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NASA NTRSDate not supplied

Modeling Water-Rock Reactions Beneath the Greenheugh Pediment, Gale Crater, Mars

The Mars Science Laboratory Curiosity rover has been exploring the clay rich Glen Torridon unit in Gale crater since sol 2300 of the mission [1]. As identified in orbital data [2], this clay rich area [3] in the Murray formation is overlain with the Greenheugh Pediment unit to the south, which is part of the Stimson Formation [4]. Curiosity acquired the drill sample Hutton in the Upper Murray formation 2 – 3 meters below the Greenheugh Pediment [5,6]. This study uses thermochemical modelling to investigate the hypothesis for alteration in the Murray formation below the Greenheugh Pediment. Specifically, if the contact between the Greenheugh Pediment and Murray sediments was a conduit for diagenetic fluids (a low water/rock scenario) or if subaerial weathering altered the Murray sediments before cementation began (a high water/rock scenario) [6]. Here, we report on preliminary modeling where we have reacted the chemical composition for the Hutton drill sample with Gale Portage Water (GPW) at 25 °C, 50 °C and 200 °C, for 10% Fe3+/Fetot of the host rock.

SMR Turner↗
NASA NTRSDate not supplied

Mars Science Laboratory Mastcam Multispectral Investigation of Drill Targets From the Beginning of the Clay Sulfate Transition to Marker Band Valley

In March, 2021 the Mars Science Laboratory Curiosity rover officially started exploring the Clay Sulfate Transition (CST). This area of Mt. Sharp has been interpreted to have hydrated Mg-sulfate spectral signatures in CRISM orbital data, and it no longer has the strong phyllosilicate spectral signature as the previous Glen Torridon region. Recently, the Curiosity rover has also encountered the marker band that was also identified in orbital data [1,3]. This shift from phyllosilicates to hydrated Mg-sulfates suggests a major change in the environmental conditions during which these rocks were deposited. This abstract focuses on changes seen in the Mastcam multispectral data between the CST drill targets.

S R Jacob↗
NASA NTRS2022

MSL MMRTG Power Modeling for Lifetime Performance Predictions

The Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) has been providing power to the Mars Science Laboratory (MSL) rover, Curiosity, for surface operations since 2012. The Jet Propulsion Laboratory (JPL) has employed the Life Performance Prediction Model (LPPM) to generate predictions and outputs based upon flight data from the rover and experimental data from the thermoelectric (TE) couples. In order to make these predictions, LPPM requires various spacecraft inputs relevant to RTG performance such as fin root temperature, load voltage, general purpose heat source (GPHS) inventory, etc., combined with couple data such as thermoelectric properties, interface degradation, and sublimation properties. With tens of thousands of hours of flight data to date, LPPM can not only track performance to date, but also make predictions on the power output of the MMRTG through the 17-year end-of-design-life (EODL). These predictions are useful for mission planners and surface operators who rely on the MMRTG for power in order to perform the critical science necessary during the mission. This paper will showcase the power data extracted from the flight electronics, comparing it to the predictions and outputs generated from LPPM.

Pinkowski, Stanley↗
NASA NTRS2016

Detection of Northern Hemisphere Transient Baroclinic Eddies at Gale Crater Mars

The Rover Environmental Monitoring Station (REMS) on the Mars Science Laboratory’s (MSL) Curiosity rover has been operating in Gale Crater Mars (4.5°S, 137.4°E) for over 2 Mars years. Analysis of its pressure data, which have a precision of approximately 0.2 Pa (see Haberle et al., 2014; Harri et al., 2014), reveal temporal oscillations in its seasonally de-trended daily averaged pressures at some seasons with 2-5 Pa amplitudes that have periods similar to those observed at the Viking Lander 2 (VL-2) site (48.3°N, 134.0°E) several decades ago. As illustrated in Fig 1 there are clear peaks in the variance at a frequency f approximately 0.45 and 0.06 per sol for the fall season of Mars Year (MY) 31, and at f approximately 0.15 and 0.06 per sol for MY 32. These frequencies correspond to periods of 2.2, 6.7, and 16.7 sols, and are very similar to those observed at VL-2 (Fig 2, and see Barnes, 1980). Since orbital imaging data show dust frontal systems associated with eastward traveling baroclinic eddies that occasionally cross the equator (Wang et al., 2003), these findings suggest that MSL may be seeing their signature in its pressure data. To make this case we show that (a) the spectral peaks in the MSL are not only similar to those at VL-2, they have the same seasonal variation, (b) at least for some seasons the peaks are statistically significant and not likely due to random noise in the data, and (c) Global Circulation Model (GCM) results from the Ames GCM support this interpretation.

The Rover Environmental Monitoring Station (REMS)↗
NASA NTRS2020

Electromagnetic Compatibility Test and Analysis Campaign of NASA's Mars 2020 Rover Final Submission

NASA's Mars 2020 Perseverance Rover—with a launch window opening July 2020, and landing expected February 2021—has mission objectives to look for evidence of habitability, seek biosignatures of past life, collect and cache samples for possible future return to Earth, and prepare for future human missions to Mars. The Rover platform is similar to the previous Mars Science Laboratory (MSL) “Curiosity” rover that landed in 2012 but contains a new suite of scientific instruments and upgrades to existing functionality: seven new and/or upgraded scientific payloads, an upgraded arm and sampling system, and a Helicopter demonstration. These changes—along with new efficiency goals to operate more Rover subsystems concurrently and thus collect more science—presented new electromagnetic compatibility (EMC) challenges. In this paper, we will describe the campaign to ensure Mars 2020 mission success from an electromagnetic environment perspective: 1) confirming existing MSL heritage subsystems and EMC requirements were compatible with the new Mars 2020 mission objectives, 2) engaging with engineers and scientists early in the project to identify and evaluate risks before hardware assembly and performing ambitious risk reduction tests, 3) undertaking a comprehensive subsystem qualification test program based on tailored MIL-STD-461F requirements, occasionally leading to redesign, 4) synthesizing the data collected to perform detailed analyses toward the goal of making risk-informed decisions at a system level. The spacecraft successfully completed all three planned system level tests, demonstrating self-compatibility with minimal impact to operations from electromagn

Gonzales, Edward C↗
NASA NTRS2020

Electromagnetic Compatibility Test and Analysis Campaign of NASA's Mars 2020 Rover

NASA's Mars 2020 Rover—with a launch window opening July 2020, and landing expected February 2021—has mission objectives to look for evidence of habitability, seek biosignatures of past life, collect and cache samples for possible future return to Earth, and prepare for future human missions. The Rover platform is similar to the previous Mars Science Laboratory (MSL) “Curiosity” rover that landed in 2012 but contains a new suite of scientific instruments and upgrades to existing functionality. The scientific payload includes a trio of chemical analysis tools (PIXL, SHERLOC, SuperCam), a ground penetrating radar (RIMFAX), an upgraded weather station (MEDA), upgraded high resolution camera (MastCam-Z), and an oxygen-producing experiment (MOXIE). These changes—along with new efficiency goals to operate more Rover subsystems concurrently and thus collect more science—presented new electromagnetic compatibility (EMC) challenges. In this paper, we will describe the campaign to ensure Mars 2020 mission success from an electromagnetic environment perspective: 1) confirming existing MSL heritage subsystems and EMC requirements were compatible with the new Mars 2020 mission objectives, 2) engaging with engineers and scientists early in the project to identify and evaluate risks before hardware assembly and performing ambitious risk reduction tests, 3) undertaking a comprehensive subsystem qualification test program based on tailored MIL-STD-461F requirements, occasionally leading to redesign, 4) synthesizing the data collected to perform detailed analyses toward the goal of making risk-informed decisions at a system level. The spacecraft has successfully completed all three planned system level tests, demonstrating self-compatibility with minimal impact to operations from electromagnetic interference in all mission phases.

Gonzales, Edward C↗
NASA NTRS2008

Performance Testing of Yardney Li-Ion Cells and Batteries in Support of JPL's 2009 Mars Science Laboratory Mission

In 2009, JPL is planning to launch an unmanned rover mission to the planet Mars. This mission, referred to as the Mars Science Laboratory (MSL), will involve the use of a rover that is much larger than the previously developed Spirit and Opportunity Rovers for the 2003 Mars Exploration Rover (MER) mission, that are currently still in operation on the surface of the planet after more than three years. Part of the reason that the MER rovers have operated so successfully, far exceeding the required mission duration of 90 sols, is that they possess robust Li-ion batteries, manufactured by Yardney Technical Products, which have demonstrated excellent life characteristics. Given the excellent performance characteristics displayed, similar lithium-ion batteries have been projected to successfully meet the mission requirements of the up-coming MSL mission. Although comparable in many facets, such as being required to operate over a wide temperature range (-20 to 40 C), the MSL mission has more demanding performance requirements compared to the MER mission, including much longer mission duration (approx. 687 sols vs. 90 sols), higher power capability, and the need to withstand higher temperature excursions. In addition, due to the larger rover size, the MSL mission necessitates the use of a much larger battery to meet the energy, life, and power requirements. In order to determine the viability of meeting these requirements, a number of performance verification tests were performed on 10 Ah Yardney lithium-ion cells (MER design) under MSL-relevant conditions, including mission surface operation simulation testing. In addition, the performance of on-going ground life testing of 10 Ah MER cells and 8-cell batteries will be discussed in the context of capacity loss and impedance growth predictions.

MSL Rover↗
NASA NTRS2013

A Preliminary Interpretation of the First Results from the REMS Surface Pressure Measurements of the MSL Mission

The Rover Environmental Monitoring Station (REMS) on the Mars Science Laboratory (MSL) Curiosity rover consists of a suite of meteorological instruments that measure pressure, temperature (air and ground), wind (speed and direction), relative humidity, and the UV flux. A description of the instruments is described elsewhere.. Here we focus on interpreting the first 90 sols of REMS operations with a particular emphasis on the pressure data.

Haberle, Robert M.↗
NASA NTRS2016

Multi-Mission Radioisotope Thermoelectric Generator Experience on Mars

The Mars Science Laboratory (MSL) Curiosity rover has been operating on Mars using the F1 Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) for over one and one-half Mars years (over three Earth years). During this extended period, Curiosity has provided a wealth of information about operating with a MMRTG in the Mars surface environment. This paper discusses MMRTG performance over the life of the mission as affected not only by expected radioisotope degradation, but also by the thermal environment, including seasonal, wind, and time-of-sol effects. Additionally, issues related to MMRTG internal shorts will be discussed including detection, impacts on operations, and clearing the shorts.

RTG↗
NASA NTRSDate not supplied

Carbon Limited Soils of Iceland: Analogs for Identifying Carbon-Mineral Interactions in Gale Crater, Mars Surface Materials

The Mars Science Laboratory’s Curiosity rover mission to Gale Crater, Mars has a goal to search for organic carbon and corresponding evidence of ancient microbiology preserved in clay mineral-rich sedimentary deposits [1]. No clear correlation of clay mineral (smectite) abundances with the Sample Analysis at Mars (SAM) carbon detections (up to 2000 ppm C) [2] has been established, suggesting other phases may preserve organic C in martian sediments. Terrestrial volcanic glass soils can accumulate C due to the C-complexing abilities of poorly crystalline Al- and Fe-oxyhydroxides [3]. The Xray amorphous component (20 to 73 wt. %) in Gale Crater materials [4,5] has received little consideration regarding organic C preservation in Gale Crater. The objectives of this work are to 1) Evaluate C content and level of soil development of basaltic glass-bearing Icelandic soils to determine the role that poorly crystalline phases have in complexing organic C in carbon limited soils and 2) Determine if evolved gas analysis (EGA) of well-characterized Mars analog basaltic materials from Iceland can be used to interpret SAM data to understand the nature of organic-C mineral/geochemical associations in Gale materials.

B. Sutter↗
NASA NTRS2003

Control in Unmanned NASA Missions

This viewgraph presentation reviews several general aspects of control for NASA space missions. Included in the review are the Entry, Descent and Landing (EDL) for both Mars Exploration Rover (MER), and Mars Science Laboratory (MSL); and the control of the MER Rover. Also included is discussion about control issues in relation to formation flying, adaptive optics and precision wavefront control, sensors for environmental control- ENose. Essential developments in the areas of control are important for increase in Autonomy/Automation is essential for deep space manned missions. Other areas of concern are robustness and the need to address life support system control issues.

wavefront control↗
NASA NTRS2013

Carbon and Sulfur Isotopic Composition of Rocknest Soil as Determined with the Sample Analysis at Mars(SAM) Quadrupole Mass Spectrometer

The Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) Curiosity rover got its first taste of solid Mars in the form of loose, unconsolidated materials (soil) acquired from an aeolian bedform designated Rocknest. Evolved gas analysis (EGA) revealed the presence of H2O as well as O-, C- and S-bearing phases in these samples. CheMin did not detect crystalline phases containing these gaseous species but did detect the presence of X-ray amorphous materials. In the absence of definitive mineralogical identification by CheMin, SAM EGA data can provide clues to the nature and/or mineralogy of volatile-bearing phases through examination of temperatures at which gases are evolved from solid samples. In addition, the isotopic composition of these gases, particularly when multiple sources contribute to a given EGA curve, may be used to identify possible formation scenarios and relationships between phases. Here we report C and S isotope ratios for CO2 and SO2 evolved from Rocknest soil samples as measured with SAM's quadrupole mass spectrometer (QMS).

Franz, H. B.↗
NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗
NASA NTRS2020

Driving Curiosity: Mars Rover Mobility Trends During the First Seven Years

NASA’s Mars Science Laboratory (MSL) mission landed the Curiosity rover on Mars on August 6, 2012. As of August 6, 2019 (sol 2488), Curiosity has driven 21,318.5 meters over a variety of terrain types and slopes, employing multiple drive modes with varying amounts of onboard autonomy. Curiosity’s drive distances each sol have ranged from its shortest drive of 2.6 centimeters to its longest drive of 142.5 meters, with an average drive distance of 28.9 meters. Real-time human intervention during Curiosity drives on Mars is not possible due to the latency in uplinking commands and downlinking telemetry, so the operations team relies on the rover’s flight software to prevent an unsafe state during driving. Over the first seven years of the mission, Curiosity has attempted 738 drives. While 622 drives have completed successfully, 116 drives were prevented or stopped early by the rover’s fault protection software. The primary risks to mobility success have been wheel wear, wheel entrapment, progressive wheel sinkage (which can lead to rover embedding), and terrain interactions or hardware or cabling failures that result in an inability to command one or more steer or drive actuators. In this paper, we describe mobility trends over the first 21.3km of the mission, operational aspects of the mobility fault protection, and risk mitigation strategies that will support continued mobility success for the remainder of the mission.

Rankin, Arturo↗
NASA NTRS2020

The Role of Diagenesis at Vera Rubin Ridge in Gale Crater, Mars, and the Chemostratigraphy of the Murray Formation as Observed by the Chemcam Instrument

The Mars Science Laboratory (MSL) Curiosity rover explored Vera Rubin ridge (VRR) in Gale crater, Mars, for almost 500 sols (Mars days) between arriving at the ridge on sol 1809 of the mission in September 2017 and leaving it on sol 2302 upon entering the Glen Torridon area south of the ridge. VRR is a topographic ridge on the central mound, Aeolis Mons (Mt. Sharp), in Gale crater that displays a strong hematite spectral signature from orbit. In-situ observations on the ridge led to the recognition that the ridge-forming rocks belong to the Murray formation, the lowermost exposed stratigraphic unit of the Mt. Sharp group, that was first encountered at the Pahrump Hills location. Including VRR rocks, the Murray formation, interpreted to be primarily deposited in an ancient lacustrine environment in Gale crater, is more than 300 m thick. VRR itself is composed of two stratigraphic members within the Murray formation, the Pettegrove Point member overlain by the Jura member. The Pettegrove Point member overlies the Blunts Point member of the Murray formation. Areas of gray coloration are observed in the Jura member predominantly, but also in the Pettegrove Point member. Generally, gray areas are found in local topographic depressions, but contacts between red and gray rocks crosscut stratigraphy. Additionally, cm-scale dark concretions with very high iron-content are commonly observed in gray rocks, typically surrounded by a lighttoned zone that is conversely depleted in iron. A key goal for the VRR campaign was to characterize geochemical variations in the ridge-forming rocks to investigate the role of primary and diagenetic controls on the geochemistry and morphology of VRR. Here, we present observations by the ChemCam instrument on VRR and compare these to the full Murray formation chemostratigraphy. This work was recently submitted to a special issue of JGRPlanets that detail the full VRR campaign.

Frydenvang, J.↗
NASA NTRS2021

AI4MARS: A Dataset for Terrain-Aware Autonomy on Mars

Deep learning has quickly become a necessity for selfdriving vehicles on Earth. In contrast, the self-driving vehicles on Mars, including NASA’s latest rover, Perseverance, which is planned to land on Mars in February 2021, are still driven by classical machine vision systems. Deep learning capabilities, such as semantic segmentation and object recognition, would substantially benefit the safety and productivity of ongoing and future missions to the red planet. To this end, we created the first large-scale dataset, AI4Mars, for training and validating terrain classification models for Mars, consisting of ~326K semantic segmentation full image labels on 35K images from Curiosity, Opportunity, and Spirit rovers, collected through crowdsourcing. Each image was labeled by ~10 people to ensure greater quality and agreement of the crowdsourced labels. It also includes ~1.5K validation labels annotated by the rover planners and scientists from NASA’s MSL (Mars Science Laboratory) mission, which operates the Curiosity rover, and MER (Mars Exploration Rovers) mission, which operated the Spirit and Opportunity rovers. We trained a DeepLabv3 model on the AI4Mars training dataset and achieved over 96% overall classification accuracy on the test set. The dataset is made publicly available.1

Ono, Hiro↗
NASA NTRS2022

Assessing Mars Curiosity Rover Wheel Damage

An alarming rate of wheel skin cracks were first observed on the Mars Science Laboratory (MSL) Curiosity rover about 14 months after the start of its surface mission. Nine years later (as of August 2, 2021), Curiosity has four broken wheelgrousers, three on the left middle wheel and one on the right middle wheel. There are a substantial number of wheel skin cracks on the left front, left middle, and right middle wheels such that the number of grousers on each that are consideredat risk of breaking are 10, 7, and 11, respectively. Although the current level of wheel damage does not significantly limit Curiosity’s mission objectives, a higher damage rate could impact surface operations, so the damage rate is closely monitored. OnNovember 30, 2013, the MSL Surface Operations team began periodically acquiring images of Curiosity’s wheels. In this paper, we describe the process the Mobility Operations team uses to assess wheel damage, the current state of Curiosity’swheels, and how the wheel damage assessments have influenced driving guidelines and wheel imaging frequency.

Rink, Kimberly↗