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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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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 NTRS2004

Mars Exploration Rover (MER) project environmental assurance program

This paper presents a comprehensive summary of the environmental assurance program for the MER project. A series of test and analysis metrics are generated. Selections of the numerous lessons that have been learned from implementation of the MER environmental assurance program are documented in this paper. They include both technical and programmatic lessons that would be helpful in improving implementation of the environmental program for future projects.

Hoffman, Alan R↗
NASA NTRS2005

MER : from landing to six wheels on Mars ... twice

Application of the Pathfinder landing system design to enclose the much larger Mars Exploration Rover required a variety of Rover deployments to achieve the surface driving configuration. The project schedule demanded that software design, engineering model test, and flight hardware build to be accomplished in parallel. This challenge was met through (a) bounding unknown environments against which to design and test, (b) early mechanical prototype testing, (c) constraining the scope of on-board autonomy to survival-critical deployments, (d) executing a balance of nominal and off-nominal test cases, (e) developing off-nominal event mitigation techniques before landing, (f) flexible replanning in response to surprises during operations. Here is discussed several specific events encountered during initial MER surface operations.

Mars Exploration Rover (MER)↗
NASA NTRS2004

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

autonomous↗
NASA NTRS2008

MER Surface Phase; Blurring the Line Between Fault Protection and What is Supposed to Happen

An assessment on the limitations of communication with MER rovers and how such constraints drove the system design, flight software and fault protection architecture, blurring the line between traditional fault protection and expected nominal behavior, and requiring the most novel autonomous and semi-autonomous elements of the vehicle software including communication, surface mobility, attitude knowledge acquisition, fault protection, and the activity arbitration service.

surface operations↗
NASA NTRS2001

Mineralogy Considerations for 2003 MER Site Selection and the Importance for Astrobiology

Much of the discussion of site selection on Mars is based on interesting images of the surface combined with safety issues. I argue that the two rovers should be sent to mineralogically distinct regions. Compositional information is still poorly constrained on Mars; however, the instruments on the 2003 Mars Exploration Rovers (MERs) will provide a unique opportunity for detailed characterization including mineral identification. There is strong motivation for sending one rover to a "typical" region on Mars to be used as a ground truth for the Thermal Emission Spectrometer (TES), while the other rover should be sent to a site where water and chemical alteration are likely to have occurred. Determining the mineralogy of the Martian surface material provides information about the past and present environments on Mars which are an integral aspect of whether or not Mars was suitable for the origin of life. Understanding the mineralogy of terrestrial samples from potentially Mars-like environments is essential to this effort.

Bishop, J. L.↗
NASA NTRS2001

GSSR Mars Delay-Doppler Data Available for MER Landing Site Assessment

Goldstone Solar System Radar (GSSR) observation of Mars made over the past 10 years are tabulated. Some of these are two station interferometric data that can now be processed using Mars Orbiter Laser Altimeter (MOLA) aided altimetry to provide North/South separation and higher resolution. New 2001 observations are targeted at Mars Exploration Rover (MER) sites. Additional information is contained in the original extended abstract.

Jurgens, R. F.↗
NASA NTRS2002

Gusev Crater: A Landing Site for MER A

We present what makes Gusev crater an outstanding priority candidate landing site for achieving the 2003 MER mission goal and science objectives. Additional information is contained in the original extended abstract.

Cabrol, N. A↗
NASA NTRS2002

Geology of a Proposed MER Landing Site in Western Melas Chasma

A proposed landing site for the Mars Exploration Rover (MER) has been identified in western Melas Chasma. The landing ellipse contains a blocky, bright deposit which we propose formed as a landslide, perhaps beneath a former lake. Additional information is contained in the original extended abstract.

Weitz, C. M.↗
NASA NTRS2002

Characterization of MER Landing Sites Using MOC and MOLA

The MOC images for MER are compared with MOLA data to characterize and locate each image. MOLA profiles show that Hematite remains benign, Melas and Isidis are rougher, and Athabasca and Gusev have regions of significant small scale topography. Additional information is contained in the original extended abstract.

Anderson, F. S.↗
NASA NTRS2004

Coordinated Observations of Aeolian Features from the Mars Exploration Rovers (MER) and the Mars Express High Resolution Stereo Camera and Other Orbiters

Surface features associated with aeolian (wind) processes at the Mars Exploration Rover (MER) landing sites for Spirit (Gusev crater) and Opportunity (Sinus Meridiani) were observed from the surface and from orbit through coordinated observations by the rovers and the Mars Express orbiter High Resolution Stereo Camera and compared with features seen in other orbiter data and with wind vectors predicted by a numerical mesoscale model of the atmosphere.

Greeley, R.↗
NASA NTRS2004

A First Look at the Mineralogy and Geochemistry of the MER-B Landing Site in Meridiani Planum

The second MER rover (Opportunity) landed on Meridiani Planum on January 24, 2004 inside a shallow crater. The science rational for the selection of the landing site centered on detection of the mineral hematite from martian orbit by the Mars Global Surveyor Thermal Emission Spectrometer (MGS-TES) [1,2]. Other smaller occurrences of hematite are in Aram Chaos and several isolated spots in Valles Marineris. Proposed formation pathways for martian hematite include both aqueous (e.g., low temperature precipitation of Fe oxides/oxyhydroxides in a lacustrine environment, laterite-style weathering, and precipitation from fluids having a hydrothermal origin) and dry (e.g., oxidation of magnetite rich ash) processes [e.g., 1,2,3]. The crystallographic c-face of martian hematite must be exaggerated to account for the thermal emissions spectra and it must be gray in color so as to account for the absence of the characteristic spectral signature of red hematite at visible wavelengths

Morris, Richard V.↗
NASA NTRS2004

Planning Mars Memory: Learning from the Mer Mission

Knowledge management for space exploration is part of a multi-generational effort at recognizing, preserving and transmitting learning. Each mission should be built on the learning, of both successes and failures, derived from previous missions. Knowledge management begins with learning, and the recognition that this learning has produced knowledge. The Mars Exploration Rover mission provides us with an opportunity to track how learning occurs, how it is recorded, and whether the representations of this learning will be optimally useful for subsequent missions. This paper focuses on the MER science and engineering teams during Rover operations. A NASA team conducted an observational study of the ongoing work and learning of the these teams. Learning occurred in a wide variety of areas: how to run two teams on Mars time for three months; how to use the instruments within the constraints of the martian environment, the deep space network and the mission requirements; how to plan science strategy; how best to use the available software tools. This learning is preserved in many ways. Primarily it resides in peoples memories, to be carried on to the next mission. It is also encoded in stones, in programming sequences, in published reports, and in lessons learned activities, Studying learning and knowledge development as it happens allows us to suggest proactive ways of capturing and using it across multiple missions and generations.

Linde, Charlotte↗
NASA NTRS2004

Automated Recognition of Geologically Significant Shapes in MER PANCAM and MI Images

Autonomous recognition of scientifically important information provides the capability of: 1) Prioritizing data return; 2) Intelligent data compression; 3) Reactive behavior onboard robotic vehicles. Such capabilities are desirable as mission scenarios include longer durations with decreasing interaction from mission control. To address such issues, we have implemented several computer algorithms, intended to autonomously recognize morphological shapes of scientific interest within a software architecture envisioned for future rover missions. Mars Exploration Rovers (MER) instrument payloads include a Panoramic Camera (PANCAM) and Microscopic Imager (MI). These provide a unique opportunity to evaluate our algorithms when applied to data obtained from the surface of Mars. Early in the mission we applied our algorithms to images available at the mission web site (http://marsrovers.jpl.nasa.gov/gallery/images.html), even though these are not at full resolution. Some algorithms would normally use ancillary information, e.g. camera pointing and position of the sun, but these data were not readily available. The initial results of applying our algorithms to the PANCAM and MI images are encouraging. The horizon is recognized in all images containing it; such information could be used to eliminate unwanted areas from the image prior to data transmission to Earth. Additionally, several rocks were identified that represent targets for the mini-thermal emission spectrometer. Our algorithms also recognize the layers, identified by mission scientists. Such information could be used to prioritize data return or in a decision-making process regarding future rover activities. The spherules seen in MI images were also autonomously recognized. Our results indicate that reliable recognition of scientifically relevant morphologies in images is feasible.

Morris, Robert↗
NASA NTRS2004

Planning Mars Memory: Learning from the MER Mission

This viewgraph presentation discusses ways in which the lessons learned from a mission can be systematically remembered, retained, and applied by individuals and by an organization as a whole. The presentation cites lessons learned from the Mars Exploration Rover (MER) Mission as examples.

Charlotte, Linde↗
NASA NTRS2005

Working on Mars: Understanding How Scientists, Engineers and Rovers Interacted Across Space and Time during the Mars Exploration Rover (MER) Mission

This viewgraph presentation summarizes the scheduling and planning difficulties inherent in operating the Mars Exploration Rovers (MER) during the overlapping terrestrial day and Martian sol. The presentation gives special empahsis to communication between the teams controlling the rovers from Earth, and keeping track of time on the two planets.

Wales, Roxana C.↗
NASA NTRS2005

The Martian Soil as a Geochemical Sink for Hydrothermally Altered Crustal Rocks and Mobile Elements: Implications of Early MER Results

Hydrothermal and aqueous alteration can explain some of the exciting results from the MER team s analyses of the martian soil, including the major elements, mobile elements, and the nickel enrichment. Published results from the five lander missions lead to the following conclusions: 1) The soil appears to be globally mixed and basaltic with only small local variations in chemistry. Relative to martian basaltic meteorites and Gusev rocks the soils are depleted in the fluid-mobile element calcium, but only slightly enriched to somewhat depleted in iron oxide. 2) The presence of olivine in the soils based on M ssbauer data argues that the soil is only partly weathered and is more akin to a lunar regolith than a terrestrial soil. 3) The presence of bromine along with sulfur and chlorine in the soils is consistent with addition of a mobile element component to the soil.

Newsom, H. E.↗
NASA NTRS2004

Water on Mars: Evidence from MER Mission Results

The Viking and the Mars Exploration Rover missions observed that the surface of Mars is encrusted by a thinly cemented layer, or "duricrust". Elemental analyzes at five sites on Mars show that these soils have sulfur content and chlorine content consistent with the presence of sulfates and halides as mineral cements. The soil is highly enriched in the salt-forming elements compared with rock. Analysis of the soil cementation indicates some features which may be evidence of liquid water. At both MER sites, duricrust textures revealed by the Microscopic Imager show features including the presence of fine sand-sized grains, some of which may be aggregates of fine silt and clay, surrounded by a pervasive light colored material that is associated with microtubular structures and networks of microfractures. Stereo views of undisturbed duricrust surfaces reveal rugged microrelief between 2-3 mm and minimal loose material. Comparisons of microscopic images of duricrust soils obtain before and after placement of the Mossbauer spectrometer indicate differing degrees of compaction and cementation. Two models of a 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. The viability of both of these models ultimately hinges on the availability of seasonally transient liquid water for brief periods.

Landis, Geoffrey A.↗