SAMPLE FETCHING ROVER SFR FOR MSR Template reference

SAMPLE FETCHING ROVER (SFR) FOR MSR Template reference : 100181708 K-EN Andrea MERLO andrea. merlo@thalesaleniaspace. com 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

CONTENTS Agenda Page 2 1 - Team Presentation 2 - Systems Design Ø Why SFR? Ø What Ø When Ø Where Ø Design Drivers Ø Key Features Ø SFR System Overview Ø Mission Timeline Ø Mission Feasibility Ø Critical Technologies to be developed (MREP/MREP 2) 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

TEAM PRESENTATION Page 3 58. 4% Prime Rover System 25% 8. 3% Locomotion and Mechanisms 15 -6 -2013 Sample Fetching Rover Autonomy 5% Rover Localization 3. 3% Planetary Protection All rights reserved, 2013, Thales Alenia Space

WHY SFR? MSR Campaign Page 4 The proposed Mars Sample Return (MSR) mission would be a campaign of three missions: 1. a sample caching mission (2018), which would cache rock cores for later pickup 2. a MSR Orbiter Mission (2022), which would return the OS to the Earth’s surface OR 3 a. a MSR Lander Mission (2024), which would retrieve the sample (through the SFR) and place it in Mars orbit in the form of a container called the OS 15 -6 -2013 Sample Fetching Rover 3 b. the activity also considers an alternative nominal mission scenario where the SFR is landed separately from the MAV platform and by a Mars Precision Lander (MPL) All rights reserved, 2013, Thales Alenia Space

WHAT (Nominal) SFR Nominal Mission Page 5 Ø Departure from the landing point (Mars Lander or proximities in case of MPL) Ø Cache maximum distance = MSR Lander or MPL landing accuracy (7, 5 km semi-major axis) Ø Operations: • The rover will navigate and transverse from its landing site to the location of a sample cache deposited on the Martian surface by a previous rover mission (e. g. Max-C 2018 MSR mission element) • The rover will retrieve and carry the sample cache by using a Cache Acquisition System (CAS) • Return to the MAV and possible manipulation of the collected samples MAV 7. 5 K m CACHE 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

WHAT (Backup) SFR Backup Mission Page 6 Ø Departure from the landing point (Mars Lander or proximities in case of MPL) Ø Operations: • Identification of the target location by using the Pan. Cam • Travel to the target location • Target verification and confirmation by using the Pan. Cam • Sample Acquisition by using the Sample Acquisition System (SAS) • Return to the MAV and possible manipulation of the collected samples. 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

WHEN Page 7 MI-GEN-20 The SFR surface mission shall start in 09/2025 (Ls 133) FP-GEN-30 The rover nominal mission shall be at least 180 sols 1/9/2025 Ls 133 Landing 4/3/2026 Ls 237 End of Mission SFR operations OD=1 COMMS OD=1. 5 NO COMMS Optical Depth: first five months of the mission OD=1 (i. e. from 1 Sep 2025 (Ls 133) to 2 Feb 2026 (Ls 218)) and OD=1. 5 for the remaining 3 months (i. e. from 2 Feb 2026 (Ls 218) to 4 Mar 2026 (Ls 237)) Solar Conjunction: from 23 rd Dec 2025 -Ls 193 - to 26 th January 2026 -Ls 213 -, leading to almost 30 sols of no communication with Earth 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

WHERE Page 8 MARS MI-GEN-10 The SFR shall operate at a range of latitude between 5° South and 25° North 25 North 5 South 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

SFR DESIGN DRIVERS Page 9 SMALL MASS & ENVELOPE - Target Mass for Rover + Payload (SAS or CAS) + margins is 60 Kg (FP-GEN-10) - The maximum volume for the rover shall be less than 1 x 0. 7 m 3 (FP-GEN-20) RELIABILITY Rover design shall provide single-fault failure tolerance (PS-GEN-10) loss of SFR means loss of Mars Sample and return Mission primary objective 15 -6 -2013 Sample Fetching Rover RELIABLE - Travel a straight line distance of 15 Km (FP-MOB 10) in about 110 sols (180 sols for the entire mission FB-GEN-30) - Absolute localisation required to approach the MAV (and the cache for the Nominal Reference Mission) FAST MOBILITY All rights reserved, 2013, Thales Alenia Space

KEY FEATURES - SMALL Dimensions STOWED Page 10 DEPLOYED MASS 82. 14 Kg (incl. System Margin) 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

KEY FEATURES - FAST Travel Distance & Speed Page 11 SFR Navigation capabilities: - Discontinuities Threshold 0. 18 m - Slopes Threshold 20 deg - Continuous Navigation - Closed Loop Navigation Speed 55 m/h - Ground Track Distance 21 Km - Avg. Distance x Sol ~210 m/Sol 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

KEY FEATURES - RELIABLE Reliability All critical equipments redundant by design and On-board Fault Management Level of F 2 as defined by ECSS Page 12 The rover SW implements Mission Execution Autonomy Level of E 3, as defined by ECSS In case of an anomaly not recoverable automatically or a missed communication (i. e. no communication with the Orbiter in a Communication Timed Window) the rover switches to Safe Mode. This mode has to be supported during the entire mission for 14 sols in every condition (even Local Dust Storm with OD = 2). The rover is ready for a communication with the Orbiter (communication RX chain always ON night and day), waiting instructions from ground. 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

KEY FEATURES - PP Planetary Protection Page 13 SFR is part of a Category V Restricted Return mission (MSR) n Restrictions on return of Martian contaminated HW to Earth n SFR will not return, but issues must be kept in mind For forward contamination of Mars, SFR must conform to Category IVb requirements n Low bioburden and bioburden density n Very highly controlled sample handling equipment The SFR subsystems which are involved in the acquisition and delivery of samples (or cache of samples) to be used for life detection must be must carry a bioburden of < 30 spores at a density of < 0. 03 spores / m 2, or meet levels of biological burden driven by the nature and sensitivity of the particular life‐detection experiments AIT of SAS / CAS in a very highly controlled environment n e. g. ISO 3 cabinet n Precision cleaning of contact surfaces Permanent Biobarrier to be removed on Mars n C. f. Phoenix Biobarrier. 15 -6 -2013 Sample Fetching Rover The elements of the SFR not involved in sample / cache acquisition and handling shall carry a biological burden of < 5 x 104 bacterial spores on exposed external and internal surfaces Control of individual elements and AIT carried out in a bioburden controlled environment (c. f. Exomars) Each component must be assessed for appropriate bioburden reduction n Dry Heat Microbial Reduction preferred as the only qualified process n Other options possible as only surface bioburden needs be controlled (e. g. H 2 O 2, IPA wiping) n Isolation of volumes by HEPA filters to render them “unaccountable” for bioburden. 11 All rights reserved, 2013, Thales Alenia Space

SFR OVERVIEW Executive Summary Subsystem Page 14 Selected configuration Structure Main body 660 (length) x 600 (width) x 300 (height) mm made by parallelepiped-shaped CRFP sandwich Mechanisms Telescopic Mast + PTU and Spring-actuated Solar Array Hinges Autonomy level E 3 GNC Continuous navigation, perception based on Stereo Vision, standard equipment without Sun Sensor nor Loc. Cam (i. e. Nav. Cam exploiting Navigation and Localisation, IMU). Redundancy is foreseen for Nav. Cam and IMU (only accelerometers). Absolute localisation performed by Ground using Bundle Adjustment technique. Locomotion formula 6 x 4 and Exomars 3 bogies suspension system. 6 x Flexible wheels (188 mm Diameter, 66 mm Width, 6 mmx 12 places Grousers). Linear Deployment Mechanism Power Battery: space qualified ABSL 18650 NL Solar Array: Area 1. 83 m 2, organised in 3 panels (fixed 0. 71 m 2 + 2 deployable 0. 56 m 2 each) with AZUR 3 G 30 cells (Bo. L 29. 5% Eo. L 25. 5%) PCDU: based on Maximum Power Point “Tracking (MMPT) with temp measurement SA Regulator and unregulated bus Telecommunication UHF link implemented with monopole antenna and Redundant UHF Transceiver (heritage from MREP DUX development) – hot during day, cold during night Data Handling Two PM in cold redundancy. Each PM (LEON 3 based) includes FPGAs for GNC image processing algorithms Thermal regulation based on an insulated space inside the body, by means of a gas gap, where the internal units (heaters, evaporators, passive LHP) are installed. 3 radiators are placed on the external part of the body - RHU-free Payload Pan. Cam + Cache Acquisition System (CAS) or Sample Acquisition System (SAS) for back-up mission scenario 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

SFR OVERVIEW Configuration - External Page 15 6 x Flexible Wheels 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

SFR OVERVIEW Configuration - Internal 15 -6 -2013 Sample Fetching Rover Page 16 All rights reserved, 2013, Thales Alenia Space

MISSION FEASIBILITY SFR feasibility objectives Page 17 The objective is to satisfy 3 main requirements to assess Baseline Mission feasibility: 1. Perform the Baseline Reference Mission within 180 sols, travelling 15 Km straight line distance (21 Km ground track distance) 2. Support the Safe Sol for the entire mission timeline with OD = 2, or until the Baseline Reference Mission is concluded 3. Support the Hibernation Sol for the entire mission timeline (180 sols) with OD = 2 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

MISSION FEASIBILITY Locomotion Sol Power Modelling Page 18 X has been computed for all the SA configuration and for the entire mission duration as the minimum value between: Ø the time window during the sol when the power generated is above the power needed for travelling (+20% Margin) and the coldest wheel temperature is above -60 o. C, thus allowing travelling without discharging the Battery and without the need of Locomotion SS heaters Ø the value computed from the energy budget maximising the X in order to have power consumption = power generated 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

MISSION FEASIBILITY Mission Feasibility Req. 1 Page 19 Nominal Mission feasibility (both 15 Km and 21 Km ground track travelling requirement considered) have been assessed Conclusion 1: The Nominal Reference Mission, with the current SFR Design, can be completed within the Mission Lifetime (180 sols) with a SA area of 1. 6 m 2. However the end of the Mission (sol 149) will be after the Solar Conjunction, introducing problems on Safe Sol sustainability. A SA area of 1. 8 m 2 is thus the preferred option (Mission ends on sol 111). 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

MISSION FEASIBILITY Mission Feasibility Req. 2 Page 20 Safe Sol Power Modelling Conclusion 2: The Safe Sol cannot be sustained for the entire lifetime even with 2. 0 m 2 of Solar Array Area. However the main derived requirement is to sustain the Safe Sol until mission completation, that for SA Area of 1. 8 m 2 is Sol 111. Thus the requirement is met with a SA Area of 1. 8 m 2. 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

MISSION FEASIBILITY Mission Feasibility Req. 3 Page 21 Hibernation Sol Power Modelling Conclusion 3: The Hibernation Sol can be sustained for the entire lifetime with a SA panel area >= 1. 8 m 2 Note: Battery capacity taken in account for the last sols when the energy need is more than energy generated 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

MISSION FEASIBILITY Conclusions Conclusion 1: The Nominal Reference Mission, with the current SFR Design, can be completed within the Mission Lifetime (180 sols) with a SA area of 1. 6 m 2. However the end of the Mission (sol 149) will be after the Solar Conjunction, introducing problems on Safe Sol sustainability. A SA area of 1. 8 m 2 is thus the preferred option (Mission ends on sol 111). Conclusion 3: The Hibernation Sol can be sustained for the entire lifetime with a SA panel area >= 1. 8 m 2. 15 -6 -2013 Sample Fetching Rover Page 22 Conclusion 2: The Safe Sol cannot be sustained for the entire lifetime even with 2. 0 m 2 of Solar Array Area. However the main derived requirement is to sustain the Safe Sol until mission completation, that for SA Area of 1. 8 m 2 is Sol 111. Thus the requirement is met with a SA Area of 1. 8 m 2. The Nominal Reference Mission, with the current SFR Design, can be completed before the Solar Conjunction (sol 111) with a SA area of 1. 8 m 2, while being safe since the Safe Sol can be sustained for all the 111 sols. The SFR will be however able to survive the entire mission lifetime (180 sols) in hibernation mode (with 2 communications per day). All rights reserved, 2013, Thales Alenia Space

CRITICAL TECHNOLOGIES Critical Technologies Page 23 In the frame of this contract several technologies have been identified which are needed for the SFR development but which have low Technology Readiness Level. A priority has been assigned to each of the technologies, with the following meaning: • High: TRL 5 shall be reached by 2014/2015. Critical technology to be developed for SFR since they are part of the design • Medium: TRL 5 should be reached by 2014/2015. This is considered a goal as would increase rover capabilities, but not a critical technology blocking the SFR development (not baselined) • Low: technologies which should probably bring an increase of rover performances and/or increase of the understanding and confidence on the design and analyses done in this study 15 -6 -2013 Sample Fetching Rover All rights reserved, 2013, Thales Alenia Space

CRITICAL TECHNOLOGIES Critical Technologies 15 -6 -2013 Sample Fetching Rover Page 24 All rights reserved, 2013, Thales Alenia Space

CRITICAL TECHNOLOGIES Critical Technologies 15 -6 -2013 Sample Fetching Rover Page 25 All rights reserved, 2013, Thales Alenia Space

CRITICAL TECHNOLOGIES Critical Technologies 15 -6 -2013 Sample Fetching Rover Page 26 All rights reserved, 2013, Thales Alenia Space

CRITICAL TECHNOLOGIES Critical Technologies 15 -6 -2013 Sample Fetching Rover Page 27 All rights reserved, 2013, Thales Alenia Space

CRITICAL TECHNOLOGIES Critical Technologies 15 -6 -2013 Sample Fetching Rover Page 28 All rights reserved, 2013, Thales Alenia Space

CRITICAL TECHNOLOGIES Critical Technologies 15 -6 -2013 Sample Fetching Rover Page 29 All rights reserved, 2013, Thales Alenia Space