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NASA NTRS2008

Synthetic (Hydrothermal) Hematite-Rich Mars-Analog Spherules from Acid-Sulfate Brines: Implications for Formation and Diagenesis of Hematite Spherules in Outcrops at Meridiani Planum, Mars

The Thermal Emission Spectrometer (TES) onboard the Mars Global Surveyor (MGS) orbiter discovered a large area at Meridiani Planum (MP) covered with the Fe-oxide hematite (alpha-Fe2O3) [1,2]. This discovery and favorable landing site characteristics led to selection of MP as the landing site for the Opportunity Mars Exploration Rover (MER) [3]. The Athena science payload onboard the Opportunity rover identified hematite-rich spherules (mean spherule diameter approx.4.2+/-0.8 mm) embedded in S-rich outcrop rock and also as lag deposits of whole and broken spherules [4,5,6,7,8,9]. Although the chemical and mineralogical compositions of spherules are not fully constrained, Moessbauer spectrometer (MB) Miniature Thermal Emission Spectrometer (Mini-TES) and chemical analyses from the Alpha Particle X-Ray Spectrometer (APXS) are consistent with a hematite mineralogical composition and an oxide bulk chemical composition consisting of Fe2O3. MGS-TES, also provides an important constraint that emission from the hematite-rich spherules is dominated by emission along the crystallographic c-axis [1,2,10,11]. The formation of hematite-rich spherules with similar chemical, mineralogical, morphological, and crystallographic properties to the MP spherules is rare on Earth, to date, only two natural analogs have been proposed; one from Utah (Navaho Concretions) and the other from Mauna Kea, Hawaii [12,13]. In this study, we synthesized in the laboratory hematite-rich spherules using conditions that may have existed on Early Mars [14] and compared their properties to those for MP hematite spherules of Mars and the analog spherules from Utah and Mauna Kea in order to assess their relative merit as MP hematite spherule analogs. Such comparisons yield clues to the formation pathway for MP spherules.

Golden, D. C.↗
NASA NTRS2001

Atmospheric Constraints on Landing Site Selection

The Martian atmosphere is a significant part of the environment that the Mars Exploration Rovers (MER) will encounter. As such, it imposes important constraints on where the rovers can and cannot land. Unfortunately, as there are no meteorological instruments on the rovers, there is little atmospheric science that can be accomplished, and no scientific preference for landing sites. The atmosphere constrains landing site selection in two main areas, the entry descent and landing (EDL) process and the survivability of the rovers on the surface. EDL is influenced by the density profile and boundary layer winds (up to altitudes of 5 to 10 km). Surface survivability involves atmospheric dust, temperatures and winds. During EDL, the atmosphere is used to slow the lander down, both ballistically and on the parachute. This limits the maximum elevation of the landing site to -1.3 km below the MOLA reference aeroid. The landers need to encounter a sufficiently dense atmosphere to be able to stop, and the deeper the landing site, the more column integrated atmosphere the lander can pass through before reaching the surface. The current limit was determined both by a desire to be able to reach the hematite region and by a set of atmosphere models we developed for EDL simulations. These are based on Thermal Emission Spectrometer (TES) atmospheric profile measurements, Ames Mars General Circulation Model (MGCM) results, and the 1-D Ames GCM radiative/convective model by J. Murphy. The latter is used for the near surface diurnal cycle. The current version of our model encompasses representative latitude bands, but we intend to make specific models for the final candidate landing sites to insure that they fall within the general envelope. The second constraint imposed on potential landing sites through the EDL process is the near surface wind. The wind in the lower approximately 5 km determines the horizontal velocity that the landers have when they land. Due to the mechanics of the landing process, the total velocity (including both the horizontal and vertical components) determines whether or not the landers are successful. Unfortunately, the landing system has no easy way to nullify any horizontal velocity imparted by the wind, so the landing sites selected need to have as little wind as possible. In addition to the mean wind velocity, the landing system is sensitive to vertical wind shear in the lowest kilometer or so. Wind shear can deflect the retro rockets (RADs) from their nominal vertical orientation producing unwanted horizontal spacecraft velocities. Both mean velocity and wind shear are dominated by the the local topography and other surface properties (in particular albedo and thermal inertia which control the surface temperature). This is seen even in simplified 2-D mesoscale models. The effects in a fully 3-D model are expected to he even more topographically dependent. In particular there is potential for wind channeling in canyons and other terrain features. Boundary layer winds and wind shear are currently being modeled based on terrestrial data and boundary layer scaling laws modified for Martian conditions. We hope to supplement this with mesoscale model results (from several sources) once the number of landing sites is reduced to a manageable number.

Kass, David M.↗
NASA NTRS2012

Rapid Diagnostics of Onboard Sequences

Keeping track of sequences onboard a spacecraft is challenging. When reviewing Event Verification Records (EVRs) of sequence executions on the Mars Exploration Rover (MER), operators often found themselves wondering which version of a named sequence the EVR corresponded to. The lack of this information drastically impacts the operators diagnostic capabilities as well as their situational awareness with respect to the commands the spacecraft has executed, since the EVRs do not provide argument values or explanatory comments. Having this information immediately available can be instrumental in diagnosing critical events and can significantly enhance the overall safety of the spacecraft. This software provides auditing capability that can eliminate that uncertainty while diagnosing critical conditions. Furthermore, the Restful interface provides a simple way for sequencing tools to automatically retrieve binary compiled sequence SCMFs (Space Command Message Files) on demand. It also enables developers to change the underlying database, while maintaining the same interface to the existing applications. The logging capabilities are also beneficial to operators when they are trying to recall how they solved a similar problem many days ago: this software enables automatic recovery of SCMF and RML (Robot Markup Language) sequence files directly from the command EVRs, eliminating the need for people to find and validate the corresponding sequences. To address the lack of auditing capability for sequences onboard a spacecraft during earlier missions, extensive logging support was added on the Mars Science Laboratory (MSL) sequencing server. This server is responsible for generating all MSL binary SCMFs from RML input sequences. The sequencing server logs every SCMF it generates into a MySQL database, as well as the high-level RML file and dictionary name inputs used to create the SCMF. The SCMF is then indexed by a hash value that is automatically included in all command EVRs by the onboard flight software. Second, both the binary SCMF result and the RML input file can be retrieved simply by specifying the hash to a Restful web interface. This interface enables command line tools as well as large sophisticated programs to download the SCMF and RMLs on-demand from the database, enabling a vast array of tools to be built on top of it. One such command line tool can retrieve and display RML files, or annotate a list of EVRs by interleaving them with the original sequence commands. This software has been integrated with the MSL sequencing pipeline where it will serve sequences useful in diagnostics, debugging, and situational awareness throughout the mission.

Starbird, Thomas W.↗
NASA NTRS2002

Light-Toned, Layered Outcrops of Northern Terra Meridiani Mars: Viking, Phobos 2, and Mars Global Surveyor Observations

Locating outcrops of sedimentary rock on Mars is an important step toward deciphering the planet's geologic and climatologic record. Sedimentary rock representing the earliest martian environments, are of particular interest in this context. This is a report about a vast exposure of material proposed to be martian sedimentary rock. The outcrops cover an area (approximately sq 300,000 km) roughly the size of the Colorado Plateau in North America (approximately 260,000 sq km). The materials occur in northern Terra Meridiani, near of one of the four sites being considered for a 2004 NASA Mars Exploration Rover (MER) landing. The landing ellipse, centered at deg S, deg W, lies in a region exhibiting smooth and rough (at meter scale) dark-toned surfaces, with scattered light-toned patches. Stratigraphically, the dark-toned materials at the MER site lie unconformably on top of a previously-eroded, light-toned surface; the light-toned patches in the landing ellipse are geologic windows down to this lower stratigraphic unit. North of the landing ellipse, the light-toned materials are well-exposed because the darker materials have been removed, stranding outlier remnants in a few locations. The light-toned materials are layered, vertically heterogeneous, and exhibit lateral continuity over hundreds of kilometers. Eroded layers produce cliffs; some outcrops are expressed as mesas, buttes, and spires; and impact craters ranging in diameter from a few meters to tens of kilometers are interbedded with the layers. The purpose of this report is to summarize the results of greater than 6 years of photogeologic investigation into the nature of the light-toned outcrops of northern Terra Meridiani. The work is a 'snapshot' of progress made toward eventual geologic mapping and establishment of the stratigraphic sequence for the materials through 30 September 2002, a day prior to the first release of Mars Odyssey Thermal Emission Imaging System (THEMIS) data to the NASA Planetary Data System (PDS). The main body of data examined were Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) images acquired through 30 September 2002. The data also 2 include Viking orbiter images, a Phobos 2 Termoscan image, MGS Mars Orbiter Laser Altimeter (MOLA) topographic observations, and the products of published Viking Infrared Thermal Mapper (IRTM) and Mars Global Surveyor (MGS) Thermal Emission Spectrometer (TES) analyses. Through September 2002, over 126,000 MOC images had been acquired, and greater than 600 of the MOC narrow angle (1.5-12 m/pixel) images occur within the portions of Terra Meridiani and southwestern Arabia Terra.

Edgett, Kenneth S.↗
NASA NTRS2008

Facilitating Analysis of Multiple Partial Data Streams

Robotic Operations Automation: Mechanisms, Imaging, Navigation report Generation (ROAMING) is a set of computer programs that facilitates and accelerates both tactical and strategic analysis of time-sampled data especially the disparate and often incomplete streams of Mars Explorer Rover (MER) telemetry data described in the immediately preceding article. As used here, tactical refers to the activities over a relatively short time (one Martian day in the original MER application) and strategic refers to a longer time (the entire multi-year MER missions in the original application). Prior to installation, ROAMING must be configured with the types of data of interest, and parsers must be modified to understand the format of the input data (many example parsers are provided, including for general CSV files). Thereafter, new data from multiple disparate sources are automatically resampled into a single common annotated spreadsheet stored in a readable space-separated format, and these data can be processed or plotted at any time scale. Such processing or plotting makes it possible to study not only the details of a particular activity spanning only a few seconds, but also longer-term trends. ROAMING makes it possible to generate mission-wide plots of multiple engineering quantities [e.g., vehicle tilt as in Figure 1(a), motor current, numbers of images] that, heretofore could be found only in thousands of separate files. ROAMING also supports automatic annotation of both images and graphs. In the MER application, labels given to terrain features by rover scientists and engineers are automatically plotted in all received images based on their associated camera models (see Figure 2), times measured in seconds are mapped to Mars local time, and command names or arbitrary time-labeled events can be used to label engineering plots, as in Figure 1(b).

Maimone, Mark W.↗
NASA NTRS2002

Lithium-ion cell technology demonstration for future NASA applications

NASA requires lightweight rechargeable batteries for future missions to Mars and the outer planets that are capable of operating over a wide range of temperatures, with high specific energy and energy densities. Due to their attractive performance characteristics, lithium-ion batteries have been identified as the battery chemistry of choice for a number of future applications, including planetary orbiters, rovers and landers. For example, under the Mars Surveyor Program MSP 01 lithium-ion batteries were developed by Lithion (each being 28 V, 25 Ah, 8-cells. and 9 kg) and fully qualified prior to mission cancellation. In addition to the requirement of being able to supply at least 90 cycles on the surface of Mars, the battery demonstrated operational capability (both charge and discharge) over a large temperature range (-2O'C to +4OoC), with tolerance to non-operational excursions to -30nd 50Currently, JPL is implementing lithium-ion technology on the 2003 Mars Exploration Rover (MER), which will be coupled with a solar array. This mission has similar performance requirements to that of the 2001 Lander in that high energy density and a wide operating temperature range are necessitated. In addition to planetary rover and lander applications, we are also engaged in determining the viability of using lithium-ion technology for orbiter applications that require exceptionally long life (>20,000 cydes at partial depth of discharge). To assess the viabili of lithium-ion cells for these applications, a number of performance characterization tests have been performed (at the cell and battery level) on state-of-art prototype lihium- ion cells, induding: assessing the cycle life performance (at varying DODs), life characteristics at extreme temperatures (< -10nd >+4OoC), rate capability as a function of temperature (-30' to 4OoC), pulse capability, self-discharge and storage characteristics, as well as, mission profile capability. This paper will describe the current and future NASA missions that are considering lithium ion batteries and will contain results of the cell testing conducted to-date to validate the technology for these missions.

lithium-ion batteries Mars landers Mars rovers↗
NASA NTRS2013

Robust Platinum Resistor Thermometer (PRT) Sensors and Reliable Bonding for Space Missions

Platinum resistance thermometers (PRTs) provide accurate temperature measurements over a wide temperature range and are used extensively on space missions due to their simplicity and linearity. A standard on spacecraft, PRTs are used to provide precision temperature control and vehicle health assessment. This paper reviews the extensive reliability testing of platinum resistor thermometer sensors (PRTs) and bonding methods used on the Mars Science Laboratory (MSL) mission and for the upcoming Soil Moisture Active Passive (SMAP) mission. During the Mars Exploration Rover (MER) mission, several key, JPL-packaged PRTs failed on those rovers prior to and within 1-Sol of landing due to thermally induced stresses. Similar failures can be traced back to other JPL missions dating back thirty years. As a result, MSL sought out a PRT more forgiving to the packaging configurations used at JPL, and extensively tested the Honeywell HRTS-5760-B-U-0-12 sensor to successfully demonstrate suitable robustness to thermal cycling. Specifically, this PRT was cycled 2,000 times, simulating three Martian winters and summers. The PRTs were bonded to six substrate materials (Aluminum 7050, treated Magnesium AZ231-B, Stainless Steel 304, Albemet, Titanium 6AL4V, and G-10), using four different aerospace adhesives--two epoxies and two silicones--that conformed to MSL's low out-gassing requirements. An additional epoxy was tested in a shorter environmental cycling test, when the need for a different temperature range adhesive was necessary for mobility and actuator hardware late in the fabrication process. All of this testing, along with electrostatic discharge (ESD) and destructive part analyses, demonstrate that this PRT is highly robust, and not subject to the failure of PRTs on previous missions. While there were two PRTs that failed during fabrication, to date there have been no in-flight PRT failures on MSL, including those on the Curiosity rover. Since MSL, the sensor has gone through a change in construction such that the manufacturer significantly restricts the minimum temperature. However, significant subsequent testing was performed with this new version of the part to show that it indeed is still robust to at least Mars minimum temperatures of -135(sup o)C. The additional completed testing will be described. This work has resulted in a successful sensor package qualification and a reliable bonding method suitable for use over large temperature extremes.

dectector↗
NASA NTRS2013

Robust Platinum Resistor Thermometer (PRT) Sensors and Reliable Bonding for Space Missions

Platinum resistance thermometers (PRTs) provide accurate temperature measurements over a wide temperature range and are used extensively on space missions due to their simplicity and linearity. A standard on spacecraft, PRTs are used to provide precision temperature control and vehicle health assessment. This paper reviews the extensive reliability testing of platinum resistor thermometer sensors (PRTs) and bonding methods used on the Mars Science Laboratory (MSL) mission and for the upcoming Soil Moisture Active Passive (SMAP) mission. During the Mars Exploration Rover (MER) mission, several key, JPL-packaged PRTs failed on those rovers prior to and within 1-Sol of landing due to thermally induced stresses. Similar failures can be traced back to other JPL missions dating back thirty years. As a result, MSL sought out a PRT more forgiving to the packaging configurations used at JPL, and extensively tested the Honeywell HRTS-5760-B-U-0-12 sensor to successfully demonstrate suitable robustness to thermal cycling. Specifically, this PRT was cycled 2,000 times, simulating three Martian winters and summers. The PRTs were bonded to six substrate materials (Aluminum 7050, treated Magnesium AZ231-B, Stainless Steel 304, Albemet, Titanium 6AL4V, and G-10), using four different aerospace adhesives--two epoxies and two silicones--that conformed to MSL's low out-gassing requirements. An additional epoxy was tested in a shorter environmental cycling test, when the need for a different temperature range adhesive was necessary for mobility and actuator hardware late in the fabrication process. All of this testing, along with electrostatic discharge (ESD) and destructive part analyses, demonstrate that this PRT is highly robust, and not subject to the failure of PRTs on previous missions. While there were two PRTs that failed during fabrication, to date there have been no in-flight PRT failures on MSL, including those on the Curiosity rover. Since MSL, the sensor has gone through a change in construction such that the manufacturer significantly restricts the minimum temperature. However, significant subsequent testing was performed with this new version of the part to show that it indeed is still robust to at least Mars minimum temperatures of -135 degrees Centigrade. The additional completed testing will be described. This work has resulted in a successful sensor package qualification and a reliable bonding method suitable for use over large temperature extremes

Platinum Resistor Thermometer (PRT)↗
NASA NTRS2007

Improved Path Planning Onboard the Mars Exploration Rovers

A revised version of the AutoNav (autonomous navigation with hazard avoidance) software running onboard each Mars Exploration Rover (MER) affords better obstacle avoidance than does the previous version. Both versions include GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain), a navigation program that generates local-terrain models from stereoscopic image pairs captured by onboard rover cameras; uses this information to evaluate candidate arcs that extend across the terrain from the current rover location; ranks the arcs with respect to hazard avoidance, minimization of steering time, and the direction towards the goal; and combines the rankings in a weighted vote to select an arc, along which the rover is then driven. GESTALT works well in navigating around small isolated obstacles, but tends to fail when the goal is on the other side of a large obstacle or multiple closely spaced small obstacles. When that occurs, the goal seeking votes and hazard avoidance votes conflict severely. The hazard avoidance votes will not allow the rover to drive through the unsafe area, and the waypoint votes will not allow enough deviation from the straight-line path for the rover to get around the hazard. The rover becomes stuck and is unable to reach the goal. The revised version of AutoNav utilizes a global path-planning program, Field D*, to evaluate the cost of traveling from the end of each GESTALT arc to the goal. In the voting process, Field D* arc votes supplant GESTALT goal-seeking arc votes. Hazard avoidance, steering bias, and Field D* votes are merged and the rover is driven a preset distance along the arc with the highest vote. Then new images are acquired and the process as described is repeated until the goal is reached. This new technology allows the rovers to autonomously navigate around much more complex obstacle arrangements than was previously possible. In addition, this improved autonomy enables longer traverses per Sol (a day on Mars), and can make planning drives easier for operators on Earth.

Stentz, Anthony↗
NASA NTRS2003

The Athena Microscopic Imager Investigation

The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI) [1]. The MI is a fixed-focus camera mounted on the end of an extendable instrument arm, the Instrument Deployment Device (IDD; see Figure 1).The MI was designed to acquire images at a spatial resolution of 30 microns/pixel over a broad spectral range (400 - 700 nm; see Table 1). Technically, the microscopic imager is not a microscope: it has a fixed magnification of 0.4 and is intended to produce images that simulate a geologist s view through a common hand lens. In photographers parlance, the system makes use of a macro lens. The MI uses the same electronics design as the other MER cameras [2, 3] but has optics that yield a field of view of 31 31 mm across a 1024 1024 pixel CCD image (Figure 2). The MI acquires images using only solar or skylightillumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 66 mm), allowing concave surfaces to be imaged in good focus. Because the MI has a relatively small depth of field (3 mm), a single MI image of a rough surface will contain both focused and unfocused areas. Coarse focusing will be achieved by moving the IDD away from a rock target after the contact sensor is activated. Multiple images taken at various distances will be acquired to ensure good focus on all parts of rough surfaces. By combining a set of images acquired in this way, a completely focused image can be assembled. Stereoscopic observations can be obtained by moving the MI laterally relative to its boresight. Estimates of the position and orientation of the MI for each acquired image will be stored in the rover computer and returned to Earth with the image data. The MI optics will be protected from the Martian environment by a retractable dust cover. The dust cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500-700 nm, allowing color information to be obtained by taking images with the dust cover open and closed. The MI will image the same materials measured by other Athena instruments (including surfaces prepared by the Rock Abrasion Tool), as well as rock and soil targets of opportunity. Subsets of the full image array can be selected and/or pixels can be binned to reduce data volume. Image compression will be used to maximize the information contained in the data returned to Earth. The resulting MI data will place other MER instrument data in context and aid in petrologic and geologic interpretations of rocks and soils on Mars.

K E Herkenhoff↗
NASA NTRS2001

Assessing Layered Materials in Gale Crater

The recent analysis of high resolution Mars Orbiter Camera (MOC) images of layered outcrops in equatorial regions reinforces two important ideas, which will probably eventually become paradigms, about Mars: 1) It has had a long, complex geologic history marked by change, as manifested in the different layers observed, and 2) Standing bodies of water existed for substantial lengths of time, indicating clement conditions possibly conducive to life. Although observations of layering and evidence for lakes and oceans has been reported for years based on Mariner 9 and Viking data, the MOC data show that this layering is much more pervasive and complex than previously thought. These layered sites are ideal for studying the geologic, and possibly biologic, history of Mars. Here, a layered site within Gale Crater is advocated as a Mars Exploration Rover (MER) target. This is one of the few layered areas within closed depressions (e.g., other craters and Vallis Marineris) that meets the landing site constraints and is accessible to both MER A and B.

Bridges, N. T.↗
NASA NTRS2002

CIP Training Manual: Collaborative Information Portal Advance Training Information for Field Test Participants

The Collaborative Information Portal (CIP) is a web-based information management and retrieval system. Its purpose is to provide users at MER (Mars Exploration Rover) mission operations with easy access to a broad range of mission data and products and contextual information such as the current operations schedule. The CIP web-server provides this content in a user customizable web-portal environment. Since CIP is still under development, only a subset of the full feature set will be available for the EDO field test. The CIP web-portal will be accessed through a standard web browser. CIP is intended to be intuitive and simple to use, however, at the training session, users will receive a one to two page reference guide, which should aid them in using CIP. Users must provide their own computers for accessing CIP during the field test. These computers should be configured with Java 1.3 and a Java 2 enabled browser. Macintosh computers should be running OS 10.1.3 or later. Classic Mac OS (OS 9) is not supported. For more information please read section 7.3 in the FIASCO Rover Science Operations Test Mission Plan. Several screen shots of the Beta Release of CIP are shown on the following pages.

Schreiner, John↗
NASA NTRS2002

Arc Jet Testing of the TIRS Cover Thermal Protection System for Mars Exploration Rover

This paper summarizes the arc jet test results of the Mars Exploration Rover (MER) Silicone Impregnated Reusable Ceramic Ablator (SIRCA) Transverse Impulse Rocket System (TIRS) Cover test series in the Panel Test Facility (PTF) at NASA Ames Research Center (ARC). NASA ARC performed aerothermal environment analyses, TPS sizing and thermal response analyses, and arc jet testing to evaluate the MER SIRCA TIRS Cover design and interface to the aeroshell structure. The primary objective of this arc jet test series was to evaluate specific design details of the SIRCA TIRS Cover interface to the MER aeroshell under simulated atmospheric entry heating conditions. Four test articles were tested in an arc jet environment with various sea] configurations. The test condition was designed to match the predicted peak flight heat load at the gap region between the SIRCA and the backshell TPS material, SLA-561S, and resulted in an over-test (with respect to heat flux and heat load) for the apex region of the SIRCA TIRS Cover. The resulting pressure differential was as much as twenty times that predicted for the flight case, depending on the location, and there was no post-test visual evidence of over-heating or damage to the seal, bracket, or backshell structure. The exposed titanium bolts were in good condition at post-test and showed only a small amount of oxidation at the leading edge locations. Repeatable thermocouple data were obtained and SIRCA thermal response analyses were compared to applicable thermocouple data. For the apex region of the SIRCA TIRS Cover, a one-dimensional thermal response prediction proved overly conservative, as there were strong multi-dimensional conduction effects evident from the thermocouple data. The one-dimensional thermal response prediction compared well with the thermocouple data for the leading edge "lip" region at the bolt location. In general, the test results yield confidence in the baseline seal design to prevent hot gas ingestion at the bracket and composite aeroshell structure interface.

Szalai, Christine E.↗
NASA NTRS2003

Human Centered Design and Development for NASA's MerBoard

This viewgraph presentation provides an overview of the design and development process for NASA's MerBoard. These devices are large interactive display screens which can be shown on the user's computer, which will allow scientists in many locations to interpret and evaluate mission data in real-time. These tools are scheduled to be used during the 2003 Mars Exploration Rover (MER) expeditions. Topics covered include: mission overview, Mer Human Centered Computers, FIDO 2001 observations and MerBoard prototypes.

Trimble, Jay↗
NASA NTRS2003

Mars Exploration Rovers as Virtual Instruments for Determination of Terrain Roughness and Physical Properties

The two 2003 Mars Exploration Rovers (MERs), in combination with the Athena Payload, will be used as virtual instrument systems to infer terrain properties during traverses, in addition to using the rover wheels to excavate trenches, exposing subsurface materials for remote and in-situ observations. The MERs are being modeled using finite element-based rover system transfer functions that utilize the distribution of masses associated with the vehicle, together with suspension and wheel dynamics, to infer surface roughness and mechanical properties from traverse time series data containing vehicle yaw, pitch, roll, encoder counts, and motor currents. These analyses will be supplemented with imaging and other Athena Payload measurements. The approach is being validated using Sojourner data, the FIDO rover, and experiments with MER testbed vehicles. In addition to conducting traverse science and associated analyses, trenches will be excavated by the MERs to depths of approximately 10-20 cm by locking all but one of the front wheels and rotating that wheel backwards so that the excavated material is piled up on the side of the trench away from the vehicle. Soil cohesion and angle of internal friction will be determined from the trench telemetry data. Emission spectroscopy and in-situ observations will be made using the Athena payload before and after imaging. Trenching and observational protocols have been developed using Sojourner results; data from the FIDO rover, including trenches dug into sand, mud cracks, and weakly indurated bedrock; and experiments with MER testbed rovers. Particular attention will be focused on Mini-TES measurements designed to determine the abundance and state of subsurface water (e.g. hydrated, in zeolites, residual pore ice?) predicted to be present from Odyssey GRS/NS/HEND data.

R E Arvidson↗
NASA NTRS2003

Meridiani Planum Hematite Deposit: Potential for Preservation of Microfossils

Christensen et al., using data from the Mars Global Surveyor Thermal Emission Spectrometer (TES), have identified gray crystalline hematite in a 350 km by 750 km region near Meridiani Planum. The deposit corresponds closely to the low-albedo highlands unit sm, mapped as a wind-eroded, ancient, subaqueous sedimentary deposit. Christensen et al. interpreted the Meridiani Planum deposit to be an in-place, rock-stratigraphic sedimentary unit characterized by smooth, friable layers composed primarily of basaltic sediments with approximately 10 to 15% crystalline gray hematite. The Meridiani Planum hematite deposit has recently been designated as the prime landing site for one of the two Mars Exploration Rover (MER) spacecraft. The MER landings are scheduled for January, 2004. Christensen et al. discussed five possible mechanisms for the formation of this deposit: direct precipitation from standing, oxygenated, Fe-rich water; precipitation from Fe-rich hydrothermal fluids; low-temperature dissolution and precipitation through mobile groundwater leaching; surface weathering and coatings; thermal oxidation of magnetite-rich lavas. Four of these mechanisms involve the interactions of rock with water, and thus have implications in the search for evidence of microbial life.

C C Allen↗
NASA NTRS2003

Pancam: A Multispectral Imaging Investigation on the NASA 2003 Mars Exploration Rover Mission

One of the six science payload elements carried on each of the NASA Mars Exploration Rovers (MER; Figure 1) is the Panoramic Camera System, or Pancam. Pancam consists of three major components: a pair of digital CCD cameras, the Pancam Mast Assembly (PMA), and a radiometric calibration target. The PMA provides the azimuth and elevation actuation for the cameras as well as a 1.5 meter high vantage point from which to image. The calibration target provides a set of reference color and grayscale standards for calibration validation, and a shadow post for quantification of the direct vs. diffuse illumination of the scene. Pancam is a multispectral, stereoscopic, panoramic imaging system, with a field of regard provided by the PMA that extends across 360 of azimuth and from zenith to nadir, providing a complete view of the scene around the rover in up to 12 unique wavelengths. The major characteristics of Pancam are summarized.

J F Bell III↗
NASA NTRS2003

Ten-Meter Scale Topography and Roughness of Mars Exploration Rovers Landing Sites and Martian Polar Regions

The Mars Orbiter Camera (MOC) has been operating on board of the Mars Global Surveyor (MGS) spacecraft since 1998. It consists of three cameras - Red and Blue Wide Angle cameras (FOV=140 deg.) and Narrow Angle camera (FOV=0.44 deg.). The Wide Angle camera allows surface resolution down to 230 m/pixel and the Narrow Angle camera - down to 1.5 m/pixel. This work is a continuation of the project, which we have reported previously. Since then we have refined and improved our stereo correlation algorithm and have processed many more stereo pairs. We will discuss results of our stereo pair analysis located in the Mars Exploration rovers (MER) landing sites and address feasibility of recovering topography from stereo pairs (especially in the polar regions), taken during MGS 'Relay-16' mode.

Ivanov, Anton B.↗