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Mars 2020: Mission, Science Objectives and Build

If all goes according to plan, in February 2021, NASA will land the Mars 2020 Rover on the surface of Mars. Mars 2020 is the latest in a series of unmanned Martian robotic rover missions that are part of NASA’s Mars Exploration Program, a long-term effort of robotic exploration of the planet. The mission seeks to address high-priority goals for Mars exploration, including answering questions about the potential for past life on Mars. Mars 2020 will look for evidence of habitable conditions on Mars in the ancient past, as well as look for signs of past microbial life itself. The mission also seeks to understanding the geological history and evolution of the planet, and to prepare for future robotic and human exploration. The Mars 2020 spacecraft and rover borrow heavily from the Mars Science Laboratory (MSL) mission and Curiosity rover which landed on Mars in 2012. This reliance on proven technology helps reduce mission risk and cost. Mars 2020 does contain new technology, including a drill for coring samples from Martian rock and soil and a Sample Caching System for gathering, storing and preserving samples for possible future return to Earth. In this paper, we will review the primary goals of the Mars 2020 Mission and look at the reasons for choosing Jezero Crater as the landing site. We will discuss the design and build of the Mars 2020 Spacecraft system and its similarities and differences with Mars Science Laboratory and the Curiosity Rover. We will also review the Mars 2020 Scientific Instrument Suite and their goals. Finally, we will review the Return Sample Contamination Control requirements and the design choices that were made to facilitate meeting these requirements.

Soares, Carlos E.↗

Mars 2020 Rover Adaptive Caching Assembly: Caching Martian Samples for Potential Earth Return

The Adaptive Caching Assembly, part of the Sampling and Caching System on the Mars 2020 Rover, consists of multiple stations that together process sample tubes containing collected Martian material, either rock cores or soil samples, and prepares hermetically-sealed sample tubes for caching on the surface of Mars. There are 7 active degrees-of-freedom, as well as a large number of passive mechanisms within the Adaptive Caching Assembly that must operate in extreme Mars conditions (i.e., temperature and pressure). Hardware cleanliness requirements significantly drove design, assembly, and test operations of the Adaptive Caching Assembly, and were found to adversely affect hardware in some cases such that late design changes and revised cleanliness operations had to be implemented. While Adaptive Caching Assembly hardware was designed to accommodate dust, testing in a representative environment is important to validate functionality is not compromised.

Silverman, Milo↗

First 210 solar days of Mars 2020 Perseverance Robotic Operations – Mobility, Robotic Arm, Sampling, and Helicopter

This paper includes the summary, lessonslearned, and upcoming plans for the first 210 Mars solar days(sols) of the mission. The focus of the paper is on roboticoperations which has the primary responsibility for strategicplanning, uplink commanding and downlink analysis forrover mobility and navigation, robotic arm operation, thesampling and caching capability including coring, theadaptive caching assembly and the 2nd sample handlingrobotic arm, and interface to the Mars helicopter Ingenuity.As of Sol 210 the rover has driven 2663.65 meters, executed20764 robotic arm and sampling commands, and hassuccessfully completed 13 helicopter flights covering 2382meters horizontal distance. It includes the OperationsReadiness Tests in preparation for landing, landing and initialcheckouts, strategic route planning to the science destinationand waypoints, surface checkout of all of the roboticscapability of the rover. It also discusses the strategic planningand tactical agility needed for interleaving scienceinvestigation and technology demonstration of the Marshelicopter flights where a minimum distance had to bemaintained between the rover and helicopter during flights. Itdiscusses the challenges with planning robotic operations andaddressing anomalies with the larger uncertainty presentduring early mission operations. It also discusses the impacton robotic operations from lessons incorporated fromprevious missions.

Ono, Hiro↗

Development of Analytical Protocols For Organics and Isotopes Analysis on the 2009 MARS Science Laboratory.

The Mars Science Laboratory, under development for launch in 2009, is designed explore and quantitatively asses a local region on Mars as a potential habitat for present or past life. Its ambitious goals are to (1) assess the past or present biological potential of the target environment, (2) to characterize the geology and geochemistry at the MSL landing site, and (3) to investigate planetary processes that influence habitability. The planned capabilities of the rover payload will enable a comprehensive search for organic molecules, a determination of definitive mineralogy of sampled rocks and fines, chemical and isotopic analysis of both atmospheric and solid samples, and precision isotope measurements of several volatile elements. A range of contact and remote surface and subsurface survey tools will establish context for these measurements and will facilitate sample identification and selection. The Sample Analysis at Mars (SAM) suite of MSL addresses several of the mission's core measurement goals. It includes a gas chromatograph, a mass spectrometer, and a tunable laser spectrometer. These instruments will be designed to analyze either atmospheric samples or gases extracted from solid phase samples such as rocks and fines. We will describe the range of measurement protocols under development and study by the SAM engineering and science teams for use on the surface of Mars.

Mahaffy, P. R.↗

Lunar and Planetary Science XXXV: Missions and Instruments: Hopes and Hope Fulfilled

The titles in this section include: 1) Mars Global Surveyor Mars Orbiter Camera in the Extended Mission: The MOC Toolkit; 2) Mars Odyssey THEMIS-VIS Calibration; 3) Early Science Operations and Results from the ESA Mars Express Mission: Focus on Imaging and Spectral Mapping; 4) The Mars Express/NASA Project at JPL; 5) Beagle 2: Mission to Mars - Current Status; 6) The Beagle 2 Microscope; 7) Mars Environmental Chamber for Dynamic Dust Deposition and Statics Analysis; 8) Locating Targets for CRISM Based on Surface Morphology and Interpretation of THEMIS Data; 9) The Phoenix Mission to Mars; 10) First Studies of Possible Landing Sites for the Phoenix Mars Scout Mission Using the BMST; 11) The 2009 Mars Telecommunications Orbiter; 12) The Aurora Exploration Program - The ExoMars Mission; 13) Electron-induced Luminescence and X-Ray Spectrometer (ELXS) System Development; 14) Remote-Raman and Micro-Raman Studies of Solid CO2, CH4, Gas Hydrates and Ice; 15) The Compact Microimaging Spectrometer (CMIS): A New Tool for In-Situ Planetary Science; 16) Preliminary Results of a New Type of Surface Property Measurement Ideal for a Future Mars Rover Mission; 17) Electrodynamic Dust Shield for Solar Panels on Mars; 18) Sensor Web for Spatio-Temporal Monitoring of a Hydrological Environment; 19) Field Testing of an In-Situ Neutron Spectrometer for Planetary Exploration: First Results; 20) A Miniature Solid-State Spectrometer for Space Applications - Field Tests; 21) Application of Laser Induced Breakdown Spectroscopy (LIBS) to Mars Polar Exploration: LIBS Analysis of Water Ice and Water Ice/Soil Mixtures; 22) LIBS Analysis of Geological Samples at Low Pressures: Application to Mars, the Moon, and Asteroids; 23) In-Situ 1-D and 2-D Mapping of Soil Core and Rock Samples Using the LIBS Long Spark; 24) Rocks Analysis at Stand Off Distance by LIBS in Martian Conditions; 25) Evaluation of a Compact Spectrograph/Detection System for a LIBS Instrument for In-Situ and Stand-Off Detection; 26) Analysis of Organic Compounds in Mars Analog Samples; 27) Report of the Organic Contamination Science Steering Group; 28) The Water-Wheel IR (WIR) - A Contact Survey Experiment for Water and Carbonates on Mars; 29) Mid-IR Fiber Optic Probe for In Situ Water Detection and Characterization; 30) Effects of Subsurface Sampling & Processing on Martian Simulant Containing Varying Quantities of Water; 31) The Subsurface Ice Probe (SIPR): A Low-Power Thermal Probe for the Martian Polar Layered Deposits; 32) Deploying Ground Penetrating Radar in Planetary Analog Sites to Evaluate Potential Instrument Capabilities on Future Mars Missions; 33) Evaluation of Rock Powdering Methods to Obtain Fine-grained Samples for CHEMIN, a Combined XRD/XRF Instrument; 34) Novel Sample-handling Approach for XRD Analysis with Minimal Sample Preparation; 35) A New Celestial Navigation Method for Mars Landers; 36) Mars Mineral Spectroscopy Web Site: A Resource for Remote Planetary Spectroscopy.

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The Search for Chiral Asymmetry as a Potential Biosignature in Samples from Mars

The search for evidence of extraterrestrial life in our solar system is currently guided by our understanding of terrestrial biology and its associated biosignatures. The observed homochirality in all life on Earth, that is, the predominance of “left-handed” or L-amino acids and “right-handed” or D-sugars, is a unique property of life that is crucial for molecular recognition, enzymatic function, information storage and structure and is thought to be a prerequisite for the origin or early evolution of life. Therefore, the detection of L- or D-enantiomeric excesses of chiral amino acids and sugars could be a powerful indicator of extant or extinct life on Mars or other habitable environments in our solar system. The exploration of habitable environments on Mars, including an assessment of the preservation potential for complex organics of either abiotic or biological origin, remains a key goal of both current and future Mars missions. Now with the unambiguous detection of indigenous organic matter in sedimentary rocks on Mars [1-3], NASA’s Curiosity rover has significantly advanced our understanding of the preservation of potential chemical biosignatures in the martian near surface. Although amino acids have not yet been identified by in situ measurements on Mars, if they were present, it is expected that amino acid hydrolysis and racemization would be very slow and any chiral or isotopic signatures from an extinct martian biota could be preserved for billions of years, given the extremely cold and dry surface conditions [4]. One of ESA’s Rosalind Franklin rover payload instruments called the Mars Organic Molecule Analyzer (MOMA) includes a wet chemistry package capable of measuring the enantiomeric ratios of any chiral amino acids present at part-per-million concentrations or higher [5]. The complexity and limited duration of spaceflight operations and the known analytical challenges associated with in situ extraction and characterization of trace reduced organic compounds in ancient rocks make it challenging to determine the origins of martian organic matter found to date. Coordinated state-of-the-art laboratory measurements of returned samples from Mars that include spatially resolved chemical, mineralogical, and isotopic studies and molecule-specific isotopic and enantiomeric measurements will be required to firmly establish whether the complex organic matter detected on Mars comes from biotic or abiotic sources. Ultimately, sample return may be our best chance of identifying chemical biosignatures from a past or present martian biota, if one ever existed on Mars. NASA’s Perseverance rover will collect dozens of surface sample cores for possible future return to Earth by NASA and ESA. Here we review our current knowledge of the distributions and enantiomeric and isotopic compositions of non-biological amino acids found in meteorites compared to terrestrial biochemistry and propose a set of measurement criteria that should be used to help establish the origin of any chiral asymmetry detected in samples from Mars [6].

Daniel P Glavin↗

Perseverance Rover Collision Model for a range of Autonomous Behaviors

The NASA Mars 2020 Perseverance rover landed in Jezero crater on Mars on 18 February 2021. It is a science mission to collect and cache sample cores for possible return to Earth in the future. Robot collision modeling is traditionally used in robotics for hardware safety for manipulation and sampling. The Mars 2020 Rover Collision Model (RCM) optimizes and extends collision checking in innovative ways to provide a range of onboard autonomous capability on a computationally constrained system. It provides an example of the benefit of systems and operations cognizant software design and development of autonomous systems.

Klein, Douglas↗

Mars Immunoassay Life Detection Instrument (MILDI)

The direct detection of organic biomarkers for living or fossil microbes on Mars by an in situ instrument is a worthy goal for future lander missions. We have proposed an instrument based on immunological reactions to specific antibodies to cause activation of fluorescent stains. Antibodies are raised or acquired to a variety of general and specific substances that might be in Mars soil. These antibodies are then combined with various fluorescent stains and applied to small numbered spots on a small (two to three centimeters) test plate where they become firmly attached after drying. On Mars, a sample of soil from a trench or drill core is extracted with water and/or an organic solvent that is then applied to the test plate. Any substance, which has an antibody on the test plate, will react with its antibody and activate its fluorescent stain. A small ultraviolet light source will illuminate the test plate, which is observed with a small CCD camera. The numbered spots that fluoresce indicate the presence of the tested-for substance, and the intensity indicates relative amounts. The entire instrument can be quite small and light, on the order of ten cm in each dimension. A possible choice for light source may be small UV lasers at several wavelengths. Up to 1000 different sample spots can be placed on a plate 3 cm on a side, but a more practical number might be 100. Each antibody can have a redundant position for independent verification of reaction. Some of the wells or spots can contain simply standard fluorescent stains used to detect live cells, dead cells, DNA, etc. These the stains in these spots may be directly activated; no antibodies are necessary.

McKay, David↗

Probabilistic Round Trip Contamination Analysis of a Mars Sample Acquisition and Handling Process Using Markovian Decompositions

A method for evaluating the probability of a Viable Earth Microorganism (VEM) contaminating a sample during the sample acquisition and handling (SAH) process of a potential future Mars Sample Return mission is developed. A scenario where multiple core samples would be acquired using a rotary percussive coring tool, deployed from an arm on a MER class rover is analyzed. The analysis is conducted in a structured way by decomposing sample acquisition and handling process into a series of discrete time steps, and breaking the physical system into a set of relevant components. At each discrete time step, two key functions are defined: The probability of a VEM being released from each component, and the transport matrix, which represents the probability of VEM transport from one component to another. By defining the expected the number of VEMs on each component at the start of the sampling process, these decompositions allow the expected number of VEMs on each component at each sampling step to be represented as a Markov chain. This formalism provides a rigorous mathematical framework in which to analyze the probability of a VEM entering the sample chain, as well as making the analysis tractable by breaking the process down into small analyzable steps.

Hudson, Nicolas↗

Exploration of the Habitability of Mars with the SAM Suite Investigation on the 2009 Mars Science Laboratory

The 2009 Mars Science Laboratory (MSL) with a substantially larger payload capability that any other Mars rover, to date, is designed to quantitatively assess a local region on Mars as a potential habitat for present or past life. Its goals are (1) to assess past or present biological potential of a target environment, (2) to characterize geology and geochemistry at the MSL landing site, and (3) to investigate planetary processes that influence habitability. The Sample Analysis at Mars (SAM) Suite, in its final stages of integration and test, enables a sensitive search for organic molecules and chemical and isotopic analysis of martian volatiles. MSL contact and remote surface and subsurface survey Instruments establish context for these measurements and facilitate sample identification and selection. The SAM instruments are a gas chromatograph (GC), a mass spectrometer (MS), and a tunable laser spectrometer (TLS). These together with supporting sample manipulation and gas processing devices are designed to analyze either the atmospheric composition or gases extracted from solid phase samples such as rocks and fines. For example, one of the core SAM experiment sequences heats a small powdered sample of a Mars rock or soil from ambient to -1300 K in a controlled manner while continuously monitoring evolved gases. This is followed by GCMS analysis of released organics. The general chemical survey is complemented by a specific search for molecular classes that may be relevant to life including atmospheric methane and its carbon isotope with the TLS and biomarkers with the GCMS.

Mahaffy, P. R.↗

The record of Martian climatic history in cores and its preservation

Among the questions to be addressed by a Mars Sample Return Mission are the history of the Martian climate and the mechanisms that control the volatile cycles. Unfortunately, the evidence that bears most strongly on those issues lies in the volatile distribution in, and physical configuration of, a very delicate and volatile system: the uppermost Martian regolith. Some useful measurements to be made on returned samples of the regolith are identified, along with the many critical considerations in ensuring the usefulness of returned samples.

Zent, A. P.↗

Mars-GRAM Support for the Mars Ascent Vehicle

Mars sample return is a bold concept, which entails gathering a varied, scientifically-relevant collection of Martian rock core samples and bringing them to Earth for analysis. To support this endeavor, the Marshall Space Flight Center (MSFC) is developing the Mars Ascent Vehicle (MAV), which is responsible for getting the collected samples off the planet. The MAV Preliminary Architecture Assessment (PAA) study is designing two vehicle architectures based on different propulsion configurations: a two-stage solid-solid concept, and a hybrid concept. Given different thrust profiles for the two configurations, each concept uses a unique trajectory to reach the same orbit. In support of the PAA, The MSFC Natural Environments Branch (EV44) was asked to produce tables of atmospheric parameters along each of the two trajectories. The Mars Global Reference Atmospheric Model (Mars-GRAM) is an EV44 tool that is ideally suited for this analysis. Mars-GRAM will continue supporting MAV development in future design cycles.

Burns, K. L.↗

Development of a Linear Ion Trap Mass Spectrometer (LITMS) Investigation for Future Planetary Surface Missions

Future surface missions to Mars and other planetary bodies will benefit from continued advances in miniature sensor and sample handling technologies that enable high-performance chemical analyses of natural samples. Fine-scale (approx.1 mm and below) analyses of rock surfaces and interiors, such as exposed on a drill core, will permit (1) the detection of habitability markers including complex organics in association with their original depositional environment, and (2) the characterization of successive layers and gradients that can reveal the time-evolution of those environments. In particular, if broad-based and highly-sensitive mass spectrometry techniques could be brought to such scales, the resulting planetary science capability would be truly powerful. The Linear Ion Trap Mass Spectrometer (LITMS) investigation is designed to conduct fine-scale organic and inorganic analyses of short (approx.5-10 cm) rock cores such as could be acquired by a planetary lander or rover arm-based drill. LITMS combines both pyrolysis/gas chromatograph mass spectrometry (GCMS) of sub-sampled core fines, and laser desorption mass spectrometry (LDMS) of the intact core surface, using a common mass analyzer, enhanced from the design used in the Mars Organic Molecule Analyzer (MOMA) instrument on the 2018 ExoMars rover. LITMS additionally features developments based on the Sample Analysis at Mars (SAM) investigation on MSL and recent NASA-funded prototype efforts in laser mass spectrometry, pyrolysis, and precision subsampling. LITMS brings these combined capabilities to achieve its four measurement objectives: (1) Organics: Broad Survey Detect organic molecules over a wide range of molecular weight, volatility, electronegativity, concentration, and host mineralogy. (2) Organic: Molecular Structure Characterize internal molecular structure to identify individual compounds, and reveal functionalization and processing. (3) Inorganic Host Environment Assess the local chemical/mineralogical makeup of organic host phases to help determine deposition and preservation factors. (4) Chemical Stratigraphy Analyze the fine spatial distribution and variation of key species with depth.

Mars↗

Systems Engineering and Technology Considerations of a Mars Ascent Vehicle

A Mars Ascent Vehicle (MAV) systems engineering study is underway to define the driving requirements, system architecture, major risks, and required technology developments to support the launch of a rock core sample to a specified delivery orbit for later retrieval and return to Earth. The proposed MAV would essentially be a small-scale launch vehicle, the first of its kind to be launched autonomously from another planet. The MAV would be a flight element of the proposed Mars Sample Return (MSR) campaign architecture, which currently assumes a 2018 launch of the sample caching mission and a 2024 (Earth) launch date of the MAV and lander, with arrival on Mars in 2025. After 9 months on the surface the MAV would be erected and launched to a specified delivery orbit. In the delivery orbit it would release its payload, a 5 kg sphere containing the rock core sample. An orbiter would rendezvous and capture the payload, returning it to Earth a year later.

entry, descent, and landing (EDL)↗

NASA Tech Briefs, September 2012

Topics covered include: Beat-to-Beat Blood Pressure Monitor; Measurement Techniques for Clock Jitter; Lightweight, Miniature Inertial Measurement System; Optical Density Analysis of X-Rays Utilizing Calibration Tooling to Estimate Thickness of Parts; Fuel Cell/Electrochemical Cell Voltage Monitor; Anomaly Detection Techniques with Real Test Data from a Spinning Turbine Engine-Like Rotor; Measuring Air Leaks into the Vacuum Space of Large Liquid Hydrogen Tanks; Antenna Calibration and Measurement Equipment; Glass Solder Approach for Robust, Low-Loss, Fiber-to-Waveguide Coupling; Lightweight Metal Matrix Composite Segmented for Manufacturing High-Precision Mirrors; Plasma Treatment to Remove Carbon from Indium UV Filters; Telerobotics Workstation (TRWS) for Deep Space Habitats; Single-Pole Double-Throw MMIC Switches for a Microwave Radiometer; On Shaft Data Acquisition System (OSDAS); ASIC Readout Circuit Architecture for Large Geiger Photodiode Arrays; Flexible Architecture for FPGAs in Embedded Systems; Polyurea-Based Aerogel Monoliths and Composites; Resin-Impregnated Carbon Ablator: A New Ablative Material for Hyperbolic Entry Speeds; Self-Cleaning Particulate Prefilter Media; Modular, Rapid Propellant Loading System/Cryogenic Testbed; Compact, Low-Force, Low-Noise Linear Actuator; Loop Heat Pipe with Thermal Control Valve as a Variable Thermal Link; Process for Measuring Over-Center Distances; Hands-Free Transcranial Color Doppler Probe; Improving Balance Function Using Low Levels of Electrical Stimulation of the Balance Organs; Developing Physiologic Models for Emergency Medical Procedures Under Microgravity; PMA-Linked Fluorescence for Rapid Detection of Viable Bacterial Endospores; Portable Intravenous Fluid Production Device for Ground Use; Adaptation of a Filter Assembly to Assess Microbial Bioburden of Pressurant Within a Propulsion System; Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators; Whispering Gallery Mode Optomechanical Resonator; Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles; Self-Sealing Wet Chemistry Cell for Field Analysis; General MACOS Interface for Modeling and Analysis for Controlled Optical Systems; Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem; Fault-Tolerant, Real-Time, Multi-Core Computer System; Water Detection Based on Object Reflections; SATPLOT for Analysis of SECCHI Heliospheric Imager Data; Plug-in Plan Tool v3.0.3.1; Frequency Correction for MIRO Chirp Transformation Spectroscopy Spectrum; Nonlinear Estimation Approach to Real-Time Georegistration from Aerial Images; Optimal Force Control of Vibro-Impact Systems for Autonomous Drilling Applications; Low-Cost Telemetry System for Small/Micro Satellites; Operator Interface and Control Software for the Reconfigurable Surface System Tri-ATHLETE; and Algorithms for Determining Physical Responses of Structures Under Load.

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Biosignature Preservation Potential of Sulfate-Rich Rocks From Hogwallow Flats, Jezero Crater, Mars

The Mars 2020 Perseverance Rover discovered fine grained sedimentary rocks in the Hogwallow Flats member of the Shenandoah Formation at the ~3.6- to 3.8-billion-year-old Jezero crater, Mars. Mudstones and sandstones at the 3-meter-thick Hogwallow Flats (HWF) outcrop, and a laterally equivalent outcrop known as “Yori Pass”, show extensive evidence of diagenesis (alteration after deposition). Enhanced preservation of organic matter and other biosignatures can occur in early diagenetic environments associated with aqueous alteration in a lake, floodplain or pro-deltaic setting, as envisaged for HWF and Yori Pass [1]. Three drilled rock cores were collected from HWF-type bedrock as part of the Mars Sample Return Program. They are considered to be the samples with the highest potential to preserve organic compounds and biosignatures out of all samples collected so far by Perseverance (as of mission Sol 1000) [2]. This work outlines the implications of diagenesis for biosignature preservation in rock samples for possible return to Earth.

Mars 2020↗

The Mars Sample Return Analogue Collection

The Mars 2020 Perseverance rover touched down in Jezero crater on February 18th, 2021, and sealed the first sample for Mars Sample Return (MSR) later that summer. As of sol 1088, 23 rock cores have been collected across a diverse set of lithologies that span rock types from sedimentary to igneous. As the cache on Perseverance continues to grow, the overall portfolio of MSR expands, creating long lasting implications for a wide net in the scientific community as well as supporting detailed analyses for generations to come. To best prepare for these precious samples to return to Earth one day, NASA and ESA are jointly planning to create a MSR Analogue Collection that will be available to the community in the near future.

M T Thorpe↗

Accretion and primary differentiation of Mars

In collecting samples from Mars to address questions such as whether Mars accreted homogeneously or heterogeneously, how Mars segregated into a metallic core and silicate mantle, and whether Mars outgassed catastrophically coincident with accretion or more serenely on a longer timescale, we must be guided by our experience in addressing these questions for the Earth, Moon, and igneous meteorite parent bodies. A key measurement to be made on any sample returned from Mars is its oxygen isotopic composition. A single measurement will suffice to bind the SNC meteorites to Mars or demonstrate that they cannot be samples of that planet. A positive identification of Mars as the SNC parent planet will permit all that has been learned from the SNC meteorites to be applied to Mars with confidence. A negative result will perhaps be more exciting in forcing us to look for another object that has been geologically active in the recent past. If the oxygen isotopic composition of Earth and Mars are established to be distinct, accretion theory must provide for different compositions for two planets now separated by only 0.5 AU.

Drake, Michael J.↗