ABSTRACT
NASA's Double Asteroid Redirection Test (DART) successfully intercepted the asteroid Didymos on September 26th of 2022, potentially changing its orbital period with a deflection by kinetic impact. The spacecraft launched aboard a SpaceX Falcon 9 rocket on November 24th, 2021. DART's Integration and Test (I&T) campaign was scheduled to commence in April of 2020 at the Johns Hopkins University Applied Physics Laboratory (JHU/APL) in Laurel, Maryland. In March of that year, one month prior to beginning I&T, the rapid spread of the Coronavirus (COVID-19) forced JHU/APL to rethink how to assemble, test and deliver a spacecraft on schedule during a very challenging period of time. This paper will discuss the details of the successful I&T strategy used by the DART team during the COVID-19 lockdown and subsequent return to post-lockdown life. The team learned how to effectively meet virtually, how to integrate hardware, and how to operate the spacecraft with the least amount of people required. Communication was key in keeping the various DART team members, who were located across the country, connected and safe. The team had also moved documentation online for the first time, which turned out to be very instrumental in keeping everyone on track. A variety of tools to collaborate and document test procedures and results proved valuable for record keeping. Creative solutions were implemented during the test campaign for scheduling both remote and in person monitoring. This paper will conclude with DART lessons learned and recommendations for future I&T programs. © 2023 IEEE.
ABSTRACT
Over the first 9 years of the Mars Science Laboratory (MSL) Curiosity rover's surface mission, more than 87% of its driving was performed using Visual Odometry (VO). The benefits of using VO during driving are that it minimizes rover position uncertainty and can be used to monitor wheel slip, halting a drive if excessive wheel slip is occurring. The VO implementation onboard Curiosity acquires and processes VO images in between drive steps while the rover is stationary. A VO Thinking While Driving (VTWD) flight software capability has been developed to enable the processing of VO images during rover driving, increasing the distance Curiosity can drive using VO during a given time period up to as much as 1.75x total distance. Verification and Validation (V&V) of this capability has been challenging due to impacts from the COVID-19 pandemic and unavailability of the JPL Mars Yard outdoor test site. The VTWD V&Vtest procedures were modified to use a small indoor space with Mars-like terrain. This paper describes the 3 year V&V effort under challenging conditions to approve the VTWD capability for use on the Curiosity rover. © 2022 IEEE.