	approx 100 µm / approx 48 mm
SHERLOC map	up to 7 x 7 mm at better than 100 µm per pixel, under 10 min
Mastcam-Z zoom	4:1, 26 to 110 mm focal length	[17]
Mastcam-Z field of view	25.6 x 19.2 deg to 6.2 x 4.6 deg
Mastcam-Z pixel scale	283 to 67.4 µrad/pixel
Mastcam-Z detector / baseline	1648 x 1214 CCD / 24.4 cm stereo baseline, 2.3 deg toe-in
Mastcam-Z closest focus	0.5 m at 26 to 50 mm, 1.0 m at 50 to 110 mm
Mastcam-Z mass / heater draw	1.38 kg per camera head, 1.47 kg camera plate / up to 72 W
MEDA air temperature	150 to 300 K, ±1 K, 0.1 K resolution	[18]
MEDA pressure	1 to 1400 Pa, ±20 Pa over 400 to 1200 Pa
MEDA wind	0.5 to 30 m/s expected at Jezero, 15 deg direction resolution

SuperCam block diagram

SuperCam block diagram. The mast unit carries the laser, telescope, focus mechanism, infrared spectrometer, Remote Micro-Imager and microphone; one optical fiber plus power and data lines runs down the mast to the body unit, where a demultiplexer splits returned light between the ultraviolet and violet reflection spectrometers and the intensified transmission spectrometer used for Raman. The split keeps the cooled detectors inside the warm electronics box and leaves only optics and laser at mast temperature. Source: [14]. CC BY 4.0.

SuperCam occupies almost exactly the ChemCam volume and mass, and its optical demultiplexer and ultraviolet and violet reflection spectrometers are nearly identical to ChemCam’s; the third reflection spectrometer was replaced by a time-gated intensified transmission spectrometer to enable Raman [14], [15]. Two mass-driven changes distinguish it: the thermo-electric coolers were designed in from the start rather than added late, giving a lighter cooling system, and the body unit spectrometers are titanium rather than beryllium. The telescope carries a periscope mirror that directs Raman laser light to the sample. SuperCam’s body unit sits next to the Remote Sensing Mast side of the rover to minimize the length of the optical fiber carrying signal from the mast unit, inside an instrument and electronics bay of 1181 x 1106 mm [14].

SuperCam flight hardware

SuperCam flight hardware. (a) Mast unit: laser with its heater at left, electronics box, and the telescope carrying the periscope mirror that directs the frequency-doubled Raman beam; the unit stands on insulating feet to limit conduction into the mast. (b) Body unit: fiber bundles enter through the demultiplexer to the reflection spectrometers and the transmission spectrometer, with the thermo-electric cooler finned block at lower left. (c) Calibration target assembly. Source: [14]. CC BY 4.0.

SHERLOC scans with an internal mirror rather than moving the arm, which removes sub-millimeter arm positioning from the mapping loop [16]. Laser peak power is held under approximately 200 mW to avoid photochemically altering the organics being measured, which is why the design uses 40 µs pulses at 80 Hz rather than fewer, harder pulses. WATSON is a copy of the MSL MAHLI camera reused on shared SHERLOC infrastructure, so its 1600 x 1200 detector, 2.1 cm to infinity working distance and 365 nm ultraviolet illumination carry over unchanged [16].

Mastcam-Z adds zoom, focus and filter wheel mechanisms to each camera head [17]. The 24.4 cm baseline and 2.3 deg toe-in are fixed, so ranging performance varies with focal length across the 4:1 zoom range, and closest focus moves from 0.5 m at the wide end to 1.0 m above 50 mm. Heater draw to bring the camera heads above their operating limits reaches 72 W, which makes imaging an energy-scheduled activity like any actuated one [4].

MOXIE occupied a slot in the rover body and demonstrated in situ resource utilization. It draws Martian atmosphere through a HEPA dust filter, compresses it with a scroll pump, heats it to 800 C, and passes it over a nickel-based catalyzed cathode in a solid oxide electrolysis stack, where CO2 decomposes and a scandia-stabilized zirconia electrolyte passes oxygen ions to the anode [1]. The reference operating point is 55 g/h of atmospheric intake producing 6 g/h of oxygen at better than 98 percent purity [13]. The 800 C operating temperature is the compromise between electrolysis efficiency and damage to temperature-sensitive materials. The binding constraint is coking: at insufficient mass flow for a given current, carbon deposits on the cathode, raising cell resistance by reducing active area and potentially fracturing it, so each run is planned to stay inside a safe voltage zone bounded by the two Nernst potentials. Measured oxygen purity exceeded the 99.6 percent recommended for propellant and breathing use, with the residual impurity traced to CO2 crossover driven by the cathode-to-anode pressure differential [1]. The MOXIE chassis measures 23.9 by 23.9 by 30.9 cm, and being carried inside a rover imposed the volume, thermal and power limits that constrained the design [1]. A system scaled several hundred times, at 2 to 3 kg/h, would supply the approximately 31 t of oxygen in the 50 t propellant load of a six-person Mars ascent vehicle.

Sampling and caching

The sampling chain is three cooperating mechanisms [2]. The external five-joint arm presses the corer against the rock. Inside the rover body the Adaptive Caching Assembly holds the tube inventory, and a small internal Sample Handling Arm moves tubes between the bit carousel, the inspection stations, the sealing station and storage [13]. The corer houses either an abrasion bit or a coring bit, exchanged from the bit carousel by the handling arm.

Parameter	Value	Source
Abrasion patch	2 to 16 mm deep, 45 mm diameter	[13]
Dust-cleared area after gDRT gas puff	40 mm diameter
Rock core	13 mm diameter, up to 76 mm long
Sample tubes carried	43: 38 for rock or regolith, 5 witness tubes	[2]
Tube material	Ti-6Al-4V
Tube coatings	white alumina externally, titanium nitride internally
Tube internal volume	approx 12.5 cm3
Sealing temperature	approx 40 C
Proximity science standoff	a few cm from the natural or abraded surface	[13]

Witness tubes differ from sample tubes only in their interior contents and are used to characterize contamination [2]. The external alumina coating limits solar heating and the internal titanium nitride limits adsorption of organic contaminants. A tube is loaded into a coring bit before drilling so that core, tailings and headspace gas are captured directly in the tube; the handling arm then advances it through volume assessment with a probe and imaging by CacheCam before sealing [13].

The seal is a mechanically activated plug: a ram drives a ferrule into a gold-coated titanium seal cup, expanding a sealing tooth into the tube wall and holding it there by plastic deformation [2]. Leak-tightness is governed by tube wall thickness, sealing temperature and diametric tooth interference, the measure of contact between tooth and wall. The mission requirement was verified only as better than the 1e-10 scc/s detection limit of conventional helium leak detection [2]. Static-mode mass spectrometry on six flight-like tubes later measured room-temperature helium leak rates from 8.8e-17 to 4.6e-14 scc/s, below the 1e-13 scc/s at which gas ingress or egress becomes negligible over the intended storage and transit interval [2]. Filled tubes have been deposited at a surface depot, so the cache is recoverable independently of the rover’s continued health.

Sampling is executed against a prescribed sol path spanning eleven continuous sols [13]. The rover acquires survey images to select the abrasion and coring target, abrades, clears dust with the gDRT, takes proximity and remote science on the abraded patch to document the rock, and then takes two cores in succession from unabraded portions of the same rock.

Modes of operation

The sol is built as an explicit sequence of awake and asleep intervals, because the battery recharges only while the rover sleeps [4]. Each activity declares its unit resources, such as the arm, so that two activities claiming the same resource cannot overlap; its energy and data volume consumption; its peak energy rate; and non-depletable resources such as available sequence engines and peak power. An activity is generally preceded by preheat activities and followed by a return to sleep. The ground scheduler solves against this model, and the same core scheduling logic was intended for an eventual onboard scheduler operating under tighter CPU limits.

Sampling imposes its own mode structure: an eleven-sol prescribed path in which the observations documenting each pair of cores are made in a fixed order, so the plan for any one sol in the sequence is constrained by what the preceding sols established [13].

Drive modes follow the Curiosity pattern of directed and autonomous navigation with onboard fault protection, with ENav replacing the earlier hazard evaluation [3]. No open source enumerates Perseverance safe mode entry conditions in the detail available for Curiosity, so they are not restated here.

Ground operations

Perseverance is operated from JPL on a five-stage cycle implemented in COCPIT and Playbook [5].

Stage	Function
Parcel development	defines and validates reusable activity definitions
Strategic planning	look-ahead plan over approximately five sols including communication passes
Campaign implementation	plan fragment templates against timing constraints, heating and resource assessment
Tactical uplink	plans the next sol against latest downlink, verifies constraints, generates sequences
Tactical downlink	monitors the executing plan and analyzes returned data

Decisional data is the subset of returned data that the next tactical planning cycle depends on. A plan cannot be built until its decisional data has arrived, so the tools display when each activity’s data contribution becomes available on Earth and aggregate expected data volume by criticality, both at plan level and at a given time within the plan [5]. Relay pass timing constrains the planning cycle as directly as the rover’s own schedule does.

Scheduling is automated. Copilot places activities against the resource model above [4]. When the scheduler fails to place an activity the cause is a conflict among constraints rather than anything visible in the output, so Crosscheck was built to present the generated schedule visually and analyze which constraints prevented placement and how they would have to change. The team is distributed rather than co-located and the tooling was built for concurrent remote collaboration on a shared plan [5].

Drilling and coring approval is a separate gate, and the crater floor campaign record gives its scale: more than 5 km driven and seven abrasion patches produced before the first sampling campaign concluded [13].

Technologies developed

Terrain-relative navigation moved landing site selection from a pre-launch judgment about ellipse-scale terrain to an in-flight decision at hazard scale [3]. Hardware-accelerated onboard vision demonstrated that a dedicated co-processor, rather than a faster general-purpose radiation-hardened processor, is the practical route to real-time perception under flight computing constraints: the same actuators driven with the same maximum wheel speed produce roughly six times the autonomous traverse rate [6]. The sample tube hermetic seal established a verified leak rate floor for planetary sample containment, at 8.8e-17 to 4.6e-14 scc/s helium, three orders of magnitude below what conventional helium leak detection could confirm [2]. MOXIE established that solid oxide electrolysis of the Martian atmosphere works at flight scale across seasonal and diurnal variation in atmospheric density, and that its operating envelope is bounded by carbon deposition rather than by the electrochemistry [1].

References

Hoffman, J. A., Hecht, M. H., Rapp, D., Hartvigsen, J. J., SooHoo, J. G., Aboobaker, A. M., McClean, J. B., Liu, A. M., Hinterman, E. D., Nasr, M., Hariharan, S., Horn, K. J., Meyen, F. E., Okkels, H., Steen, P., Elangovan, S., Graves, C. R., Khopkar, P., Madsen, M. B., Voecks, G. E., Smith, P. H., Skafte, T. L., Poirier, J. and Bergman, T. (2022). Mars Oxygen ISRU Experiment (MOXIE): Preparing for Human Mars Exploration . Science Advances, 35. Source

BibTeX

@article{hoffman2022mars,
  title = {Mars Oxygen ISRU Experiment (MOXIE): Preparing for Human Mars Exploration},
  author = {Hoffman, Jeffrey A. and Hecht, Michael H. and Rapp, Donald and Hartvigsen, Joseph J. and SooHoo, Jason G. and Aboobaker, Asad M. and McClean, John B. and Liu, Andrew M. and Hinterman, Eric D. and Nasr, Maya and Hariharan, Shravan and Horn, Kyle J. and Meyen, Forrest E. and Okkels, Henrik and Steen, Peter and Elangovan, S. and Graves, Christopher R. and Khopkar, Piyush and Madsen, Morten Bo and Voecks, Gerald E. and Smith, Peter H. and Skafte, Theis L. and Poirier, Jose and Bergman, Tim},
  journal = {Science Advances},
  volume = {8},
  number = {35},
  pages = {eabp8636},
  year = {2022},
  doi = {10.1126/sciadv.abp8636},
  abstract = {MOXIE [Mars Oxygen In Situ Resource Utilization (ISRU) Experiment] is the first demonstration of ISRU on another planet, producing oxygen by solid oxide electrolysis of carbon dioxide in the martian atmosphere. A scaled-up MOXIE would contribute to sustainable human exploration of Mars by producing on-site the tens of tons of oxygen required for a rocket to transport astronauts off the surface of Mars, instead of having to launch hundreds of tons of material from Earth’s surface to transport the required oxygen to Mars. MOXIE has produced oxygen seven times between landing in February 2021 and the end of 2021 and will continue to demonstrate oxygen production during night and day throughout all martian seasons. This paper reviews what MOXIE has accomplished and the implications for larger-scale oxygen-producing systems.}
}

Osterhout, J. T., Farley, K. A., Wadhwa, M., Treffkorn, J. and Kulczycki, E. (2024). Helium Leak Rate Measurements of Flight-like Mars 2020 Sample Tubes . Astrobiology, 1. Source

BibTeX

@article{osterhout2024helium,
  title = {Helium Leak Rate Measurements of Flight-like Mars 2020 Sample Tubes},
  author = {Osterhout, Jeffrey T. and Farley, Kenneth A. and Wadhwa, Meenakshi and Treffkorn, Jonathan and Kulczycki, Eric},
  journal = {Astrobiology},
  volume = {24},
  number = {1},
  pages = {36--43},
  year = {2024},
  doi = {10.1089/ast.2023.0002},
  abstract = {The sample tubes on board NASA's Perseverance rover are designed to contain rocks, regolith, and atmospheric gases and are hermetically sealed on the surface of Mars to minimize sample loss, alteration, and contamination. Following a robust testing program during mission development, it was determined that the helium (He) leak rates of flight-like sample tubes sealed under a range of conditions were typically no greater than ∼10 −10 standard cubic centimeters per second (scc/s); leak rates below this value could not be measured since this is the detection limit of commercially available He leak detectors. This limit was adequate to meet mission requirements. However, some scientific objectives could be compromised by sample tube leak rates even below 10 −10 scc/s, thus motivating a more sensitive technique for establishing leak rates. This study investigated He leak rates on six flight-like sample tubes using a static mode mass spectrometer. Room temperature He leak rates of the six sample tubes ranged from ∼8.8 × 10 −17 to ∼4.6 × 10 −14 scc/s. One sample tube was analyzed at eight different temperatures, ranging from -51°C to +42°C, and yielded He leak rates correlated with temperature that varied from ∼1.7 × 10 −15 to ∼1.4 × 10 −13 scc/s, respectively. Our results confirm and extend previous findings demonstrating that the Mars 2020 sample tube seals are likely to be very leak-tight, with leak rates &lt;10 −13 scc/s. These leak rates are sufficiently low that the impact of gas egress or ingress is expected to be negligible.}
}

Jet Propulsion Laboratory Robotics. (2021). Mars 2020 Rover: Mobility. www-robotics.jpl.nasa.gov/what-we-do/flight-projects/mars-2020-rover/...

BibTeX

@misc{jpl2021mars,
  title = {Mars 2020 Rover: Mobility},
  author = {{Jet Propulsion Laboratory Robotics}},
  year = {2021},
  url = {https://www-robotics.jpl.nasa.gov/what-we-do/flight-projects/mars-2020-rover/m2020mobility/}
}

Agrawal, J., Yelamanchili, A. and Chien, S. (2020). Using Explainable Scheduling for the Mars 2020 Rover Mission . arXiv preprint. Source

BibTeX

@article{agrawal2020explainable,
  title = {Using Explainable Scheduling for the Mars 2020 Rover Mission},
  author = {Agrawal, Jagriti and Yelamanchili, Amruta and Chien, Steve},
  journal = {arXiv preprint},
  year = {2020},
  doi = {10.48550/arxiv.2011.08733},
  abstract = {Understanding the reasoning behind the behavior of an automated scheduling system is essential to ensure that it will be trusted and consequently used to its full capabilities in critical applications. In cases where a scheduler schedules activities in an invalid location, it is usually easy for the user to infer the missing constraint by inspecting the schedule with the invalid activity to determine the missing constraint. If a scheduler fails to schedule activities because constraints could not be satisfied, determining the cause can be more challenging. In such cases it is important to understand which constraints caused the activities to fail to be scheduled and how to alter constraints to achieve the desired schedule. In this paper, we describe such a scheduling system for NASA's Mars 2020 Perseverance Rover, as well as Crosscheck, an explainable scheduling tool that explains the scheduler behavior. The scheduling system and Crosscheck are the baseline for operational use to schedule activities for the Mars 2020 rover. As we describe, the scheduler generates a schedule given a set of activities and their constraints and Crosscheck: (1) provides a visual representation of the generated schedule; (2) analyzes and explains why activities failed to schedule given the constraints provided; and (3) provides guidance on potential constraint relaxations to enable the activities to schedule in future scheduler runs.}
}

Deliz, I., Connell, A., Joswig, C., Kanefsky, B. and Marquez, J. (2022). COCPIT: Collaborative Activity Planning Software for Mars Perseverance Rover . IEEE Aerospace Conference, 20220003012. Source

BibTeX

@inproceedings{deliz2022cocpit,
  title = {{COCPIT}: Collaborative Activity Planning Software for {Mars} {Perseverance} Rover},
  author = {Deliz, Ivy and Connell, Andrea and Joswig, Chet and Kanefsky, Bob and Marquez, Jessica},
  booktitle = {IEEE Aerospace Conference},
  number = {20220003012},
  pages = {1-13},
  institution = {NASA},
  address = {Big Sky, Montana},
  year = {2022},
  doi = {10.1109/aero53065.2022.9843397},
  abstract = {Since landing on the Martian surface, the Perseverance rover has relied on a distributed team to generate commands for exploring its new environment each sol (Martian day). The team uses a complex suite of software tools to accomplish this challenging task in time for the next window of opportunity to send commands to the rover. A key piece of this software ecosystem is COCPIT (Component-based Campaign Planning, Implementation, and Tactical). COCPIT is part of the next generation of planning and scheduling software tools developed by NASA's Jet Propulsion Laboratory in partnership with NASA's Ames Research Center. COCPIT is a web-based application that allows users to collaboratively view and update the Perseverance rover's activity plans, continuously verify that the plan satisfies constraints, assign targets for directing scientific instruments, document science intent, and model power and data resources. Mars Surface Operations requires diverse expertise from team members within the Engineering, Science, Robotic, and Instrument Operations groups, distributed across North America and Europe. In order to improve efficiency and reduce risk, all teams are able to review and edit their activities simultaneously and see the effects on the plan in its entirety. As part of the Ground Data System (GDS) tool suite, COCPIT is responsible for the activity plan. It provides specialized views that allow operators to understand where there may be room for additional observations, see whether any planning constraints are being violated, and confirm that energy usage and data generation are within the defined limits. It contains details such as which filters a camera will use for a given observation, what the resolution of the images should be, where to store the data onboard, and how long the observation is expected to take. It predicts when specific data will be downlinked from the rover to a passing orbiter, so that the team knows when to expect that data on Earth for evaluation in future planning. Ultimately the information from the COCPIT plan is translated to sequences that will be bundled and radiated to Perseverance for execution. The COCPIT tool is used throughout all planning phases.}
}

NASA Science. (2021). Mars 2020 Perseverance Rover: Rover Components. science.nasa.gov/mission/mars-2020-perseverance/rover-components

BibTeX

@misc{nasa2021mars,
  title = {Mars 2020 Perseverance Rover: Rover Components},
  author = {{NASA Science}},
  year = {2021},
  url = {https://science.nasa.gov/mission/mars-2020-perseverance/rover-components/}
}

Fries, M., Lee, C., Bhartia, R., Razzell Hollis, J., Beegle, L. W., Uckert, K., Graff, T. G. and Abbey, W. (2022). The SHERLOC Calibration Target on the Mars 2020 Perseverance Rover: Design, Operations, Outreach, and Future Human Exploration Functions . Space Science Reviews. Source

BibTeX

@article{fries2022sherloc,
  title = {The SHERLOC Calibration Target on the Mars 2020 Perseverance Rover: Design, Operations, Outreach, and Future Human Exploration Functions},
  author = {Fries, M. and Lee, Carina and Bhartia, Rohit and Razzell Hollis, Joseph and Beegle, Luther W. and Uckert, Kyle and Graff, Trevor G. and Abbey, William},
  journal = {Space Science Reviews},
  volume = {218},
  year = {2022},
  doi = {10.1007/s11214-022-00907-1},
  abstract = {Abstract The Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) is a robotic arm-mounted instrument onboard NASA’s Perseverance rover. SHERLOC combines imaging via two cameras with both Raman and fluorescence spectroscopy to investigate geological materials at the rover’s Jezero crater field site. SHERLOC requires in situ calibration to monitor the health and performance of the instrument. These calibration data are critically important to ensure the veracity of data interpretation, especially considering the extreme martian environmental conditions where the instrument operates. The SHERLOC Calibration Target (SCT) is located at the front of the rover and is exposed to the same atmospheric conditions as the instrument. The SCT includes 10 individual targets designed to meet all instrument calibration requirements. An additional calibration target is mounted inside the instrument’s dust cover. The targets include polymers, rock, synthetic material, and optical pattern targets. Their primary function is calibration of parameters within the SHERLOC instrument so that the data can be interpreted correctly. The SCT was also designed to take advantage of opportunities for supplemental science investigations and includes targets intended for public engagement. The exposure of materials to martian atmospheric conditions allows for opportunistic science on extravehicular suit (i.e., “spacesuit”) materials. These samples will be used in an extended study to produce direct measurements of the expected service lifetimes of these materials on the martian surface, thus helping NASA facilitate human exploration of the planet. Other targets include a martian meteorite and the first geocache target to reside on another planet, both of which increase the outreach and potential of the mission to foster interest in, and enthusiasm for, planetary exploration. During the first 200 sols (martian days) of operation on Mars, the SCT has been analyzed three times and has proven to be vital in the calibration of the instrument and in assisting the SHERLOC team with interpretation of in situ data.}
}

Hayes, A. G., Corlies, P., Tate, C., Barrington, M., Bell, J. F., Maki, J. N., Caplinger, M., Ravine, M., Kinch, K. M., Herkenhoff, K., Horgan, B., Johnson, J., Lemmon, M., Paar, G., Rice, M. S., Jensen, E., Kubacki, T. M., Cloutis, E., Deen, R., Ehlmann, B. L., Lakdawalla, E., Sullivan, R., Winhold, A. G., Parkinson, A., Bailey, Z., van Beek, J., Caballo-Perucha, P., Cisneros, E., Dixon, D., Donaldson, C., Jensen, O. B., Kuik, J., Lapo, K., Magee, A., Merusi, M., Mollerup, J., Scudder, N., Seeger, C. H., Stanish, E., Starr, M., Thompson, M., Turenne, N. and Winchell, K. (2021). Pre-Flight Calibration of the Mars 2020 Rover Mastcam Zoom (Mastcam-Z) Multispectral, Stereoscopic Imager . Space Science Reviews. Source

BibTeX

@article{hayes2021preflight,
  title = {Pre-Flight Calibration of the Mars 2020 Rover Mastcam Zoom (Mastcam-Z) Multispectral, Stereoscopic Imager},
  author = {Hayes, Alexander G. and Corlies, Paul and Tate, C. and Barrington, Megan and Bell, J. F. and Maki, Justin N. and Caplinger, M. and Ravine, M. and Kinch, Kjartan M. and Herkenhoff, K. and Horgan, B. and Johnson, J. and Lemmon, M. and Paar, Gerhard and Rice, Melissa S. and Jensen, E. and Kubacki, T. M. and Cloutis, E. and Deen, R. and Ehlmann, Bethany L. and Lakdawalla, E. and Sullivan, R. and Winhold, Andrew G. and Parkinson, A. and Bailey, Zachary and van Beek, J. and Caballo-Perucha, Piluca and Cisneros, Ernest and Dixon, Darian and Donaldson, Christopher and Jensen, Ole B. and Kuik, J. and Lapo, Kristiana and Magee, Angela and Merusi, Marco and Mollerup, Jess and Scudder, Noel and Seeger, Christina H. and Stanish, Evan and Starr, Mason and Thompson, M. and Turenne, Nathalie and Winchell, K.},
  journal = {Space Science Reviews},
  volume = {217},
  pages = {29--29},
  year = {2021},
  doi = {10.1007/s11214-021-00795-x},
  abstract = {Abstract The NASA Perseverance rover Mast Camera Zoom (Mastcam-Z) system is a pair of zoomable, focusable, multi-spectral, and color charge-coupled device (CCD) cameras mounted on top of a 1.7 m Remote Sensing Mast, along with associated electronics and two calibration targets. The cameras contain identical optical assemblies that can range in focal length from 26 mm ( $25.5^{\circ }\, \times 19.1^{\circ }\ \mathrm{FOV}$ 25.5 ∘ × 19.1 ∘ FOV ) to 110 mm ( $6.2^{\circ } \, \times 4.2^{\circ }\ \mathrm{FOV}$ 6.2 ∘ × 4.2 ∘ FOV ) and will acquire data at pixel scales of 148-540 μm at a range of 2 m and 7.4-27 cm at 1 km. The cameras are mounted on the rover’s mast with a stereo baseline of $24.3\pm 0.1$ 24.3 ± 0.1 cm and a toe-in angle of $1.17\pm 0.03^{\circ }$ 1.17 ± 0.03 ∘ (per camera). Each camera uses a Kodak KAI-2020 CCD with $1600\times 1200$ 1600 × 1200 active pixels and an 8 position filter wheel that contains an IR-cutoff filter for color imaging through the detectors’ Bayer-pattern filters, a neutral density (ND) solar filter for imaging the sun, and 6 narrow-band geology filters (16 total filters). An associated Digital Electronics Assembly provides command data interfaces to the rover, 11-to-8 bit companding, and JPEG compression capabilities. Herein, we describe pre-flight calibration of the Mastcam-Z instrument and characterize its radiometric and geometric behavior. Between April 26 $^{th}$ t h and May 9 $^{th}$ t h , 2019, ∼45,000 images were acquired during stand-alone calibration at Malin Space Science Systems (MSSS) in San Diego, CA. Additional data were acquired during Assembly Test and Launch Operations (ATLO) at the Jet Propulsion Laboratory and Kennedy Space Center. Results of the radiometric calibration validate a 5% absolute radiometric accuracy when using camera state parameters investigated during testing. When observing using camera state parameters not interrogated during calibration (e.g., non-canonical zoom positions), we conservatively estimate the absolute uncertainty to be $&lt;10\%$ &lt; 10 % . Image quality, measured via the amplitude of the Modulation Transfer Function (MTF) at Nyquist sampling (0.35 line pairs per pixel), shows $\mathrm{MTF}_{\mathit{Nyquist}}=0.26-0.50$ MTF Nyquist = 0.26 − 0.50 across all zoom, focus, and filter positions, exceeding the $&gt;0.2$ &gt; 0.2 design requirement. We discuss lessons learned from calibration and suggest tactical strategies that will optimize the quality of science data acquired during operation at Mars. While most results matched expectations, some surprises were discovered, such as a strong wavelength and temperature dependence on the radiometric coefficients and a scene-dependent dynamic component to the zero-exposure bias frames. Calibration results and derived accuracies were validated using a Geoboard target consisting of well-characterized geologic samples.}
}

Kinch, K. M., Madsen, M. B., Bell III, J. F., Maki, J. N., Bailey, Z. J., Hayes, A. G., Jensen, O. B., Merusi, M., Bernt, M. H., Sørensen, A. N., Hilverda, M., Cloutis, E., Applin, D., Mateo-Marti, E., Manrique, J. A., Lopez-Reyes, G., Bello-Arufe, A., Ehlmann, B. L., Buz, J., Pommerol, A., Thomas, N., Affolter, L., Herkenhoff, K. E., Johnson, J. R., Rice, M., Corlies, P., Tate, C., Caplinger, M. A., Jensen, E., Kubacki, T., Cisneros, E., Paris, K. and Winhold, A. G. (2020). Radiometric Calibration Targets for the Mastcam-Z Camera on the Mars 2020 Rover Mission . Space Science Reviews. Source

BibTeX

@article{kinch2020radiometric,
  title = {Radiometric Calibration Targets for the Mastcam-Z Camera on the Mars 2020 Rover Mission},
  author = {Kinch, Kjartan M. and Madsen, M. B. and Bell III, J. F. and Maki, Justin N. and Bailey, Z. J. and Hayes, Alexander G. and Jensen, Ole B. and Merusi, Marco and Bernt, M. H. and Sørensen, A. N. and Hilverda, M. and Cloutis, E. and Applin, D. and Mateo-Marti, E. and Manrique, Jose Antonio and Lopez-Reyes, Guillermo and Bello-Arufe, A. and Ehlmann, Bethany L. and Buz, Jennifer and Pommerol, A. and Thomas, N. and Affolter, L. and Herkenhoff, K. E. and Johnson, Jeffrey R. and Rice, M. and Corlies, Paul and Tate, C. and Caplinger, Michael A. and Jensen, E. and Kubacki, Tex and Cisneros, Ernest and Paris, Kristen and Winhold, Andrew G.},
  journal = {Space Science Reviews},
  volume = {216},
  year = {2020},
  doi = {10.1007/s11214-020-00774-8},
  abstract = {Abstract The Mastcam-Z Camera is a stereoscopic, multispectral camera with zoom capability on NASA’s Mars-2020 Perseverance rover. The Mastcam-Z relies on a set of two deck-mounted radiometric calibration targets to validate camera performance and to provide an instantaneous estimate of local irradiance and allow conversion of image data to units of reflectance (R ∗ or I/F) on a tactical timescale. Here, we describe the heritage, design, and optical characterization of these targets and discuss their use during rover operations. The Mastcam-Z primary calibration target inherits features of camera calibration targets on the Mars Exploration Rovers, Phoenix and Mars Science Laboratory missions. This target will be regularly imaged during flight to accompany multispectral observations of the martian surface. The primary target consists of a gold-plated aluminum base, eight strong hollow-cylinder Sm 2 Co 17 alloy permanent magnets mounted in the base, eight ceramic color and grayscale patches mounted over the magnets, four concentric, ceramic grayscale rings and a central aluminum shadow post (gnomon) painted with an IR-black paint. The magnets are expected to keep the central area of each patch relatively free of Martian aeolian dust. The Mastcam-Z secondary calibration target is a simple angled aluminum shelf carrying seven vertically mounted ceramic color and grayscale chips and seven identical, but horizontally mounted ceramic chips. The secondary target is intended to augment and validate the calibration-related information derived from the primary target. The Mastcam-Z radiometric calibration targets are critically important to achieving Mastcam-Z science objectives for spectroscopy and photometric properties.}
}

Maurice, S., Wiens, R. C., Bernardi, P., Caïs, P., Robinson, S. H., Nelson, T., Gasnault, O., Reess, J.-M., Deleuze, M., Rull, F., Manrique, J. A., Abbaki, S., Anderson, R. B., André, Y., Angel, S., Arana, G., Battault, T., Beck, P., Benzerara, K., Bernard, S., Berthias, J.-P., Beyssac, O., Bonafous, M., Bousquet, B., Boutillier, M., Cadu, A., Castro, K., Chapron, F., Chide, B., Clark, K., Clavé, E., Clegg, S., Cloutis, E., Collin, C., Cordoba, E. C., Cousin, A., Dameury, J.-C., D'Anna, W., Daydou, Y., Debus, A., Deflores, L., Dehouck, E., Delapp, D., De Los Santos, G., Donny, C., Doressoundiram, A., Dromart, G., Dubois, B., Dufour, A., Dupieux, M., Egan, M., Ervin, J., Fabre, C., Fau, A., Fischer, W., Forni, O., Fouchet, T., Frydenvang, J., Gauffre, S., Gauthier, M., Gharakanian, V., Gilard, O., Gontijo, I., Gonzalez, R., Granena, D., Grotzinger, J., Hassen-Khodja, R., Heim, M., Hello, Y., Hervet, G., Humeau, O., Jacob, X., Jacquinod, S., Johnson, J. R., Kouach, D., Lacombe, G., Lanza, N., Lapauw, L., Laserna, J., Lasue, J., Le Deit, L., Le Mouélic, S., Le Comte, E., Lee, Q.-M., Legett, I. C., Leveille, R., Lewin, E., Leyrat, C., Lopez-Reyes, G., Lorenz, R., Lucero, B., Madariaga, J. M., Madsen, S., Madsen, M., Mangold, N., Manni, F., Mariscal, J.-F., Martinez-Frias, J., Mathieu, K., Mathon, R., McCabe, K. P., McConnochie, T., McLennan, S. M., Mekki, J., Melikechi, N., Meslin, P.-Y., Micheau, Y., Michel, Y., Michel, J. M., Mimoun, D., Misra, A., Montagnac, G., Montaron, C., Montmessin, F., Moros, J., Mousset, V., Morizet, Y., Murdoch, N., Newell, R. T., Newsom, H., Nguyen Tuong, N., Ollila, A. M., Orttner, G., Oudda, L., Pares, L., Parisot, J., Parot, Y., Pérez, R., Pheav, D., Picot, L., Pilleri, P., Pilorget, C., Pinet, P., Pont, G., Poulet, F., Quantin-Nataf, C., Quertier, B., Rambaud, D., Rapin, W., Romano, P., Roucayrol, L., Royer, C., Ruellan, M., Sandoval, B., Sautter, V., Schoppers, M. J., Schröder, S., Seran, H.-C., Sharma, S. K., Sobron, P., Sodki, M., Sournac, A., Sridhar, V., Standarovsky, D., Storms, S., Striebig, N., Tatat, M., Toplis, M., Torre-Fdez, I., Toulemont, N., Velasco, C., Veneranda, M., Venhaus, D., Virmontois, C., Viso, M., Willis, P. and Wong, K. (2021). The SuperCam Instrument Suite on the Mars 2020 Rover: Science Objectives and Mast-Unit Description . Space Science Reviews, 47. Source

BibTeX

@article{maurice2021supercam,
  title = {The SuperCam Instrument Suite on the Mars 2020 Rover: Science Objectives and Mast-Unit Description},
  author = {Maurice, Sylvestre and Wiens, Roger C. and Bernardi, Pernelle and Caïs, Phillippe and Robinson, Scott H. and Nelson, Tony and Gasnault, Olivier and Reess, Jean-Michel and Deleuze, Muriel and Rull, Fernando and Manrique, Jose Antonio and Abbaki, Sadok and Anderson, Ryan B. and André, Yves and Angel, S.M. and Arana, Gorka and Battault, T. and Beck, Pierre and Benzerara, Karim and Bernard, Sylvain and Berthias, J.-P. and Beyssac, Olivier and Bonafous, Marion and Bousquet, Bruno and Boutillier, M. and Cadu, A. and Castro, Kepa and Chapron, Frédéric and Chide, Baptiste and Clark, K. and Clavé, Elise and Clegg, S. and Cloutis, E. and Collin, Claude and Cordoba, Elizabeth C. and Cousin, A. and Dameury, J.-C. and D'Anna, W. and Daydou, Yves and Debus, Andre and Deflores, Lauren and Dehouck, Erwin and Delapp, Dorothea and De Los Santos, Greg and Donny, C. and Doressoundiram, Alain and Dromart, Gilles and Dubois, Bruno and Dufour, A. and Dupieux, M. and Egan, Miles and Ervin, Joan and Fabre, C. and Fau, Amaury and Fischer, Woodward and Forni, Olivier and Fouchet, Thierry and Frydenvang, Jens and Gauffre, S. and Gauthier, M. and Gharakanian, V. and Gilard, Olivier and Gontijo, Ivair and Gonzalez, R. and Granena, D. and Grotzinger, J. and Hassen-Khodja, Rafik and Heim, M. and Hello, Y. and Hervet, G. and Humeau, Olivier and Jacob, Xavier and Jacquinod, Sophie and Johnson, Jeffrey R. and Kouach, Driss and Lacombe, G. and Lanza, Nina and Lapauw, Laurent and Laserna, Javier and Lasue, J. and Le Deit, Laetitia and Le Mouélic, Stéphane and Le Comte, E. and Lee, Qiu-Mei and Legett, IV, C. and Leveille, Richard and Lewin, Eric and Leyrat, C. and Lopez-Reyes, Guillermo and Lorenz, R. and Lucero, Briana and Madariaga, Juan Manuel and Madsen, Soren and Madsen, M. and Mangold, N. and Manni, F. and Mariscal, J.-F. and Martinez-Frias, Jesus and Mathieu, K. and Mathon, R. and McCabe, Kevin P. and McConnochie, T. and McLennan, Scott M. and Mekki, J. and Melikechi, Noureddine and Meslin, Pierre-Yves and Micheau, Y. and Michel, Y. and Michel, John M. and Mimoun, David and Misra, A. and Montagnac, Gilles and Montaron, Christophe and Montmessin, Franck and Moros, J. and Mousset, V. and Morizet, Y. and Murdoch, Naomi and Newell, Raymond T. and Newsom, Horton and Nguyen Tuong, N. and Ollila, Ann M. and Orttner, G. and Oudda, L. and Pares, Laurent and Parisot, Jérôme and Parot, Yann and Pérez, René and Pheav, D. and Picot, L. and Pilleri, Paolo and Pilorget, C. and Pinet, P. and Pont, Gabriel and Poulet, F. and Quantin-Nataf, Cathy and Quertier, Benjamin and Rambaud, D. and Rapin, William and Romano, P. and Roucayrol, L. and Royer, C. and Ruellan, M. and Sandoval, B.F. and Sautter, Violaine and Schoppers, Marcel J. and Schröder, S. and Seran, H.-C. and Sharma, Shiv K. and Sobron, Pablo and Sodki, M. and Sournac, A. and Sridhar, Vishnu and Standarovsky, D. and Storms, Steven and Striebig, Nicolas and Tatat, M. and Toplis, M. and Torre-Fdez, Imanol and Toulemont, N. and Velasco, C. and Veneranda, Marco and Venhaus, Dawn and Virmontois, C. and Viso, M. and Willis, P. and Wong, K.W.},
  journal = {Space Science Reviews},
  volume = {217},
  number = {47},
  year = {2021},
  doi = {10.1007/s11214-021-00807-w},
  abstract = {Abstract On the NASA 2020 rover mission to Jezero crater, the remote determination of the texture, mineralogy and chemistry of rocks is essential to quickly and thoroughly characterize an area and to optimize the selection of samples for return to Earth. As part of the Perseverance payload, SuperCam is a suite of five techniques that provide critical and complementary observations via Laser-Induced Breakdown Spectroscopy (LIBS), Time-Resolved Raman and Luminescence (TRR/L), visible and near-infrared spectroscopy (VISIR), high-resolution color imaging (RMI), and acoustic recording (MIC). SuperCam operates at remote distances, primarily 2–7 m, while providing data at sub-mm to mm scales. We report on SuperCam’s science objectives in the context of the Mars 2020 mission goals and ways the different techniques can address these questions. The instrument is made up of three separate subsystems: the Mast Unit is designed and built in France; the Body Unit is provided by the United States; the calibration target holder is contributed by Spain, and the targets themselves by the entire science team. This publication focuses on the design, development, and tests of the Mast Unit; companion papers describe the other units. The goal of this work is to provide an understanding of the technical choices made, the constraints that were imposed, and ultimately the validated performance of the flight model as it leaves Earth, and it will serve as the foundation for Mars operations and future processing of the data.}
}

Novak, K. S., Kempenaar, J. G., Redmond, M., Daimaru, T. and Lee, C.-J. (2019). Thermal design of the sample handling assembly in the sampling and caching subsystem on the Mars 2020 rover . JPL Open Repository. Source

BibTeX

@inproceedings{novak2019thermal,
  title = {Thermal design of the sample handling assembly in the sampling and caching subsystem on the Mars 2020 rover},
  author = {Novak, Keith S. and Kempenaar, Jason G. and Redmond, Matthew and Daimaru, Takuro and Lee, Chern-Jiin},
  publisher = {JPL Open Repository},
  year = {2019},
  url = {https://dataverse.jpl.nasa.gov/dataset.xhtml?persistentId=hdl:2014/51193}
}

Pla-García, J., Rafkin, S. C. R., Martinez, G. M., Vicente-Retortillo, Á., Newman, C. E., Savijärvi, H., de la Torre, M., Rodriguez-Manfredi, J. A., Gómez, F., Molina, A., Viúdez-Moreiras, D. and Harri, A.-M. (2020). Meteorological Predictions for Mars 2020 Perseverance Rover Landing Site at Jezero Crater . Space Science Reviews, 8. Source

BibTeX

@article{plagarcia2020meteorological,
  title = {Meteorological Predictions for Mars 2020 Perseverance Rover Landing Site at Jezero Crater},
  author = {Pla-García, Jorge and Rafkin, S. C. R. and Martinez, G. M. and Vicente-Retortillo, Á. and Newman, Claire E. and Savijärvi, H. and de la Torre, Manuel and Rodriguez-Manfredi, J. A. and Gómez, F. and Molina, Antonio and Viúdez-Moreiras, D. and Harri, Ari-Matti},
  journal = {Space Science Reviews},
  volume = {216},
  number = {8},
  pages = {148},
  year = {2020},
  doi = {10.1007/s11214-020-00763-x},
  abstract = {Abstract The Mars Regional Atmospheric Modeling System ( MRAMS ) and a nested simulation of the Mars Weather Research and Forecasting model ( MarsWRF ) are used to predict the local meteorological conditions at the Mars 2020 Perseverance rover landing site inside Jezero crater (Mars). These predictions are complemented with the COmplutense and MIchigan MArs Radiative Transfer model ( COMIMART ) and with the local Single Column Model ( SCM ) to further refine predictions of radiative forcing and the water cycle respectively. The primary objective is to facilitate interpretation of the meteorological measurements to be obtained by the Mars Environmental Dynamics Analyzer ( MEDA ) aboard the rover, but also to provide predictions of the meteorological phenomena and seasonal changes that might impact operations, from both a risk perspective and from the perspective of being better prepared to make certain measurements. A full diurnal cycle at four different seasons ( $\text{L}_{\mathrm{s}}$ L s $0^{\circ}$ 0 ∘ , $90^{\circ}$ 90 ∘ , $180^{\circ}$ 180 ∘ , and $270^{\circ}$ 270 ∘ ) is investigated. Air and ground temperatures, pressure, wind speed and direction, surface radiative fluxes and moisture data are modeled. The good agreement between observations and modeling in prior works [Pla-Garcia et al. in Icarus 280:103–113, 2016; Newman et al. in Icarus 291:203–231, 2017; Vicente-Retortillo et al. in Sci. Rep. 8(1):1–8, 2018; Savijärvi et al. in Icarus, 2020] provides confidence in utilizing these models results to predict the meteorological environment at Mars 2020 Perseverance rover landing site inside Jezero crater. The data returned by MEDA will determine the extent to which this confidence was justified.}
}

Robinson, M. L. (2020). Architecting the Sampling and Caching System of the Mars 2020 Perseverance Rover . NASA, 20220003181. Source

BibTeX

@techreport{robinson2020architecting,
  title = {Architecting the Sampling and Caching System of the Mars 2020 Perseverance Rover},
  author = {Robinson, Matthew L.},
  number = {20220003181},
  institution = {NASA},
  type = {Presentation},
  year = {2020},
  url = {https://ntrs.nasa.gov/citations/20220003181},
  abstract = {No abstract provided}
}

Perseverance

Overview

Specifications

Mission profile

Mobility

Power and energy

Thermal

Compute and avionics

Autonomy

Communications

Payload and instruments

Sampling and caching

Modes of operation

Ground operations

Technologies developed

References

Further reading