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NASA NTRS2019

Untangling Source-To-Sink Geochemical Signals in a ~3.5 Ga Martian Lake: Sedimentology and Geochemistry of the Murray Formation

Sedimentary rocks are historical archives of planetary surface processes; their grains, textures, and chemistry integrate the effects of source terrains, paleoclimatic conditions, weathering and transport processes, authigenic mineral precipitation, and diagenesis, which records groundwater chemistry through time. “Source to Sink” basin analysis seeks to constrain the influence of each of these different signals through sedimentary and geochemical analyses. Here, we use Mars Science Laboratory (MSL) Curiosity rover images and geochemical and mineralogical data from a traverse across a portion of the Murray formation—the lowermost unit exposed in the Gale crater central mound—to begin to constrain the aspects of the source to sink system that formed this Martian mudstone between 3.7 and 3.2 Ga.

Siebach, K. L.↗

NASA NTRS2020

Exploring a Potentially Significant New(?) Mechanism for Methane Generation on Mars

An unexplored mechanism for methane production on Mars is presented here. Meteor showers have been hypothesized [1] as an explanation for episodic martian methane events [2-7], as the timing of meteor showers consistently correlates with the episodic methane events. The hypothesis [1] relied on production of methane via UV photolysis of extraterrestrial carbonaceous material [8,9] following dissemination of material into the martian atmosphere and onto the surface. Recently, new insights have emerged about an overlooked mechanism for methane production – plasma methanation [10,11] of martian atmospheric CO2 in meteor plasma. This mechanism can generate methane in addition to that produced by the previously explored methods of direct thermal evolution and UV photolysis, adding to the total methane budget produced through meteor infall. It also delivers methane in a rapid manner consistent with past observations of episodic methane “plumes” on Mars, and at altitudes where methane is rapidly removed afterwards. Methane produced by plasma methanation occurs at high altitude, which matches observations made on Mars where measurements collected through the full thickness of the martian atmosphere are of consistently higher methane concentrations (>10 ppbv [2-6]) than those recorded on the surface by the Mars Science Laboratory (MSL) rover (<10 ppbv [7]). High-altitude methane should be detected by the ESA Trace Gas Orbiter (TGO) which has not noted any methane to date. This result is puzzling regardless of the source of methane, but may be explained by the random nature of meteor shower outbursts – a significant infall may simply not have occurred (yet) during the ~3-Earth-year period of TGO observations.

Fries, M.↗

NASA NTRSDate not supplied

Three-Dimensional Nonequilibrium Boundary Layer Stability & Transition Analysis For Martian Entry

In this work, we apply the boundary layer stability code LASTRAC, modified to include chemical and thermal nonequilibrium capabilities, to a simulated test case based on literature, with three-dimensional effects. LASTRAC provides Parabolized Stability Equations (PSE)as well as Linear Stability Theory (LST) to predict the stability of a boundary layer and transition with semiempirical eN methods. Tests of the Mars Science Laboratory (MSL)indicated a range of laminar to transitional flow conditions. In order to reduce the weight of Thermal Protection Systems (TPS), reliable prediction of transition and an understanding of the environmental factors that contribute to transition are necessary. This work is a step towards addressing this need, including the effects of thermochemical nonequilibrium but neglecting radiation, ablation, and ionization effects. Our results indicate that an oblique first mode produces maximum N-Factors on the symmetry plane, however with N-Factors too small to explain transition. Although we are able to show nonequilibrium three-dimensional PSE results inCO2, further study with improved mean flow solutions, accounting for some of the uncertainties inherent in this analysis, or evaluation of alternative transition mechanisms is needed to explain transition in the wind tunnel cases examined here.

H L Kline↗

NASA NTRS2012

Spacecraft-to-Earth communications for Juno and Mars Science Laboratory critical events

This paper describes the Entry, Descent, and Landing (EDL) Data Analysis (EDA) system. The EDA software supports the real-time interpretation of Multiple Frequency-Shift Keying tones provided by the spacecraft. The objective of this software is to provide communication of status between the spacecraft and the mission personnel on Earth during critical events when low rate telemetry is not possible. Although these communications cannot be used to affect the landing due to the length of time required at these distances, this information is important in the case of a mission failure. Mars Science Laboratory (MSL) will utilize the EDA software during EDL. Juno usage will include deep space maneuvers, Jupiter orbital insertion, and its period reduction maneuver. Results are presented from the Juno tones test. Simulated MSL and Juno signals were also generated and these results are analyzed.

Navarro, Robert↗

NASA NTRS2018

Traction Control Design and Integration Onboard the Mars Science Laboratory Curiosity Rover

The Mars Science Laboratory (MSL) Curiosity rover experienced increasing wheel damage beginning in October 2013. While the wheels were designed to operate with considerable damage, the rate at which damage was occurring was unexpected and raised concerns regarding wheel lifetime. The Jet Propulsion Laboratory (JPL) has now developed and deployed new software on Curiosity that reduces the forces acting on the wheels. Our new Traction Control algorithm adapts each wheel’s speed to fit the terrain it drives over. It does not rely on any a priori knowledge of the terrain, and instead leverages the rover’s measured attitude rates and suspension angles, together with a rigid-body kinematics model, to estimate the real-time wheel-terrain contact angles and ideal, no-slip wheel angular rates. In addition, free-floating “wheelies” are detected and autonomously corrected. In this paper, we describe the algorithm, its ground testing campaign and associated challenges, and finally its validation and performance in flight. Ground test data demonstrates reductions in the forces acting on the wheels and validates the wheelie-damping capability. Secondary benefits in some terrains include a reduction in heading deviations while climbing rocks, with a reduction in slip in certain sandy terrains. Preliminary validation from flight data confirms these findings.

Maimone, Mark↗

NASA NTRS2018

Detecting Spacecraft Anomalies Using LSTMs and Nonparametric Dynamic Thresholding

As spacecraft send back increasing amounts of telemetry data, improved anomaly detection systems are needed to lessen the monitoring burden placed on operations engineers and reduce operational risk. Current spacecraft monitoring systems only target a subset of anomaly types and often require costly expert knowledge to develop and maintain due to challenges involving scale and complexity. We demonstrate the effectiveness of Long Short-Term Memory (LSTMs) networks, a type of Recurrent Neural Network (RNN), in overcoming these issues using expert-labeled telemetry anomaly data from the Soil Moisture Active Passive (SMAP) satellite and the Mars Science Laboratory (MSL) rover, Curiosity. We also propose a complementary unsupervised and nonparametric anomaly thresholding approach developed during a pilot implementation of an anomaly detection system for SMAP, and offer false positive mitigation strategies along with other key improvements and lessons learned during development.

Soderstrom, Tom↗

NASA NTRS2018

Incorporating AEGIS Autonomous Science into Mars Science Laboratory Rover Mission Operations

The AEGIS (Autonomous Exploration for Gathering Increased Science) intelligent targeting software system has been in use on the Mars Science Laboratory (MSL) mission since 2016. The system allows on-board autonomous selection of targets for the ChemCam remote geochemistry instrument based on analysis of images taken by the rover. This paper describes the deployment of AEGIS to MSL and the operational use of the system since rollout to science operations in May of 2016.

Deflores, Lauren↗

NASA NTRSDate not supplied

Revisiting MEDLI with Improved Modeling and Simulation Tools

The thermal protection system (TPS) of the Mars 2020 capsule will carry a suite of sensors called MEDLI2 (Mars Entry, Descent, and Landing Instrument 2). This suite consists of pressure sensors/transducers and thermocouple plugs meant to measure atmospheric properties, vehicle attitude, TPS performance, etc. While the suite is similar to that carried on the successful MSL (Mars Science Laboratory) mission in 2012, it now includes pressure sensors, thermocouple plugs, and radiometers on the backshell as well. An analysis plan is therefore necessary to help with the interpretation of flight measurements.

Atmospheric Entry↗

NASA NTRSDate not supplied

Predictive Modeling of Carbon Ablators Using Micro and Macro-Scale Modeling

Efforts to build a Predictive Material Modeling (PMM) framework from the micro-scale to the macro-scale are presented in this abstract. To reduce the need for extensive testing, accelerate the design cycle process, and reduce uncertainty margins applied to final designs, NASA is developing simulation and modeling tools that enable characterization of material properties and response to high-enthalpy environments. The Porous Microstructure Analysis (PuMA) code has been developed for computing macroscale (volume averaged) properties of porous materials using microscale images from micro-computed tomography (micro-CT). Microscale modeling requires a realistic representation of a material microstructure; these are obtained either synthetically during the design of the material or through X-ray micro-CT. Volume averaged properties are then used to inform macroscale material response models, such as those implemented in the Porous-material Analysis Toolbox based on OpenFOAM (PATO) software, also actively developed by NASA. The computational model in PATO is a generic heat and mass transfer model for porous reactive materials containing several solid phases and a single gas phase. The detailed chemical interactions occurring between the solid phases and the gas phase are modeled at the pore scale assuming local thermal equilibrium. These tools were developed to efficiently interface with other pre-existing codes such as SPARTA (direct simulation Monte Carlo), DPLR (hypersonic CFD), NEQAIR (radiative transport) and DAKOTA (uncertainty quantification and optimization). Detailed flight data (Mars Science Laboratory [MSL] Entry Descent and Landing Instrument [MEDLI]) is critical for validating these computational tools for NASA applications. Examples of modeling ablative material response using these codes will be presented including 3D simulations of the full-scale heatshield of the MSL capsule. The simulations demonstrate the ability of the modern material response code, PATO, to handle the material response of geometrically complex and large domains, through the use of massively parallel computations.

Thermal Protection Systems↗

NASA NTRSDate not supplied

Demonstration of Linear Covariance Analysis Techniques to Evaluate Entry Descent and Landing Guidance Algorithms, Vehicle Configurations, Analysis Techniques, and Trajectory Profiles

Linear covariance analysis techniques have been previously developed to analyze closed-loop entry, descent, and landing (EDL) scenarios and the initial validation efforts are under-way confirming the generated GN&C system performance results. Given both the theoretical foundation and previous conceptual demonstration, this work begins to flex the potential of linear covariance analysis for atmospheric flight and highlight its versatility and reliability by evaluating multiple entry guidance algorithms, vehicle configurations, trajectory profiles, environment conditions, and analysis techniques for a variety of trade studies. To demonstrate the benefit linear covariance analysis can provide in producing rapid yet accurate performance data, two entry profiles are adopted including the NASA Mars Science Laboratory (MSL) and Exploration Flight Test-1 (EFT-1) while utilizing two different guidance algorithms, the Apollo Final Phase (AFP) and the Fully Numeric Predictor-Corrector Entry Guidance (FNPEG) with different navigation sensor suites in a 6 degree-of-freedom (6-DOF) simulation environment. Results are shown using both linear covariance and Monte Carlo analysis techniques to high-light the consistency between the two methodologies and continue the validation maturation of linear covariance analysis for entry, descent, and landing.

EDL↗

NASA NTRS2020

Highlights of the Mars 2020 Environmental Test Program

Environmental requirements for Mars 2020 (M2020) were established early in the program (due to inheritance from Mars Science Laboratory [MSL]), and a comprehensive test implementation program was developed as the spacecraft design matured. Several design scope changes happened during development (for example, addition of a helicopter), and the test program expanded accordingly. The environmental test program included hundreds of assembly-level mission-qualifying tests, which fed into the system-level environmental test program. This paper describes the highlights of selected portions of the assembly and system level test program.

Dodge, Randy↗

NASA NTRS2020

Mars 2020 Center Differential Pivot Restraint: Flexurized Spring System Providing Compliance for Rover Mobility Deployment Prior to Landing

The Center Differential Pivot Restraint (CDPR) for the Mars 2020 mission is designed to constrain motion of the rover differential and to dampen out the load response of during rover’s mobility deployment event in Entry, Descent, and Landing (EDL) phase of the mission. For Mars 2020, it was required to redesign the mechanism to save minimum 33% of the mass from the previous Mars Science Laboratory (MSL) design. The new mechanism architecture used a monolithic spring-like flexure to act as the system compliance, resulting in 50% mass savings from the MSL design. Along the design and prototype testing process, several mechanism design principles were re-affirmed as well as lessons learned about potential race conditions.

Cameron, Matthew↗

NASA NTRS2020

Europa Clipper Passive Thermal Control Valve Test and Analysis

Europa Clipper spacecraft utilizes passive thermal control valves (TCV) in an active thermal control system to maintain spacecraft component temperatures within their allowable limits. The single-phase mechanically pumped fluid loop recovers heat from the electronics and uses it to maintain propulsion system warm. When excess heat is dissipated the mixing valves direct the fluid to the radiator to reject this additional heat. The loop uses two mixing TCVs placed in series to modulate fluid flow and heat rejection rate from the radiator. This paper describes the thermal and hydraulic test results for Europa Clipper engineering model (EM) mixing valves. For the first time two heritage mixing valves previously developed for the Mars Science Laboratory (MSL) were placed in series to modulate flow to the radiator from 0.1% to 95% of full flow between temperature range of 4 oC to 24 oC. Individually, each mixing valve was able to modulate the flow from 2% to 96% of full flow between the temperatures of 4 oC and 24 oC. Pressure drop was measured between 1.5 to 3 psid depending on the temperature of the mixed fluid and the opening fraction of the valves. A methodology was developed, tested, and validated to adjust the setpoints with an accuracy of 0.1 oC. The measured flow splits were corrected for the effects of impedance due to the flow meters used to measure the flow rates. Finally, flow rate to the radiator increased linearly as a function of mixed temperature for individual valves, while it increased parabolically with temperature when two mixing valves were placed in series.

Mastropietro, AJ↗

NASA NTRSDate not supplied

Organic Carbon Concentrations in 3-Billion-Year-Old Lacustrine Mudstones of Mars

Understanding the inventory of carbon on Mars is relevant to the question of whether Mars was ever habitable. While the Mars atmosphere represents a large reservoir of carbon, in situ pyrolysis performed on Mars and meteorite analyses indicate that another significant reservoir of carbon is the rocks themselves. Complex organic carbon was discovered in 3.5 Ga mudstones sampled at Cumberland (CB) in the Yellowknife Bay Formation in Gale Crater by the Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) using a thermal decomposition technique called evolved gas analysis (EGA). Other simple organics have also been detected in these same CB materials. Low temperature co-evolution of CO and CO2 (~200°C – 500°C) has been detected in many samples from Gale Crater where SAM EGA has been performed, and potential sources include combustion of terrestrial organics from SAM, as well as combustion and/or decarboxylation of either indigenous martian or exogenous organic carbon.

J. C. Stern↗

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 NTRSDate not supplied

Constraining the Hydration of X-Ray Amorphous and Clay Mineral Phases in Gale Crater, Mars

Clay minerals and salts in the Gale crater stratigraphy investigated by the Mars Science Laboratory (MSL) Curiosity rover preserve information about sediment sources, depositional environment, and post-depositional alteration history. The compositions of amorphous components in samples have bearing on the redox potential, pH, and chemistry of alteration fluids, and on the heterogeneity of these conditions. Interlayer clay hydration in present-day Gale crater could be an indication of high water/rock ratios of late-stage fluid alteration events, which increases the potential habitability of these post-depositional environments. The MSL Dynamic Albedo of Neutrons instrument (DAN) measures bulk hydration and here we attempt to determine the hydration states of both clay minerals and amorphous components throughout the Curiosity traverse to constrain the abundance of individual amorphous phases and determine if clay interlayer water is present today. These implications are also more broadly applicable to similar sedimentary successions outside Gale crater. In this study, we compare hydration results from DAN to mineralogical results from the MSL Chemistry and Mineralogy instrument (CheMin) for 16 different fluvio-lacustrine sample locations. These samples typically contain one or more hydrated crystalline phases, a hydrated X-ray amorphous fraction composed of multiple amorphous phases, and one or more clay mineral phases which CheMin has consistently measured as collapsed (i.e., no interlayer water). However, Gale samples are known to dehydrate during sample acquisition and handling, and because DAN measures hydration to a depth of tens of cm, we can test for the presence of clay interlayer water in situ by comparing DAN bulk hydration to CheMin mineralogy. We can also constrain the hydration of the samples’ amorphous fractions, and with geochemical data from the ChemCam and APXS instruments, this will allow us to better define the phases which compose this fraction.

S Czarnecki↗

NASA NTRSDate not supplied

New Mastcam Multispectral Rock Classes in Sulfate-Bearing Strata, Gale Crater, Mars

Orbital data of Gale Crater, Mars has identified a transition in the stratigraphy of Mt. Sharp indicating an environmental change from a wetter one that accommodated clay mineral formation to a drier environment that led to the precipitation of sulfates. Mt. Sharp is not the only location on Mars for which this transition has been observed which suggests a global environmental change around the Noachian-Hesperian transition. Also visible from orbit is a dark-toned marker band that lies within the sulfate-bearing strata hypothesized to be a volcanic ash deposit. The Mars Science Laboratory (MSL) Curiosity rover is currently exploring this region of Mt. Sharp. In-situ analyses by the rover show changes in morphology and chemistry between the sulfate-bearing layers below and above the marker band and the marker band itself. The MSL instrument payload includes the Mast Camera (Mastcam), which collects multispectral images to provide context for other instruments and broad mineralogic interpretations. In addition to mafic Fe-bearing minerals, Mastcam is sensitive to oxides and some hydrated minerals, important indicators of alteration. In our previous work, we compiled a database of Mastcam spectra through Curiosity’s exploration of Vera Rubin ridge (sols 0-2302), from which 9 spectral classes of rocks were identified (Fig. 1D). Each class has diagnostic spectral features that reflect a common mineralogic interpretation. More recently, as Curiosity traversed through the clay-rich region, Glen Torridon (GT), there was some variation in the rock spectral classes potentially due to nontronite and other phyllosilicates, but not enough to warrant new spectral classes (Fig. 1B). We hypothesize that new classes will appear in accordance with sulfate-bearing strata and the marker band, specifically appearing as a ‘downturn’ in the last two wavelength filters that is inherent, but not unique, to polyhydrated Mg-sulfates. Here, we expand upon our analysis of Mastcam multispectral observations through Curiosity’s second encounter with the marker band (up to sol 3672), comparing the spectral diversity within the sulfate-bearing unit and the marker band to the spectral classes encountered previously in the traverse. These analyses will provide a basis for comparison and aid in selecting targets for in-situ investigations as Curiosity continues its ascent of Mt. Sharp.

A M Eng↗

NASA NTRS2023

Mineralogical, Elemental, and Tomographic Reconnaissance Investigation for CLPS (METRIC)

METRIC is a robotic science laboratory that can determine the mineralogy, elemental chemistry, micromorphology, and thermophysical properties of planetary regolith. The METRIC suite comprises METRIC XRD/F, an X-ray diffraction/X-ray fluorescence instrument that can determine the mineralogy and elemental chemistry of regolith samples; METRIC XCT, a micro X-ray computed tomography instrument that can be used to evaluate grain/crystallite sizes and textures; METRIC IRS, an imaging spectrometer mounted on a rover that can determine mineralogy and thermophysical properties at the landing site; and a pneumatic sample collection, processing, distribution system developed by Honeybee Robotics. The payload elements could be deployed on a static lander or a rover. Data returned from the METRIC payload would inform origin, formation, and evolution of rocky planetary bodies. METRIC XRD/F draws on heritage from the CheMin instrument on the Mars Science Laboratory (MSL) Curiosity rover [1], with a few important improvements. Like CheMin, METRIC XRD/F operates in transmission geometry and uses piezoelectric actuators on sample cells in a tuning fork geometry to induce convective grain motion of the regolith to create a randomly oriented powder. MSL CheMin uses an energy-sensitive CCD to collect XRD patterns and XRF spectra simultaneously from the same sample cell, resulting in qualitative XRF data. METRIC XRD/F uses two different sample cells, one optimized for XRD and one optimized for XRF, and a silicon drift detector to detect fluoresced X-rays. This improvement to the XRF capabilities provides quantitative geochemical data of major elements down to Z = 11 and allows for the detection of minor and trace elements that are critical for evaluating geologic evolution of the Moon (e.g., P and Th). Modest improvements to the XRD geometry and hardware allow for better angular resolution and the ability to distinguish between members of the pyroxene group. METRIC XCT uses the same geometry and much of the same hardware as METRIC XRD/F, where a CCD would capture images of a regolith sample in a 3 mm diameter sample tube that is rotated 360° in steps <1°. Image brightness can be used to infer compositional data, where brighter materials indicate a higher Z, much like scanning electron microscopy. Data from METRIC XCT complement those from METRIC XRD/F. Particle size, shape, and texture can provide petrologic and provenance information, whereas vesicle size and morphology in volcanic or impact melt lithologies can inform cooling rates. METRIC IRS is a hyperspectral thermal imager that can be mounted to a lander or rover to provide mineralogical data from the broader landing site and help determine whether the samples analyzed by METRIC XRD/F and XCT are representative. The METRIC IRS spectral range (8–14 μm) and resolution (10.8 cm-1) allow for quantitative mineralogy from modelling Reststrahlen bands of major rock-forming minerals (e.g., silicates, phosphates). Radiance cubes can be processed and modelled with an onboard high-performance computer to determine mineral abundances of plagioclase, high-Ca pyroxene, pigeonite, orthopyroxene, olivine, and glass. Regolith samples can be acquired, processed, and delivered to the X-ray instruments via multiple sample handling systems, but the pneumatic sampling systems developed by Honeybee Robotics [e.g., 2] are best suited for relatively low-cost missions that are being competed for the Moon (e.g., NASA’s Payloads and Research Investigations for the Surface of the Moon program). There are pneumatic sampling systems that collect surface material and other systems that pneumatically drill up to ~1 m below the surface, providing material that has not been space weathered and has not been affected by the lander’s exhaust. [1] Blake, D. F., Vaniman, D., Achilles, C., Anderson, R., Bish, D., et al. (2012). Space Sci. Rev. 170, 341-478. https://doi.org/10.1007/s11214-012-9905-1. [2] Zacny, K., Betts, B., Hedlund, M., Long, P., Gramlich, M., Tura, K., Chu, P., Jacob, A., Garcia, A. (2014). IEEE Aerospace Conference, 3-7 March 2014, Big Sky, MT, U.S.A.

X-ray diffraction↗