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Geologic Mapping of the Meridiani Region of Mars

The Mars Exploration Rover Opportunity observed an upper layer of a more than 600-m-thick sequence of light toned outcrops that characterize the Meridiani region of Mars. Results from the rover analyses have shown that the bedrock contains mineral and textural characteristics that require the interaction of, and possibly an overall formation by, water-related mechanisms in order to be explained. Additionally, remote sensing studies of the region have suggested that the rocks sampled in places by the MER rover consist of many distinct layers extending over an area of more than 3 X 10(exp 5) square km spanning 20 of longitude.

Hynek, B. M.↗

Geologic Mapping of the Meridiani Region of Mars

The Mars Exploration Rover Opportunity observed an upper layer of a more than 600-m-thick sequence of light toned outcrops that characterize the Meridiani region of Mars. Results from the rover analyses have shown that the bedrock contains mineral and textural characteristics that require at least the interaction of, and possibly an overall formation by, water-related mechanisms in order to be explained [1]. Additionally, remote sensing studies of the region have suggested that the rocks sampled in places by the MER rover consist of many distinct layers extending over an area of more than 3 10(exp 5) sq km spanning 20deg of longitude [2].

DiAchille, G.↗

Lunar and Planetary Science XXXV: Mars: Surface Coatings, Mineralogy, and Surface Properties

The session "Mars: Surface Coatings, Mineralogy, and Surface Properties" contained the following reports:High-Silica Rock Coatings: TES Surface-Type 2 and Chemical Weathering on Mars; Old Desert Varnish-like Coatings and Young Breccias at the Mars Pathfinder Landing Site; Analyses of IR-Stealthy and Coated Surface Materials: A Comparison of LIBS and Reflectance Spectra and Their Application to Mars Surface Exploration; Contrasting Interpretations of TES Spectra of the 2003 Rover:Opportunity-Landing Site: Hematite Coatings and Gray Hematite; A New Hematite Formation Mechanism for Mars; Geomorphic and Diagenetic Analogs to Hematite Regions on Mars: Examples from Jurassic Sandstones of Southern Utah, USA; The Geologic Record of Early Mars: A Layered, Cratered, and "Valley-"ed: Volume; A Simple Approach to Estimating Surface Emissivity with THEMIS; A Large Scale Topographic Correction for THEMIS Data; Thermophysical Properties of Meridiani Planum, Mars; Thermophysical and Spectral Properties of Gusev, the MER-Spirit Landing Site on Mars; Determining Water Content of Geologic Materials Using Reflectance Spectroscopy; and Global Mapping of Martian Bound Water at 6.1 Microns Based on TES Data: Seasonal Hydration.

Source record↗

Localization, Localization, Localization

Localization of the two Mars Exploration Rovers involved three independent approaches to place the landers with respect to the surface of Mars and to refine the location of those points on the surface with the Mars control net: 1) Track the spacecraft through entry, descent, and landing, then refine the final roll stop position by radio tracking and comparison to images taken during descent; 2) Locate features on the horizon imaged by the two rovers and compare them to the MOC and THEMIS VIS images, and the DIMES images on the two MER landers; and 3) 'Check' and refine locations by acquisition of MOC 1.5 meter and 50 cm/pixel images.

Parker, T.↗

An East to West Mineralogical Trend in Mars Exploration Rover Spirit Moessbauer Spectra of Home Plate

Home Plate is a light-toned plateau approx.90 m in diameter within the Inner Basin of the Columbia Hills in Gusev crater on Mars. It is the most extensive exposure of layered bedrock encountered by Spirit to date, and it is composed of clastic rocks of moderately altered alkali basalt composition, enriched in some highly volatile elements. Textural observations suggest an explosive origin and geochemical observations favor volcanism, probably a hydrovolcanic explosion [1]. Since it first arrived at Home Plate on sol 744, Spirit has circumnavigated the plateau (Fig. 1) and is now, since sol 1410, resting at its Winter Haven 3 location at the north end of Home Plate. Results: The MER Moessbauer spectrometers determine Fe oxidation states, identify Fe-bearing mineral phases and quantify the distribution of Fe among oxidation states and mineral phases [2]. Moessbauer spectra of Home Plate bedrock were obtained in five different locations from nine different targets (Fig. 1): Barnhill Ace, Posey Manager, and James Cool Papa Bell Stars at the northwest side of Home Plate; Pesapallo, June Emerson, and Elizabeth Emery on the east side; Texas Chili on the south side; Pecan Pie on the west side; and Chanute on the north side.

Schroder, C.↗

Transient Liquid Water as a Mechanism for Induration of Soil Crusts on Mars

The Viking and the Mars Exploration Rover missions observed that the surface of Mars is encrusted by a thinly cemented layer tagged as "duricrust". A hypothesis to explain the formation of duricrust on Mars should address not only the potential mechanisms by which these materials become cemented, but also the textural and compositional components of cemented Martian soils. Elemental analyzes at five sites on Mars show that these soils have sulfur content of up to 4%, and chlorine content of up to 1%. This is consistent with the presence of sulfates and halides as mineral cements. . For comparison, the rock "Adirondack" at the MER site, after the exterior layer was removed, had nearly five times lower sulfur and chlorine content , and the Martian meteorites have ten times lower sulfur and chlorine content, showing that the soil is highly enriched in the saltforming elements compared with rock.Here we propose two alternative models to account for the origin of these crusts, each requiring the action of transient liquid water films to mediate adhesion and cementation of grains. Two alternative versions of the transient water hypothesis are offered, a top down hypothesis that emphasizes the surface deposition of frost, melting and downward migration of liquid water and a bottom up alternative that proposes the presence of interstitial ice/brine, with the upward capillary migration of liquid water.

Landis, G. A.↗

Balancing Predictive and Reactive Science Planning for Mars 2020 Perseverance

The design of the science planning process for a space science mission needs to find a balance between operational and resource constraints and scientific decision-making. Science planning has previously been characterized as either predictive or reactive. Predictive science planning is needed when constraints drive science activities to be planned far in advance. For example, a combination of long one-way light time plus high-stakes science decisions drove the Cassini-Huygens mission to Saturn to have an extremely predictive planning process. On the other extreme, reactive science planning is needed when constraints drive science activities to be planned based on the results of the previous plan. For example, the Mars Exploration Rover mission interacted with the surface of Mars, and so the planning team needed to know the state of the rover at the end of each planning cycle before starting the next cycle. Operational and resource constraints that require management on intermediate timescales has led to the development of a science planning process between these two extremes. For example, the Mars Science Laboratory is a technically complex rover and has a parallel predictive process that allows the operations team to manage engineering constraints several days in advance while maintaining the reactive tactical planning process similar to that of MER. The Mars 2020 Perseverance rover is a technically complex rover in the MSL style, but has an added layer of science complexity: it is tasked with collecting a returnable cache of scientifically valuable samples of Mars within prime mission. Thus, the science planning process also needs to accommodate high-stakes longer-term science decisions in the style of Cassini. In order to balance the push-pull of these constraints, we have developed a science campaign-focused operational paradigm for Mars 2020 Perseverance that allows for both predictive planning to accommodate technological complexity and high-stakes science decisions as well as reactive planning to accommodate the realities of interacting with the martian surface. This paradigm influenced the design of operational processes and operational tools.

Spanovich, Nicole↗

Solar System Visualizations

Solar System Visualization products enable scientists to compare models and measurements in new ways that enhance the scientific discovery process, enhance the information content and understanding of the science results for both science colleagues and the public, and create.visually appealing and intellectually stimulating visualization products. Missions supported include MER, MRO, and Cassini. Image products produced include pan and zoom animations of large mosaics to reveal the details of surface features and topography, animations into registered multi-resolution mosaics to provide context for microscopic images, 3D anaglyphs from left and right stereo pairs, and screen captures from video footage. Specific products include a three-part context animation of the Cassini Enceladus encounter highlighting images from 350 to 4 meter per pixel resolution; Mars Reconnaissance Orbiter screen captures illustrating various instruments during assembly and testing at the Payload Hazardous Servicing Facility at Kennedy Space Center; and an animation of Mars Exploration Rover Opportunity's 'Rub al Khali' panorama where the rover was stuck in the deep fine sand for more than a month. This task creates new visualization products that enable new science results and enhance the public's understanding of the Solar System and NASA's missions of exploration.

Brown, Alison M.↗

Mixed-Initiative Constraint-Based Activity Planning for Mars Exploration Rovers

In January, 2004, two NASA rovers, named Spirit and Opportunity, successfully landed on Mars, starting an unprecedented exploration of the Martian surface. Power and thermal concerns constrained the duration of this mission, leading to an aggressive plan for commanding both rovers every day. As part of the process for generating these command loads, the MAPGEN tool provides engineers and scientists an intelligent activity planning tool that allows them to more effectively generate complex plans that maximize the science return each day. The key to'the effectiveness of the MAPGEN tool is an underlying artificial intelligence plan and constraint reasoning engine. In this paper we outline the design and functionality of the MAEPGEN tool and focus on some of the key capabilities it offers to the MER mission engineers.

Bresina, John↗

Error Analysis of Remotely-Acquired Mossbauer Spectra

On the Mars Exploration Rovers, Mossbauer spectroscopy has recently been called upon to assist in the task of mineral identification, a job for which it is rarely used in terrestrial studies. For example, Mossbauer data were used to support the presence of olivine in Martian soil at Gusev and jarosite in the outcrop at Meridiani. The strength (and uniqueness) of these interpretations lies in the assumption that peak positions can be determined with high degrees of both accuracy and precision. We summarize here what we believe to be the major sources of error associated with peak positions in remotely-acquired spectra, and speculate on their magnitudes. Our discussion here is largely qualitative because necessary background information on MER calibration sources, geometries, etc., have not yet been released to the PDS; we anticipate that a more quantitative discussion can be presented by March 2005.

Schaefer, Martha W.↗

Rock Size-Frequency Distributions at the Mars Exploration Rover Landing Sites: Impact Hazard and Accessibility

The Viking and Mars Pathfinder landing sites and a wide variety of rocky locations on the Earth show size-frequency distributions that follow an exponential when expressed in cumulative fractional area covered by rocks of a given diameter or larger versus diameter plots. Mars lander rock distributions have been fit by an equation of the form: Fk(D) = k exp [-q(k) D], where Fk(D) is the cumulative fractional area covered by rocks of diameter D or larger, k is the total area covered by all rocks, and an exponential q(k) = 1.79 + 0.152/k, which governs how abruptly the area covered by rocks decreases with increasing diameter. These distributions form a family of noncrossing curves that flatten out at small rock diameter at a total rock abundance of 5-40%. Model rock size-frequency distributions indicate a low probability of impacting hazardous rocks during MER landing. Rocks large enough to analyze and abrade by the rover should be plentiful within an easy Sol's drive.

Golombek, M. P.↗

Zephyr: A Landsailing Rover for Venus

With an average temperature of 450C and a corrosive atmosphere at a pressure of 90 bars, the surface of Venus is the most hostile environment of any planetary surface in the solar system. Exploring the surface of Venus would be an exciting goal, since Venus is a planet with significant scientific mysteries, and interesting geology and geophysics. Technology to operate at the environmental conditions of Venus is under development. A rover on the surface of Venus with capability comparable to the rovers that have been sent to Mars would push the limits of technology in high-temperature electronics, robotics, and robust systems. Such a rover would require the ability to traverse the landscape on extremely low power levels. We have analyzed an innovative concept for a planetary rover: a sail-propelled rover to explore the surface of Venus. Such a rover can be implemented with only two moving parts; the sail, and the steering. Although the surface wind speeds are low (under 1 m/s), at Venus atmospheric density even low wind speeds develop significant force. Under funding by the NASA Innovative Advanced Concepts office, a conceptual design for such a rover has been done. Total landed mass of the system is 265 kg, somewhat less than that of the MER rovers, with a 12 square meter rigid sail. The rover folds into a 3.6 meter aeroshell for entry into the Venus atmosphere and subsequent parachute landing on the surface. Conceptual designs for a set of hightemperature scientific instruments and a UHF communication system were done. The mission design lifetime is 50 days, allowing operation during the sunlit portion of one Venus day. Although some technology development is needed to bring the high-temperature electronics to operational readiness, the study showed that such a mobility approach is feasible, and no major difficulties are seen.

rover↗

In-flight propulsion system characterization for both Mars Exploration Rover Spacecraft

Two Mars Exploration Rover spacecraft were dispensed to red planet in 2003, culminating in a phenomenally successful prime science mission. Twin cruise stage propulsion systems were developed in record time, largely through heritage with Mars Pathfinder. As expected, consumable usage was minimal during the short seven-month cruise for both spacecraft. Propellant usage models based on pressure and temperature agreed with throughput models with in a few percent. Trajectory correction maneuver performance was nominal, allowing the cancellation of near-Mars maneuvers. Spin thruster delivered impulse was 10-12% high vs. ground based models for the intial spin-down maneuvers, while turn performance was XX-XX% high/low vs. expectations. No clear indications for pressure transducer drift were noted during the brief MER missions.

maneuvers↗

Chemical Diversity along the Traverse of the Rover Spirit at Gusev Crater

The Alpha-Particle-X-ray Spectrometer (APXS) is part of the in situ payload of the Mars Exploration Rovers. It has determined the chemical composition of soils and rocks along the nearly 6 km long traverse of the rover Spirit. The measuring method a combination of PIXE and XRF using Cm244 sources - allowed the unambiguous identification of elemental compositions with high precision. Besides sample triage and quantification of saltforming elements as indicators for aqueous alteration, the APXS also delivered important constraints to mineralogy intruments (i.e., Mossbauer (MB), MiniTES, Pancam) on minerals and rock types. The mineralogy instruments on the other hand provided constraints on minerals used for APXS normative calculations and, e.g. allowed the attribution of S to sulfate, instead of sulfide or elemental sulfur. This abstract gives an updated overview of the data obtained up to our current rover position on sol 720 at the eastern base of the Columbia Hills. We will emphasize elemental correlations that imply the presence of certain minerals that can not be identified by the MER mineralogy instruments.

Gellert, R.↗

Mars Exploration Rover Heatshield Observation Campaign

For the first time ever, engineers were able to observe a heatshield on the surface of another planet after a successful entry through the atmosphere. A three-week heatshield observation campaign was conducted in December 2004 after the Mars Exploration Rover Opportunity rover exited "Endurance Crater." By utilizing the rover's scientific instruments, data was collected to make a qualitative assessment of the performance of the heatshield. This data was gathered to gain a better understanding of how the heatshield performed during entry through the Martian atmosphere. In addition, this unprecedented look at the heatshield offered engineers the opportunity to assess if any unexpected anomalies occurred. Once a survey of the heatshield debris was completed, multiple targets of interest were chosen for the collection of imaging data. This data was then used to assess the char depth of the thermal protection material, which compared well with computational predictions. Extensive imaging data was collected and showed the main seal in pristine conditions, and no observable indications of structure overheating. Additionally, unexpected vehicle dynamics during the atmospheric entry were explained by the observation of thermal blanket remnants attached to the heatshield.

MER↗

U.S. Space Radioisotope Power Systems and Applications: Past, Present and Future

Radioisotope power systems (RPS) have been essential to the U.S. exploration of outer space. RPS have two primary uses: electrical power and thermal power. To provide electrical power, the RPS uses the heat produced by the natural decay of a radioisotope (e.g., plutonium-238 in U.S. RPS) to drive a converter (e.g., thermoelectric elements or Stirling linear alternator). As a thermal power source the heat is conducted to whatever component on the spacecraft needs to be kept warm; this heat can be produced by a radioisotope heater unit (RHU) or by using the excess heat of a radioisotope thermoelectric generator (RTG). As of 2010, the U.S. has launched 41 RTGs on 26 space systems. These space systems have ranged from navigational satellites to challenging outer planet missions such as Pioneer 10/11, Voyager 1/2, Galileo, Ulysses, Cassini and the New Horizons mission to Pluto. In the fall of 2011, NASA plans to launch the Mars Science Laboratory (MSL) that will employ the new Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) as the principal power source. Hundreds of radioisotope heater units (RHUs) have been launched to provide warmth to Apollo 11, used to provide heating of critical components in a seismic experiment package, Pioneer 10/11, Voyager 1/2, Galileo, Cassini, Mars Pathfinder, MER rovers, etc. to provide temperature control to critical spacecraft electronics and other mechanical devices such as propulsion system propellant valves. A radioisotope (electrical) power source or system (RPS) consists of three basic elements: (1) the radioisotope heat source that provides the thermal power, (2) the converter that transforms the thermal power into electrical power and (3) the heat rejection radiator. Figure 1 illustrates the basic features of an RPS. The idea of a radioisotope power source follows closely after the early investigations of radioactivity by researchers such as Henri Becquerel (1852-1908), Marie Curie (1867-1935), Pierre Curie (1859-1906) and R. J. Strut. Almost 100 years ago, in 1913, English physicist H. G. J. Moseley (1887-1915) constructed the first nuclear battery using a vacuum flask and 20 mCi of radium (Corliss and Harvey, 1964, Proceedings of the Royal Society, 1913). After World War II, serious interest in radioisotope power systems in the U.S. was sparked by studies of space satellites such as North American Aviation s 1947 report on nuclear space power and the RAND Corporation s 1949 report on radioisotope power. (Greenfield, 1947, Gendler and Kock, 1949). Radioisotopes were also considered in early studies of nuclear-powered aircraft (Corliss and Harvey, 1964). In 1951, the U.S. Atomic Energy Commission (AEC) signed several contracts to study a 1-kWe space power plant using reactors or radioisotopes. Several of these studies, which were completed in 1952, recommended the use of RPS. (Corliss and Harvey, 1964). In 1954, the RAND Corporation issued the summary report of the Project Feedback military satellite study in which radioisotope power was considered (Lipp and Salter, 1954, RAND). Paralleling these studies, in 1954, K. C. Jordan and J. H. Birden of the AEC s Mound Laboratory conceived and built the first RTG using chromel-constantan thermocouples and a polonium-210 (210Po or Po-210) radioisotope heat source (see Figure 2). While the power produced (1.8 mWe) was low by today s standards, this first RTG showed the feasibility of RPS. A second thermal battery was built with more Po-210, producing 9.4 mWe. Jordan and Birden concluded that the Po-210 thermal battery would have about ten times the energy of ordinary dry cells of the same mass (Jordan and Birden, 1954). The heat source consisted of a 1-cm-diameter sphere of 57 Ci (1.8 Wt) of Po-210 inside a capsule of nickel-coated cold-rolled steel all inside a container of Lucite. The thermocouples were silver-soldered chromel-constantan. The thermal battery produced 1.8 mWe.

Cataldo, Robert L.↗

Slip Validation and Prediction for Mars Exploration Rovers

This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.

Mars Rovers↗

A Terrestrial Analogue from Spitsbergen (Svalbard, Norway) for the Comanche Carbonate at Gusev Crater, Mars

Carbonate occurs at the Comanche outcrops in Gusev Crater on the basis of analyses made by the Mars Exploration Rover Spirit [1]. Taken together, mineralogical data from Spirit's Moessbauer (MB) and Mini-TES spectrometer and chemical data from the APXS spectrometer show that Comanche carbonate has an Mg-Fe-rich bulk chemical composition, is present at high concentrations, and is distributed throughout the outcrop and not just at the MB and APXS analysis location. The granular outcrop texture and the observation that it appears to be resistant to weathering compared with surrounding material [1] imply that the carbonate may be present as a cement. A hydrothermal origin for the Comanche carbonate was inferred by analogy with laboratory experiments and with a carbonate occurrence within the Bockfjord volcanic complex on the island Spitsbergen (Svalbard, Norway) [1]. The laboratory carbonates, synthesized by precipitation from hydrothermal solutions, have (MB) parameters and average bulk chemical compositions that are characteristic of Comanche carbonate. The connection to Comanche carbonate is only through chemical data for certain occurrences of Spitsbergen carbonates. In fact, the common average bulk chemical composition for these Spitsbergen carbonates, the synthetic carbonates, the Comanche carbonate, and also the carbonate globules found in martian meteorite ALH84001 is a chemical constraint consistent with a hydrothermal formation process for all the carbonates [e.g., 1-3]. We develop here a link between MB data for the Comanche carbonate from MER and MB data for certain Spitsbergen carbonate occurrences from laboratory measurements. We also obtained visible and near- IR spectra on Spitsbergen carbonates for comparison with martian carbonate detections made on the basis of CRISM spectral data, e.g., in Nili Fossae [4].

Morris, Richard V.↗