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At least 37 records · Page 2

Quantitative observations of the behavior of anomalous low altitude ClO in the Antarctic spring Stratosphere, 1987

During the second National Ozone Expedition ground-based observations at McMurdo Station Antarctica were performed which resulted in a second season's measurement of abnormally large amounts of ClO in the Antarctic spring stratosphere. The original measurements of 1986, in which the presence of this anomalous layer was first discovered, were limited in low altitude recovery of the ClO mixing ratio profile by the restrictions of the spectral bandwidth (256 MHz) which was used to measure the pressure-broadened ClO emission line shape. The 1987 measurements were marked by the use of twice the spectral bandpass employed the previous year, and allow a better characterization of the ClO mixing ratio profile in the critical altitude range 18 to 25 km. In-situ aircraft measurements of ClO made over the Palmer Peninsula during Aug. and Sept. of 1987 by Anderson, et al. effectively determined the important question of the ClO mixing ratio profile at altitudes inaccessible to our technique, below approximately 18 to 18.5 km. These flights did not penetrate further than 75 deg S, however, (vs 78 deg S for McMurdo) and were thus limited to coverage near the outer boundaries of the region of severest ozone depletion over Antarctica in 1987, did not reach an altitude convincingly above that of the peak mixing ratio for ClO, and were not able to make significant observations of the diurnal variation of ClO. The two techniques, and the body of data recovered by each, thus complement one another in producing a full picture of the anomalous ClO layer intimately connected with the region of Antarctic spring ozone depletion. An analysis is presented of the mixing ratio profile from approximately 18 to 45 km, the diurnal behavior, and the secular change in ClO over McMurdo Station during Sept. and early Oct. 1987.

Dezafra, R. L.↗

Evaluating Crystallinity in Thermoplastic composites

Polymer matrix composites (PMCs) offer many benefits for the aerospace industry due to their potential for weight reduction when compared to metal or ceramic based materials. Most PMCs currently in flight use thermoset matrices, however, thermoplastic resins are being explored as alternatives due to their ability to be remelted, which is of particular interest due to the potential for in-situ repair and manufacturing required in space. Most thermoplastic resins are semicrystalline polymers. The properties of semicrystalline thermoplastics are largely influenced by their crystallinity, which can vary due to many factors including thermal treatments, environmental conditions, and mechanical deformation. Monitoring the crystallinity of thermoplastic composites is key to ensuring these materials reliably meet the high demands required by space exploration. This talk discusses the use of multiple techniques such as Polarized Light Optical Microscopy and Fourier-Transform Infrared Spectroscopy to characterize the crystallinity in various thermoplastic composites, including carbon fiber reinforced PMCs and novel bio-based Martian and Lunar regolith composites designed for in-situ manufacturing. This work aims to provide the fundamental data necessary to understand the effects of crystallinity on thermoplastic PMCs, which is key to advancing their use in space applications.

Thermoplastics↗

Material Properties and Modeling of Room Temperature Vulcanizing Silicone

Room Temperature Vulcanizing silicone (RTV) is a high-temperature adhesive that has successfully been used as a gap-filler between Thermal Protection System (TPS) tiles for heatshields on numerous missions. It is also used to bond instrumentation plugs such as temperature and pressure sensors into the heatshields. While RTV has been traditionally assumed to be a non-porous and non-ablating material, numerous experiments have shown that RTV pyrolyzes and becomes highly porous as it is heated. Heating RTV has also shown swelling, or intumescence, which can pose unique problems that lead to roughness induced boundary-layer transition, surface oxide formation and contamination of heat shield sensors. Therefore, it is crucial to understand and model the intumescence phenomenon of RTV. As data for RTV material properties is limited, the first step in modeling RTV is to collect material properties such as pyrolysis mass-loss, microstructure change, virgin and char porosity, etc. which was performed in our initial study. Additionally, thermomechanical properties such as Young’s modulus and Poisson ratio are required for modeling the intumescence of RTV, which were taken from literature and the coefficient of thermal expansion was collected using in-situ heating and Micro Computed Tomography (µ-CT) in previous studies. Finally, numerous other properties such as pyrolysis gas properties, virgin and char thermal conductivity and specific heat were compiled from previous experiments and literature into a material database that can be used for simulations. In Porous Material Analysis Toolbox based on OpenFOAM (PATO) [4], structural mechanics coupled with material response was used for simulating the intumescence of RTV as it is heated. However, since the permeability of the material is very low, the pyrolysis gas creates an internal pressure build-up as the material is being heated, significantly contributing to the deformation of the material. To correctly characterize this phenomenon, additional physics models were implemented into PATO's stress analysis solver, and results were compared with RTV dilatometry test data as a preliminary verification case. Future work will include experiments of RTV at the Plasmatron X facility and the in-situ heating cell with µ-CT, and improvement of simulation tools to more accurately model RTV intumescence.

PATO↗

Experimental characterization of fatigue crack tip processes

Many analytical models have been proposed to describe the physical processes attendant to a fatigue crack tip, as well as the rate at which fatigue cracks grow. By applying advanced experimental methods (such as electron channeling, stereoimaging, and in-situ cyclic loading in an SEM) to a broad range of structural materials, it has been shown that it is possible to critically assess the physical assumptions incorporated into the models. Refinements in existing models and the development of new ones have resulted. New insights into materials' behavior are providing guidelines for improving the fatigue resistance of structural alloys. In the near future, even more advanced experimental methods, such as high temperature SEM stages and small angle neutron scattering, will be available to study creep/fatigue interactions in metals and ceramics.

Lankford, J.↗

Oxygen plant breadboard design, and techniques for improving mission figure-of-merit

A breadboard oxygen plant to process anaerobic carbon dioxide is designed and constructed; the objective is not only to produce a key propellant component extraterrestrially, but also to develop the important technologies that are necessary for a successful operation of in-situ materials utilization hardware. The solid electrolytic cells are supplied to specifications by an established vendor. The cell thermal control, electrical control, and flow control are installed after detailed designs. Extensive data are obtained that characterize the operation of the plant as the input parameters are varied. The initial mass, energy, and volume-needs provide the input to a figure-of-merit software program to calculate the impact of various candidate technologies upon the overall mission. The desirability of studies on storage and high-density propellants is shown. This task dovetails into other tasks that are evaluating alternative cell materials, catalysis for compactness, and smart sensors for effective control.

Ramohalli, Kumar↗

OAST Space Theme Workshop. Volume 3: Working group summary. 3: Sensors (E-3). A. Statement. B. Technology needs (form 1). C. Priority assessment (form 2). D. Additional assessment

Developments required to support the space power, SETI, solar system exploration and global services programs are identified. Instrumentation and calibration sensors (rather than scientific) are needed for the space power system. Highly sophisticated receivers for narrowband detection of microwave sensors and sensors for automated stellar cataloging to provide a mapping data base for SETI are needed. Various phases of solar system exploration require large area solid state imaging arrays from UV to IR; a long focal plane telescope; high energy particle detectors; advanced spectrometers; a gravitometer; and atmospheric distanalyzer; sensors for penetrometers; in-situ sensors for surface chemical analysis, life detection, spectroscopic and microscopic analyses of surface soils, and for meteorological measurements. Active and passive multiapplication sensors, advanced multispectral scanners with improved resolution in the UV and IR ranges, and laser techniques for advanced probing and oceanographic characterization will enhance for global services.

Source record↗

In-Situ Scanning Electron Microscope Experiments for Microscale Mechanical Testing and Validated Modeling of Fiber Reinforced Thermoplastics

A novel, in-situ, scanning electron microscope (SEM) mechanical testing capability for materials at the microscale which provides experimental validation to a machine learning (ML) toolset for full-field validation of physics-based micromechanics models is being developed by researchers at NASA Glenn Research Center. These are enabling technologies for the integration of multiscale digital twins for materials into system level models which will result in the improved performance, material discovery, reduced production cost and time, rapid characterization, and prognostic structural health monitoring (SHM) for materials and structures for extreme environments in support of NASA space exploration missions. In order to bridge the material structure-to-system gap for digital twins, physics-based models must be experimentally validated at multiple length scales. Seminal microscale experiments, conducted at the Air Force Research Laboratory (AFRL), were limited to transverse compression of single-layer, unidirectional thermoset polymer matrix composite (PMC) micropillar specimens [1]. The early phases of the current project followed those initial results and setup to reproduce the compression testing of PMC material on the custom-built piezoelectric actuated micromechanical testing rig built by MicroTesting Solutions LLC. In this work, samples of thermoplastic PMC material were first machined into 3 mm cubes, and then further machining and final milling was done using a Focused Ion Beam (FIB). The initial experiment was done on a pillar roughly 20 µm x 20 µm x 40 µm tall. Additional pillars were milled with final sizes ranging from 20 µm x 20 µm x 40 µm tall to 40 µm x 40 µm x 65 µm tall. A speckle pattern for in-situ full-field measurements using Digital Image Correlation (DIC) was applied with platinum, which was coated on the surface, and then the FIB was used to mill away some of the coating to produce an irregular pattern of Pt on the pillar surface. The samples were loaded into the custom testing rig and placed into the SEM and loaded under compression until failure. Images were collected in the SEM during testing. Post-processing of the images was conducted using DIC to obtain full-field displacement and strain measurements elucidating the role of the matrix as well as fiber-fiber interaction at the microscale within the composite subjected to compression loading well into the non-linear regime of the material. Moreover, the evolution of fiber-matrix debonding and matrix cracking is observed in-situ at the microscale. This data, along with images segmented with a newly developed ML toolset [2], was used to create and validate physics-based micromechanics models. An image of the failed micropillar is shown in Figure 1. The techniques developed in the initial compression experiment was tailored to the validation needs of the models and expanded to include different sized samples as well as possibly tension and fatigue.

Laura Wilson↗

Mechanical properties of lunar regolith and lunar soil simulant

Through the Surveyor 3 and 7, and Apollo 11-17 missions a knowledge of the mechanical properties of Lunar regolith were gained. These properties, including material cohesion, friction, in-situ density, grain-size distribution and shape, and porosity, were determined by indirect means of trenching, penetration, and vane shear testing. Several of these properties were shown to be significantly different from those of terrestrial soils, such as an interlocking cohesion and tensile strength formed in the absence of moisture and particle cementation. To characterize the strength and deformation properties of Lunar regolith experiments have been conducted on a lunar soil simulant at various initial densities, fabric arrangements, and composition. These experiments included conventional triaxial compression and extension, direct tension, and combined tension-shear. Experiments have been conducted at low levels of effective confining stress. External conditions such as membrane induced confining stresses, end platten friction and material self weight have been shown to have a dramatic effect on the strength properties at low levels of confining stress. The solution has been to treat these external conditions and the specimen as a full-fledged boundary value problem rather than the idealized elemental cube of mechanics. Centrifuge modeling allows for the study of Lunar soil-structure interaction problems. In recent years centrifuge modeling has become an important tool for modeling processes that are dominated by gravity and for verifying analysis procedures and studying deformation and failure modes. Centrifuge modeling is well established for terrestrial enginering and applies equally as well to Lunar engineering. A brief review of the experiments is presented in graphic and outline form.

Steven W Perkins↗

Extrusion-based Additive Manufacturing of Regolith-Filled Shape Memory Vitrimer Composite for Lunar Construction

The National Aeronautics and Space Administration (NASA) is visiting the moon again. This time, the objective is to explore establishing a permanent lunar base. To achieve both longterm human habitation on the moon and future deep space travel, it is crucial to make the most of the in-situ resources and build autonomous systems on the moon to support the construction of a lunar habitat. NASA’s In-situ Resource Utilization (ISRU) program aims to minimize the need to ship heavy prefabricated structures, reducing cost and enhancing sustainability. Here, we developed an economical extrusion method for printing lunar regolith-based composites using shape memory vitrimer as a binder. A rheological study is conducted to determine the extrudability of the composite with different regolith weight percentages. Several characterizations were conducted on the composites. The as-printed composites exhibited compressive and flexural strengths of 73.32 MPa and 156.59 MPa, respectively, and good impact tolerance. The composite maintained 57.92% of its mechanical properties even after the second crack healing cycle. The composites also exhibit shape fixity ratio of 90.02% and shape recovery ratio of 83.46%. The simple synthesis method, sustainability, and good thermomechanical properties make the 3D printed composite an ideal material for lunar construction applications.

Kingsley Yeboah Gyabaah↗

Measurement of acoustic modes and wall impedance in a turbofan exhaust duct

Acoustic measurements made with in-duct modal probes show how individual acoustic modes, as generated by fan/stator interaction, interact with a well-characterized liner. This measured attenuation provides a critical test for predicted attenuation as developed from the theoretical analysis of sound propagation in annular ducts with treatment and sheared flow. The primary investigations took place in the exhaust duct of a model fan mounted in an anechoic chamber. The results presented include induct attenuation, sound power attenuation as measured in the far field, and in-situ acoustic impedance measurements of the treated wall sections. Good theory/experiment agreement was found; the differences of treatment suppression between theory and measured values differed at most by 2.7 dB.

Fiske, G. H.↗

Space Science in the Twenty-First Century: Imperatives for the Decades 1995 to 2015

A unified program is outlined for studying the Earth, from its deep interior to its fluid envelopes. A system is proposed for measuring devices involving both space-based and in-situ observations that can accommodate simultaneously a large range of scientific needs. The scientific objectices served by this integrated infrastructure are cased into a framework of four grand themes. In summary these are: to determine the composition, structure, dynamics, and evolution of the Earth's crust and deeper interior; to establish and understand the structure, dynamics, and chemistry of the oceans, atmosphere, and cryosphere, and their interaction with the solid Earth; to characterize the history and dynamics of living organisms and their interaction with the environment; and to monitor and understand the interaction of human activities with the natural environment. A focus on these grand themes will help to understand the origin and fate of the planet, and to place it in the context of the solar system.

Source record↗

Venus lower thermosphere studies

Studies undertaken in this project have sought to understand lower thermospheric structure and dynamics (less than or equal to 145 km), particularly the processes responsible. This is a region just below the reach of in-situ instruments onboard PVO (Pioneer Venus Orbiter) during the first few diurnal cycles. PVO remote airglow observations (nitric oxide, O2, visible, O 1304A) have been coupled with ground-based observations (CO densities, winds, temperatures, O2 IR nightglow) to address the behavior of lower thermospheric winds and chemistry over 95 to 150 km. This interpretation of PVO and related data is accomplished by using the NCAR Venus thermospheric general circulation model (VTGCM) (Bougher et al., 1988; 1990). This model has been modified over the last two years to improve its ability to calculate O, CO, and O2 densities, temperatures, nightglow, and subsolar-to-antisolar and zonal winds over 95 to 150 km (Bougher and Borucki, 1992). Our VTGCM studies show that: (1) O2 visible and IR nightglow distributions can be used to trace lower thermosphere / upper mesosphere winds over 100-130 km. Typically, weak zonal winds (less than or equal to 25 m/sec) and nightglow maximum patches near 0100 LT prevail. Occasionally, strong zonal winds (30-60 m/sec) and airglow patches peaking near 0300 LT characterize the Venus lower thermosphere. (2) It is clear that the dynamics of the Venus 90-130 km region is highly variable on time scales as short as an hour. This is most likely due to the time variable nature of upward propagating gravity waves, which grow in amplitude and eventually break. The resulting turbulence gives rise to local time variable eddy diffusion and momentum drag, both of which strongly impact global density and nightglow distributions. (3) The oxygen chemistry (O, O2, etc.) over 90-120 km is strongly dependent on HO(x) and CLO(x) tracer species that must be properly included in any coupled chemical dynamical model. (4) The density profiles of light species (O, CO, N, He) are strongly affected by large-scale transport by the winds. Strong eddy diffusion is not a suitable model parameterization for approximating these light species, especially for extrapolation into the region below 140 km where PVO in-situ data is lacking. Instead, the fully coupled chemical dynamical VTGCM model should be used to improve estimates of densities within the VTS3 empirical model (Hedin et al., 1983) below 140 km.

Bougher, Stephen W.↗

Synthesis and characterization of processable polyimides with enhanced thermal stability

Many of the emerging applications of polymers on space vehicles require materials with outstanding thermal stability. These polymers must also be readily processable in order to facilitate their use. The syntheses and polymerization of a cardo dianhydride were investigated. This monomer was prepared via the reaction of N-methyl 4-nitrophthalimide with a cardo diol. Polyimides containing oxyalkylene linkages were studied. The effects of two additional structural modifications on the polymers' properties were investigated. The effects of carrying out the preparation of poly(amic acid)s under non-equilibrium conditions were examined. Approaches that were investigated included the in-situ neutralization of the generated amic acid and its in-situ esterification.

Harris, Frank W.↗

Evaluating Crystallinity in Thermoplastic Composites for Aerospace Applications

Polymer matrix composites (PMCs) offer many benefits for the aerospace industry due to their potential for weight reduction when compared to metal or ceramic based materials. Most PMCs currently in flight use thermoset matrices, however, thermoplastic resins are being explored as alternatives due to their ability to be remelted, which is of particular interest due to the potential for in-situ repair and faster production. Most thermoplastic resins are semicrystalline polymers. The properties of semicrystalline thermoplastics are directly influenced by their crystallinity, which can vary due to many factors including thermal treatments, environmental conditions, and mechanical deformation. Within thermoplastic PMC parts, crystallinity gradients can arise due to variations in part geometry, across part thicknesses, and along bonded joints. Monitoring the crystallinity of thermoplastic composites is key to ensuring these materials meet the high demands required for aerospace. Several different analytical techniques exist that can be used to characterize the bulk crystallinity of thermoplastic materials. However, many existing methods lack the specificity required to identify the subtle variations in crystallinity that may play a significant role in the performance and durability of PMC parts. Because of this, a significant amount of work is still required to fully characterize and understand the crystallinity profiles of thermoplastic PMCs and the resulting impact to material properties. This talk discusses the use of multiple techniques such as Differential Scanning Calorimetry, Polarized Light Optical Microscopy, and Fourier-Transform Infrared Spectroscopy to characterize the crystallinity in carbon fiber/thermoplastic composites. Samples of different crystallinity profiles were manufactured using various cooling procedures. This work aims to provide the fundamental data necessary to understand the effects of crystallinity on thermoplastic PMCs, which is key to advancing their use in aerospace applications.

Thermoplastics↗

Remote sensing of tropospheric gases and aerosols with airborne DIAL system

The multipurpose airborne DIAL system developed at NASA Langley Research Center is characterized, and the published results of tropospheric O3, H2O, and aerosol-backscatter remote-sensing experiments performed in 1980 and 1981 are summarized. The system comprises two tunable dye lasers pumped by frequency-doubled Nd:YAG lasers, dielectric-coated steering optics, a 36-cm-diameter Cassegrain receiver telescope, gateable photomultiplier tubes, and a minicomputer data-processing unit for real-time calculation of gas concentrations and backscattering profiles. The transmitted energy of the 100-microsec-separated dye-laser pulses is 40, 80, or 50 mJ/pulse at around 300, 600, or 720-nm wavelength, respectively. Good agreement was found between DIAL-remote-sensed and in-situ H2O and O3 profiles of the lower troposphere and O3 profiles of the tropopause region, and the usefulness of DIAL backscattering measurements in the study of boundary-layer and tropospheric dynamics is demonstrated. The feasibility of DIAL sensing of power-plant or urban plume SO2, of urban-area (or rural-area column-content) NO2, and of temperature and H2O (simultaneously using a third laser) has been suggested by simulation studies.

Browell, E. V.↗

Crystal growth of CdTe in space and thermal field effects on mass flux and morphology

The primary, long-range goals are the development of vapor phase crystal growth experiments, and the growth of technologically useful crystals in space. The necessary ground-based studies include measurements of the effects of temperature variations on the mass flux and crystal morphology in vapor-solid growth processes. For in-situ mass flux measurements dynamic microbalance techniques will be employed. Crystal growth procedures and equipment will be developed to be compatible with microgravity conditions and flight requirements. Emphasis was placed on the further development of crystal growth and the investigation of relevant transport properties of CdTe. The dependence of the mass flux on source temperature was experimentally established. The CdTe synthesis and pretreatment procedures are being developed that yield considerable improvements in mass transport rates, and mass fluxes which are independent of the amount of source material. A higher degree of stoichiometric control of CdTe than before was achieved during this period of investigation. Based on this, a CdTe crystal growth experiment, employing physical vapor transport, yielded very promising results. Optical microscopy and X-ray diffraction studies revealed that the boule contained several large sized crystal grains of a high degree of crystallinity. Further characterization studies of CdTe crystals are in progress. The reaction chamber, furnace dimensions, and ampoule location of the dynamic microbalance system were modified in order to minimize radiation effects on the balance performance.

Wiedemeier, H.↗

Investigation of Lunar-Inspired Geopolymer Concrete Formulations Mixed and Cured in Microgravity on the International Space Station (ISS)

The research outlined in this presentation investigates the use of various lunar regolith simulants in geopolymer lunar concrete mixes mixed and cured on the International Space Station (ISS). The motivation for this work is to study the effects of gravity on the microstructure of alkali-activated materials cured with heat, and to develop materials for the construction of long-term infrastructure on the lunar surface with in-situ resource utilization (ISRU). ISRU for construction materials reduces the cost and mass of payloads related to lunar construction. The advantage of geopolymer concrete as opposed to traditional portland cement concrete is that water acts as a medium for the polymerization reaction and leaves the system throughout the process, reducing its demand. Twelve samples of lunar regolith simulant and a solution composed of sodium hydroxide and sodium silicate were sent to the ISS. The three simulants were OPRH2N, OPRL2N, and JSC-1AF, using only particles less than 53 µm in diameter to increase reactivity of the simulant. Simulant to solution ratios were determined by workability while mixing. The simulant and solution were sealed Burst Pouches® along with 2 other sealed bags to prevent material from leaking. Crew member F-14 conducted testing on the ISS by introducing the solution to the simulant in the Burst Pouch®, mixing the sample with a spatula, and then clamping the specimen in the fresh state to prevent flow inside the Burst Pouch®. These specimens were then put in a thermos heated to 80C via sealed drinking water bags to cure for 24 hours with a temperature logger. The cured specimens remained in microgravity for at least 28 days and were returned from the ISS in February 2025. The specimens were then brought to the NASA Marshall Space Flight Center (MSFC) to analyze. Material characterization consisted of conducting Micro-CT tests of entire samples in their sealed apparatus to a resolution of 25µm. 2D image slices were saved in each orthogonal direction of each specimen at a 0.03 mm step size from the 3D model to conduct analytical porosity calculations. Representative samples from each specimen were sampled to perform helium gas pycnometery and were then mounted in resin for SEM imaging, EDS, and nanoindentation. Porosity was analyzed analytically using micromechanics modelling with the assistance of the NASA Multiscale Analysis Tool (NASMAT), as well as the NASA Advanced Supercomputing (NAS) servers (V. Saseendran & N. Yamamoto, 2024). Density was measured using helium gas pycnometery and was then compared to the theoretical density for experimental porosity calculation. Due to the samples’ non-uniform shape being cured in a pouch, traditional compression and tensile strength testing could not be performed. Nanoindentation was conducted at Clarkson University to determine the microhardness and reduced modulus of elasticity. Results from flight samples can be compared to ground samples currently in DLR’s possession to determine the effect on microstructure from being mixed and cured in microgravity. This study gives further insight and understanding of geopolymer lunar concrete and its viability as a lunar construction material with ISRU.

Adam Johnson↗

Mars Environmental Survey (MESUR): Science objectives and mission description

In-situ observations and measurements of Mars are objectives of a feasibility study beginning at the Ames Research Center for a mission called the Mars Environmental SURvey (MESUR). The purpose of the MESUR mission is to emplace a pole-to-pole global distribution of landers on the Martian surface to make both short- and long-term observations of the atmosphere and surface. The basic concept is to deploy probes which would directly enter the Mars atmosphere, provide measurements of the upper atmospheric structure, image the local terrain before landing, and survive landing to perform meteorology, seismology, surface imaging, and soil chemistry measurements. MESUR is intended to be a relatively low-cost mission to advance both Mars science and human presence objectives. Mission philosophy is to: (1) 'grow' a network over a period of years using a series of launch opportunities, thereby minimizing the peak annual costs; (2) develop a level-of-effort which is flexible and responsive to a broad set of objectives; (3) focus on science while providing a solid basis for human exploration; and (4) minimize project cost and complexity wherever possible. In order to meet the diverse scientific objectives, each MESUR lander will carry the following strawman instrument payload consisting of: (1) Atmospheric structure experiment, (2) Descent and surface imagers, (3) Meteorology package, (4) Elemental composition instrument, (5) 3-axis seismometer, and (6) Thermal analyzer/evolved gas analyzer. The feasibility study is primarily to show a practical way to design an early capability for characterizing Mars' surface and atmospheric environment on a global scale. The goals are to answer some of the most urgent questions to advance significantly our scientific knowledge about Mars, and for planning eventual exploration of the planet by robots and humans.

Hubbard, G. Scott↗