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NASA NTRS2005

Overview of the Spirit Mars Exploration Rover Mission to Gusev Crater: Landing Site to Backstay Rock in the Columbia Hills

Spirit landed on the floor of Gusev Crater and conducted initial operations on soil covered, rock-strewn cratered plains underlain by olivine-bearing basalts. Plains surface rocks are covered by wind-blown dust and show evidence for surface enrichment of soluble species as vein and void-filling materials and coatings. The surface enrichment is the result of a minor amount of transport and deposition by aqueous processes. Layered granular deposits were discovered in the Columbia Hills, with outcrops that tend to dip conformably with the topography. The granular rocks are interpreted to be volcanic ash and/or impact ejecta deposits that have been modified by aqueous fluids during and/or after emplacement. Soils consist of basaltic deposits that are weakly cohesive, relatively poorly sorted, and covered by a veneer of wind blown dust. The soils have been homogenized by wind transport over at least the several kilometer length scale traversed by the rover. Mobilization of soluble species has occurred within at least two soil deposits examined. The presence of mono-layers of coarse sand on wind-blown bedforms, together with even spacing of granule-sized surface clasts, suggest that some of the soil surfaces encountered by Spirit have not been modified by wind for some time. On the other hand, dust deposits on the surface and rover deck have changed during the course of the mission. Detection of dust devils, monitoring of the dust opacity and lower boundary layer, and coordinated experiments with orbiters provided new insights into atmosphere-surface dynamics.

Arvidson, R. E.↗
NASA NTRS2006

Possible Ni-Rich Mafic-Ultramafic Magmatic Sequence in the Columbia Hills: Evidence from the Spirit Rover

The Spirit rover landed on geologic units of Hesperian age in Gusev Crater. The Columbia Hills rise above the surrounding plains materials, but orbital images show that the Columbia Hills are older [1, 2]. Spirit has recently descended the southeast slope of the Columbia Hills doing detailed measurements of a series of outcrops. The mineralogical and compositional data on these rocks are consistent with an interpretation as a magmatic sequence becoming increasingly olivine-rich down slope. The outcrop sequence is Larry s Bench, Seminole, Algonquin and Comanche. The "teeth" on the Rock Abrasion Tool (RAT) wore away prior to arrival at Larry s Bench; the data discussed are for RAT brushed surfaces.

Mittlefehldt, David W.↗
NASA NTRS2010

Discovery of Carbonate-Rich Outcrops in the Gusev Crater Columbia Hills by the MER Rover Spirit

The chemical composition, global abundance, distribution, and formation pathways of carbonates are central to understanding aqueous processes, climate, and habitability of early Mars. The Mars Exploration Rover (MER) Spirit analyzed a series of olivine-rich outcrops while descending from the summit region of Husband Hill into the Inner Basin of the Columbia Hills of Gusev Crater to the eastern edge of the El Dorado ripple field in late 2005. Reanalysis of Spirit s mineralogical data from the Moessbauer Spectrometer (MB) and the Miniature Thermal Emission Spectrometer (Mini-TES) and chemical data from the Alpha Particle X-Ray Spectrometer (APXS) in 2010, coupled with new laboratory data for carbonate-bearing samples, lead to identification of carbonate in one of the outcrops (Comanche) [Morris, R.V., et al., Science, 329, 421-424]. The carbonate is rich in magnesium and iron (Mc62Sd25Cc11Rh2, assuming all Ca and Mn is associated with the carbonate) and is a major component of the Comanche outcrops (16 to 34 wt.%). The mineralogical, chemical, and abundance data are constrained in multiple, mutually consistent ways by the MER analyses. For example, a low-Ca carbonate is required by the MB and APXS data and is consistent with Mini-TES data. Three spectral features attributable to fundamental infrared vibrational modes of low-Ca carbonate are present in the Mini-TES spectra of Comanche outcrops. The average composition of Comanche carbonate approximates the average composition of the carbonate globules in Martian meteorite ALH 84001. Analogy with ALH 84001, terrestrial, and synthetic carbonate globules suggests that Comanche carbonate precipitated from aqueous solutions under hydrothermal conditions at near neutral pH in association with volcanic activity during the Noachian era. Comanche outcrop morphology suggests they are remnants of a larger carbonate-bearing formation that evolved in ultramafic rock and then preferentially eroded by a combination of aeolian abrasion and chemical decomposition by exposure to acid-sulfate vapors/solutions. The high carbonate concentration in the Comanche outcrops supports climate models involving a CO2 greenhouse gas on a wet and warm early Mars and subsequent sequestering of at least part of that atmosphere in carbonate minerals.

Morris, Richard V.↗
NASA NTRS2016

VNIR Multispectral Observations of Rocks at Spirit of St. Louis Crater and Marathon Valley on Th Rim of Endeavour Crater Made by the Opportunity Rover Pancam

The Mars Exploration Rover Opportunity has been exploring the western rim of the 22 km diameter Endeavour crater since August, 2011. Recently, Opportunity has reached a break in the Endeavour rim that the rover team has named Mara-thon Valley. This is the site where orbital observations from the MRO CRISM imaging spectrometer indicated the presence of iron smectites. On the outer western portion of Marathon Valley, Opportunity explored the crater-form feature dubbed Spirit of St. Louis (SoSL) crater. This presentation describes the 430 to 1009 nm (VNIR) reflectance, measured by the rover's Pancam, of rock units present both at Spirit of St. Louis and within Marathon Valley.

Farrand, W. H.↗
NASA NTRS2016

Martian Surface Mineralogy from Rovers with Spirit, Opportunity, and Curiosity

Beginning in 2004, NASA has landed three well-instrumented rovers on the equatorial martian surface. The Spirit rover landed in Gusev crater in early January, 2004, and the Opportunity rover landed on the opposite side of Mars at Meridian Planum 21 days later. The Curiosity rover landed in Gale crater to the west of Gusev crater in August, 2012. Both Opportunity and Curiosity are currently operational. The twin rovers Spirit and Opportunity carried Mossbauer spectrometers to determine the oxidation state of iron and its mineralogical composition. The Curiosity rover has an X-ray diffraction instrument for identification and quantification of crystalline materials including clay minerals. Instrument suites on all three rovers are capable of distinguishing primary rock-forming minerals like olivine, pyroxene and magnetite and products of aqueous alteration in including amorphous iron oxides, hematite, goethite, sulfates, and clay minerals. The oxidation state of iron ranges from that typical for unweathered rocks and soils to nearly completely oxidized (weathered) rocks and soils as products of aqueous and acid-sulfate alteration. The in situ rover mineralogy also serves as ground-truth for orbital observations, and orbital mineralogical inferences are used for evaluating and planning rover exploration.

Morris, Richard V.↗
NASA NTRS2006

Geology of the Gusec cratered plains from the Spirit rover transverse

The cratered plains of Gusev traversed by Spirit are generally low-relief rocky plains dominated by impact and eolian processes. Ubiquitous shallow, soil-filled, circular depressions, called hollows, are modified impact craters. Rocks are dark, fine-grained basalts, and the upper 10 m of the cratered plains appears to be an impact-generated regolith developed over intact basalt flows. Systematic field observations across the cratered plains identified vesicular clasts and rare scoria similar to original lava flow tops, consistent with an upper inflated surface of lava flows with adjacent collapse depressions. Crater and hollow morphometry are consistent with most being secondaries. The size frequency distribution of rocks >0.1 m diameter generally follows exponential functions similar to other landing sites for total rock abundances of 5-35%. Systematic clast counts show that areas with higher rock abundance and more large rocks have higher thermal inertia. Plains with lower thermal inertia have fewer rocks and substantially more pebbles that are well sorted and evenly spaced, similar to a desert pavement or lag. Eolian bed forms (ripples and wind tails) have coarse surface lags, and many are dust covered and thus likely inactive. Deflation of the surface _5-25 cm likely exposed two-toned rocks and elevated ventifacts and transported fines into craters creating the hollows. This observed redistribution yields extremely slow average erosion rates of _0.03 nm/yr and argues for very little long-term net change of the surface and a dry and desiccating environment similar to today's since the Hesperian (or _3 Ga).

Spirit↗
NASA NTRS2006

The Science from Spirit and Opportunity

This slide presentation shows views from the Mars rovers, Spirit and Opportunity. Included are views of the takeoff, and descent on to Mars. The science objective of these missions are to determine the water, climate, and geologic history of two sites on Mars where evidence has been preserved for past and persistent liquid water activity that may have supported biotic or pre-biotic processes. There are also shots of the Athena Science Payload with views of the instrumentation. Also presented are graphs showing Mossbauer Spectra of varions martian rocks.

Spirit↗
NASA NTRS1980

SPIRIT - A high resolution cosmic ray isotope spectrometer for Spacelab

An instrument to measure the isotopic abundances of cosmic ray nuclei with Z in the range 20-30 and A in the range 40-70 has been conceived. The instrument, named SPIRIT (Superconducting Passive Iron Isotope Telescope), will have the mass resolution (sigma less than 0.15 amu) and collecting power (151 sq m ster h for a 10 day flight) to detect and convincingly resolve isotopes as rare as 0.5% of the total abundance of each element. Both range and magnetic rigidity are measured by following tracks through an array of sheets of CR-39, a sensitive new track-recording plastic, which had been kept in fixed position at uniform temperature within the uniform field region of a large superconducting magnet.

Tarle, G.↗
NASA NTRS1927

Technical Preparation of the Airplane "Spirit of St. Louis."

Given here is a brief history of the design and construction of the "Spirit of St. Lewis", the airplane that Charles Lindbergh flew solo across the Atlantic. Although the plan was to modify a standard model Ryan M-2, it was quickly determined that modification was less practical than redesign. Colonel Lindbergh's active participation in the design of the aircraft is noted. Given here are the general dimensions, specifications, weight characteristics, and man hours required to build the aircraft.

Hall, Donald A↗
NASA NTRS2003

Far-IR/Submillimeter Interferometry Missions in NASA's Roadmap: SPIRIT and SPECS

Information vital to the attainment of the major scientific objectives of NASA's Origins and Structure and Evolution of the Universe themes is uniquely available in the far-IR and submillimeter (FIR/SMM). NASA is studying concepts and investing in technologies for FIR/SMM observatories that could fly in the period 2010 - 2025 and provide enormous increases in measurement capabilities to extend the legacy of the next-generation missions SIRTF and Herschel. Future FIR/SMM space observatories will have the sensitivity needed to reach back in time to the formation epoch of the first luminous objects, the angular resolution needed to image proto-planetary systems and distinguish the emissions of individual galaxies, and the spectral resolution needed to probe the physical conditions and measure the flows of interstellar gas in young galaxies, nascent stars, and the dust-enshrouded nuclei of galaxies that harbor massive black holes. NASA's roadmap includes the JWST-class Single Aperture Far-IR (SAFIR) telescope and 1 km maximum-baseline FIR/SMM interferometer. This talk will focus on the niche for FIR/SMM interferometry and describe two missions: SPECS, the Submillimeter Probe of the Evolution of Cosmic Structure, and the pathfinder mission SPIRIT, the Space Infrared interferometric Telescope. I will give the scientific motivation for these missions, describe mission concepts and telescope measurement capabilities, and compare these capabilities with those of the next-generation IR telescopes, and with the complementary JWST and ALMA.

Leisawitz, David T.↗
NASA NTRS2004

Spirit at Gusev Crater: Preliminary Observations, Potential Processes and Hypotheses

Spirit landed in a flat plain in Gusev crater with local undulations at meters scales generated by ridges covered with blocks, some of them looking rounded. Several, flat-topped, mesas are visible in the far field in direction of Ma adim Vallis. A set of north/south oriented hills reaches approximately 150 m elevation to the east of the landing site (LS). A dipping brighter unit with possibly some scarps is associated with it. This setting could be consistent with layering observed on the MOC images of the hills, local exposure of material with variable dust cover, or deflated or allochtonous material. Numerous small depressions are visible from LS referred to as "Columbia Memorial Station"* (CMS). Floors are partially filled with finer-grained, high albedo material. At least one of them, nicknamed "Sleepy Hollow"* (approximately 30 m diameter) may be an eroded secondary impact crater. It is unclear if they can all be related to small impact structures. Some of them are elongated and aligned with the ridges. The morphology of rocks and soil at this Gusev Crater is presented. Evidence of dynamic aeolian action along this Crater is also discussed.

Cabrol, N. A.↗
NASA NTRS2004

MER Field Geologic Traverse in Gusev Crater, Mars: Initial Results From the Perspective of Spirit

This report casts the initial results of the traverse and science investigations by the Mars Exploration Rover (MER) Spirit at Gusev crater [1] in terms of data sets commonly used in field geologic investigations: Local mapping of geologic features, analyses of selected samples, and their location within the local map, and the regional context of the field traverse in terms of the larger geologic and physiographic region. These elements of the field method are represented in the MER characterization of the Gusev traverse by perspective-based geologic/morphologic maps, the placement of the results from Mossbauer, APXS, Microscopic Imager, Mini-TES and Pancam multispectral studies in context within this geologic/ morphologic map, and the placement of the overall traverse in the context of narrow-angle MOC (Mars Orbiter Camera) and descent images. A major campaign over a significance fraction of the mission will be the first robotic traverse of the ejecta from a Martian impact crater along an approximate radial from the crater center. The Mars Exploration Rovers have been conceptually described as 'robotic field geologists', that is, a suite of instruments with mobility that enables far-field traverses to multiple sites located within a regional map/image base at which in situ analyses may be done. Initial results from MER, where the field geologic method has been used throughout the initial course of the investigation, confirm that this field geologic model is applicable for remote planetary surface exploration. The field geologic method makes use of near-field geologic characteristics ('outcrops') to develop an understanding of the larger geologic context through continuous loop of rational steps focused on real-time hypothesis identification and testing. This poster equates 'outcrops' with the locations of in situ investigations and 'regional context' with the geology over distance of several kilometers. Using this fundamental field geologic method, we have identified the basic local geologic materials on the floor of Gusev at this site, their compositions and likely lithologies, origins, processes that have modified these materials, and their potential significance in the interpretation of the regional geology both spatially and temporally.

Crumpler, L.↗
NASA NTRS2004

Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

Muscettola, Nicola↗
NASA NTRS2004

Basaltic rocks analyzed by the Spirit Rover in Gusev Crater

The Spirit landing site in Gusev Crater on Mars contains dark, fine-grained, vesicular rocks interpreted as lavas. Pancam and Mini-Thermal Emission Spectrometer (Mini-TES) spectra suggest that all of these rocks are similar but have variable coatings and dust mantles. Magnified images of brushed and abraded rock surfaces show alteration rinds and veins. Rock interiors contain </=25% megacrysts. Chemical analyses of rocks by the Alpha Particle X-ray Spectrometer are consistent with picritic basalts, containing normative olivine, pyroxenes, plagioclase, and accessory FeTi oxides. Mossbauer, Pancam, and Mini-TES spectra confirm the presence of olivine, magnetite, and probably pyroxene. These basalts extend the known range of rock compositions composing the martian crust.

Minerals↗
NASA NTRS2004

Initial results from the Mini-TES experiment in Gusev Crater from the Spirit Rover

The Miniature Thermal Emission Spectrometer (Mini-TES) on Spirit has studied the mineralogy and thermophysical properties at Gusev crater. Undisturbed soil spectra show evidence for minor carbonates and bound water. Rocks are olivinerich basalts with varying degrees of dust and other coatings. Dark-toned soils observed on disturbed surfaces may be derived from rocks and have derived mineralogy (+/-5 to 10%) of 45% pyroxene (20% Ca-rich pyroxene and 25% pigeonite), 40% sodic to intermediate plagioclase, and 15% olivine (forsterite 45% +/-5 to 10). Two spectrally distinct coatings are observed on rocks, a possible indicator of the interaction of water, rock, and airfall dust. Diurnal temperature data indicate particle sizes from 40 to 80 microm in hollows to approximately 0.5 to 3 mm in soils.

Minerals↗
NASA NTRS2004

Mineralogy at Gusev Crater from the Mossbauer spectrometer on the Spirit Rover

Mossbauer spectra measured on Mars by the Spirit rover during the primary mission are characterized by two ferrous iron doublets (olivine and probably pyroxene) and a ferric iron doublet (tentatively associated to nanophase ferric iron oxide). Two sextets resulting from nonstoichiometric magnetite are also present, except for a coating on the rock Mazatzal, where a hematite-like sextet is present. Greater proportions of ferric-bearing phases are associated with undisturbed soils and rock surfaces as compared to fresh rock surfaces exposed by grinding. The ubiquitous presence of olivine in soil suggests that physical rather than chemical weathering processes currently dominate at Gusev crater.

Minerals↗
NASA NTRS2004

Localization and physical properties experiments conducted by Spirit at Gusev Crater

The precise location and relative elevation of Spirit during its traverses from the Columbia Memorial station to Bonneville crater were determined with bundle-adjusted retrievals from rover wheel turns, suspension and tilt angles, and overlapping images. Physical properties experiments show a decrease of 0.2% per Mars solar day in solar cell output resulting from deposition of airborne dust, cohesive soil-like deposits in plains and hollows, bright and dark rock coatings, and relatively weak volcanic rocks of basaltic composition. Volcanic, impact, aeolian, and water-related processes produced the encountered landforms and materials.

Mars↗