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NASA NTRS2014

Sulphur-bearing Compounds Detected by MSL SAM Evolved Gas Analysis of Materials from Yellowknife Bay, Gale Crater, Mars

The Sample Analysis at Mars (SAM) and Chemistry and Mineralogy (CheMin) instruments on the Mars Science Laboratory (MSL) analysed several subsamples of sample fines (<150 μm) from three sites in Yellowknife Bay, an aeolian bedform termed Rocknest (hereafter "RN") and two samples drilled from the Sheepbed mudstone at sites named John Klein ("JK") and Cumberland ("CB"). SAM's evolved gas analysis (EGA) mass spectrometry detected H2O, CO2, O2, H2, SO2, H2S, HCl, NO, OCS, CS2 and other trace gases. The identity of evolved gases and temperature (T) of evolution can support mineral detection by CheMin and place constraints on trace volatile-bearing phases present below the CheMin detection limit or difficult to characterize with XRD (e.g., X-ray amorphous phases). Here, we focus on potential constraints on phases that evolved SO2, H2S, OCS, and CS2 during thermal analysis.

McAdam, A. C.↗
NASA NTRS2014

Detection and Quantification of Nitrogen Compounds in the First Drilled Martian Solid Samples by the Sample Analysis at Mars (SAM) Instrument Suite on the Mars Science Laboratory (MSL)

The Sampl;e Analysis at Mars (sam) instrument suite on the Mars Science Laboratory (MSL) Curiosity Rover detected both reduced and oxidized nitrogen bearing compounds during the pyrolysis of surface materials from the three sites at Gale Crater. Preliminary detections of nitrogen species include No, HCN, ClCN, and TFMA ((trifluoro-N-methyl-acetamide), Confirmation of indigenous Martian nitrogen-bearing compounds requires quantifying N contribution from the terrestrial derivatization reagents carried for SAM's wet chemistry experiment that contribute to the SAM background. Nitrogen species detected in the SAM solid sample analyses can also be produced during laboratory pyrolysis experiments where these reagents are heated in the presence of perchlorate a compound that has also been identified by SAM in Mars solid samples.

Stern, Jennifer C.↗
NASA NTRS2014

Reconciling the Differences between the Measurements of CO2 Isotopes by the Phoenix and MSL Landers

Precise stable isotope measurements of the CO2 in the martian atmosphere have the potential to provide important constraints for our understanding of the history of volatiles, the carbon cycle, current atmospheric processes, and the degree of water/rock interaction on Mars. There have been several different measurements by landers and Earth based systems performed in recent years that have not been in agreement. In particular, measurements of the isotopic composition of martian atmospheric CO2 by the Thermal and Evolved Gas Analyzer (TEGA) instrument on the Mars Phoenix Lander and the Sample Analysis at Mars (SAM) instrument on the Mars Science Laboratory (MSL) are in stark disagreement. This work attempts to use measurements of mass 45 and mass 46 of martian atmospheric CO2 by the SAM and TEGA instruments to search for agreement as a first step towards reaching a consensus measurement that might be supported by data from both instruments.

Niles, P. B.↗
NASA NTRS2014

Detection and Quantification of Nitrogen Compounds in the First Drilled Martian Solid Samples by the Sample Analysis at Mars (SAM) Instrument Suite on the Mars Science Laboratory (MSL)

The Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) Curiosity Rover detected both reduced and oxidized nitrogen-bearing compounds during the pyrolysis of surface materials at Yellowknife Bay in Gale Crater. Preliminary detections of nitrogen species include NO, HCN, ClCN, CH3CN, and TFMA (trifluoro-N-methyl-acetamide). Confirmation of indigenous Martian N-bearing compounds requires quantifying N contribution from the terrestrial derivatization reagents (e.g. N-methyl-N-tertbutyldimethylsilyltrifluoroacetamide, MTBSTFA and dimethylformamide, DMF) carried for SAM's wet chemistry experiment that contribute to the SAM background. Nitrogen species detected in the SAM solid sample analyses can also be produced during laboratory pyrolysis experiments where these reagents are heated in the presence of perchlorate, a compound that has also been identified by SAM in Mars solid samples.

Curiosity rover↗
NASA NTRS2015

Major Volatiles from MSL SAM Evolved Gas Analyses: Yellowknife Bay Through Lower Mount Sharp

The Sample Analysis at Mars (SAM) and Chemistry and Mineralogy (CheMin) instruments on the Mars Science Laboratory (MSL) analysed several subsamples of <150 μm fines from five sites at Gale Crater. Three were in Yellowknife Bay: the Rocknest aeolian bedform ("RN") and drilled Sheepbed mudstone from sites John Klein ("JK") and Cumberland ("CB"). One was drilled from the Windjana ("WJ") site on a sandstone of the Kimberly formation investigated on route to Mount Sharp. Another was drilled from the Confidence Hills ("CH") site on a sandstone of the Murray Formation at the base of Mt. Sharp (Pahrump Hills). Outcrops are sedimentary rocks that are largely of fluvial or lacustrine origin, with minor aeolian deposits.. SAM's evolved gas analysis (EGA) mass spectrometry detected H2O, CO2, O2, H2, SO2, H2S, HCl, NO, and other trace gases, including organic fragments. The identity and evolution temperature (T) of evolved gases can support CheMin mineral detection and place constraints on trace volatile-bearing phases or phases difficult to characterize with XRD (e.g., X-ray amorphous phases). They can also give constraints on sample organic chemistry. Here, we discuss trends in major evolved volatiles from SAM EGA analyses to date.

McAdam, A. C.↗
NASA NTRS2015

Classification Scheme for Diverse Sedimentary and Igneous Rocks Encountered by MSL in Gale Crater

The Curiosity Rover landed in a lithologically and geochemically diverse region of Mars. We present a recommended rock classification framework based on terrestrial schemes, and adapted for the imaging and analytical capabilities of MSL as well as for rock types distinctive to Mars (e.g., high Fe sediments). After interpreting rock origin from textures, i.e., sedimentary (clastic, bedded), igneous (porphyritic, glassy), or unknown, the overall classification procedure (Fig 1) involves: (1) the characterization of rock type according to grain size and texture; (2) the assignment of geochemical modifiers according to Figs 3 and 4; and if applicable, in depth study of (3) mineralogy and (4) geologic/stratigraphic context. Sedimentary rock types are assigned by measuring grains in the best available resolution image (Table 1) and classifying according to the coarsest resolvable grains as conglomerate/breccia, (coarse, medium, or fine) sandstone, silt-stone, or mudstone. If grains are not resolvable in MAHLI images, grains in the rock are assumed to be silt sized or smaller than surface dust particles. Rocks with low color contrast contrast between grains (e.g., Dismal Lakes, sol 304) are classified according to minimum size of apparent grains from surface roughness or shadows outlining apparent grains. Igneous rocks are described as intrusive or extrusive depending on crystal size and fabric. Igneous textures may be described as granular, porphyritic, phaneritic, aphyric, or glassy depending on crystal size. Further descriptors may include terms such as vesicular or cumulate textures.

Schmidt, M. E.↗
NASA NTRS2014

Wide Range Vacuum Pumps for the SAM Instrument on the MSL Curiosity Rover

Creare Incorporated and NASA Goddard Space Flight Center developed and space qualified two wide range pumps (WRPs) that were included in the Sample Analysis at Mars (SAM) instrument. This instrument was subsequently integrated into the Mars Science Laboratory (MSL) "Curiosity Rover," launched aboard an Atlas V rocket in 2011, and landed on August 6, 2012, in the Gale Crater on Mars. The pumps have now operated for more than 18 months in the Gale Crater and have been evacuating the key components of the SAM instrument: a quadrupole mass spectrometer, a tunable laser spectrometer, and six gas chromatograph columns. In this paper, we describe the main design challenges and the ways in which they were solved. This includes the custom design of a miniaturized, high-speed motor to drive the turbo drag pump rotor, analysis of rotor dynamics for super critical operation, and bearing/lubricant design/selection.

Sorensen, Paul↗
NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗
NASA NTRS2013

Advances in Discrete-Event Simulation for MSL Command Validation

In the last five years, the discrete event simulator, SEQuence GENerator (SEQGEN), developed at the Jet Propulsion Laboratory to plan deep-space missions, has greatly increased uplink operations capacity to deal with increasingly complicated missions. In this paper, we describe how the Mars Science Laboratory (MSL) project makes full use of an interpreted environment to simulate change in more than fifty thousand flight software parameters and conditional command sequences to predict the result of executing a conditional branch in a command sequence, and enable the ability to warn users whenever one or more simulated spacecraft states change in an unexpected manner. Using these new SEQGEN features, operators plan more activities in one sol than ever before.

discrete event simulation↗
NASA NTRS2012

System Verification of MSL Skycrane Using an Integrated ADAMS Simulation

Mars Science Laboratory (MSL) will use the Skycrane architecture to execute final descent and landing maneuvers. The Skycrane phase uses closed-loop feedback control throughout the entire phase, starting with rover separation, through mobility deploy, and through touchdown, ending only when the bridles have completely slacked. The integrated ADAMS simulation described in this paper couples complex dynamical models created by the mechanical subsystem with actual GNC flight software algorithms that have been compiled and linked into ADAMS. These integrated simulations provide the project with the best means to verify key Skycrane requirements which have a tightly coupled GNC-Mechanical aspect to them. It also provides the best opportunity to validate the design of the algorithm that determines when to cut the bridles. The results of the simulations show the excellent performance of the Skycrane system.

White, Christopher↗
NASA NTRS2015

Distinct Igneous APXS Rock Compositions on Mars from Pathfinder, MER and MSL

The alpha particle x-ray spectrometer (APXS) on all four Mars Rovers returned geochemical data from about 1000 rocks and soils along the combined traverses of over 50 kilometers. Here we discuss rocks likely of igneous origin, which might represent source materials for the soils and sediments identified along the traverses. Adirondack-type basalts, abundant in the plains of Gusev Crater, are primitive, olivine bearing basalts. They resemble in composition the basaltic soils encountered at all landing sites, except the ubiquitous elevated S, Cl and Zn in soils. They have been postulated to represent closely the average Martian crust composition. The recently identified new Martian meteorite Black Beauty has similar overall geochemical composition, very distinct from the earlier established SNC meteorites. The rim of the Noachian crater Endeavour, predating the sulfate-bearing Burns formation at Meridiani Planum, also resembles closely the composition of Adirondack basalts. At Gale Crater, the MSL Curiosity rover identified a felsic rock type exemplified by the mugearitic float rock JakeM, which is widespread along the traverse at Gale. While a surprise at that time, possibly related more evolved, alkaline rocks had been previously identified on Mars. Spirit encountered the Wishstone rocks in the Columbia Hills with approx. 6% Na2O+K2O, 15 % Al2O3 and low 12% FeO. Pathfinder rocks with elevated K and Na and >50% SiO2 were postulated to be andesitic. Recently Opportunity encountered the rock JeanBaptisteCharbonneau with >15% Al2O3, >50% SiO2 and approx. 10% FeO. A common characteristic all these rocks is the very low abundance of Cr, Ni and Zn, and an Fe/Mn ratio of about 50, indicating an unaltered Fe mineralogy. Beside these likely igneous rock types, which occurred always in several rocks, a few unique rocks were encountered, e.g. Bounce Rock, a pyroxene-bearing ejecta rock fragment resembling the Shergottite EETA 79001B meteorite. The APXS data can be used to relate the findings of all 4 landing sites, constrain the water to rock ratio of sediments or imply source rock provenance. Beyond that the capability to quantify important volatile elements like P, S, Cl, and Br have provided new insights into the chemistry and the environment present during the formation of the sediments.

Gellert, Ralf↗
NASA NTRS2016

Reactions Involving Calcium and Magnesium Sulfates as Potential Sources of Sulfur Dioxide During MSL SAM Evolved Gas Analyses

The Sample Analysis at Mars (SAM) and Chemistry and Mineralogy (CheMin) instruments on the Mars Science Laboratory (MSL) have analyzed several subsamples of <150 micron fines from ten sites at Gale Crater. Three were in Yellowknife Bay: the Rocknest aeolian bedform (RN) and drilled Sheepbed mudstone from sites John Klein (JK) and Cumberland (CB). One was drilled from the Windjana (WJ) site on a sandstone of the Kimberly formation. Four were drilled from sites Confidence Hills (CH), Mojave (MJ), Telegraph Peak (TP) and Buckskin (BK) of the Murray Formation at the base of Mt. Sharp. Two were drilled from sandstones of the Stimson formation targeting relatively unaltered (Big Sky, BY) and then altered (Greenhorn, GH) material associated with a light colored fracture zone. CheMin analyses provided quantitative sample mineralogy. SAM's evolved gas analysis mass spectrometry (EGA-MS) detected H2O, CO2, O2, H2, SO2, H2S, HCl, NO, and other trace gases. This contribution will focus on evolved SO2. All samples evolved SO2 above 500 C. The shapes of the SO2 evolution traces with temperature vary between samples but most have at least two "peaks' within the wide high temperature evolution, from approx. 500-700 and approx. 700-860 C (Fig. 1). In many cases, the only sulfur minerals detected with CheMin were Ca sulfates (e.g., RN and GH), which should thermally decompose at temperatures above those obtainable by SAM (>860 C). Sulfides or Fe sulfates were detected by CheMin (e.g., CB, MJ, BK) and could contribute to the high temperature SO2 evolution, but in most cases they are not present in enough abundance to account for all of the SO2. This additional SO2 could be largely associated with x-ray amorphous material, which comprises a significant portion of all samples. It can also be attributed to trace S phases present below the CheMin detection limit, or to reactions which lower the temperatures of SO2 evolution from sulfates that are typically expected to thermally decompose at temperatures outside the SAM temperature range (e.g., Ca and Mg sulfates). Here we discuss the results of SAM-like laboratory analyses targeted at understanding this last possibility, focused on understanding if reactions of HCl or an HCl evolving phase (oxychlorine phases, chlorides, etc.) and Ca and Mg sulfates can result in SO2 evolution in the SAM temperature range.

McAdam, A. C.↗
NASA NTRS2016

MSL SAM-Like Evolved Gas Analyses of Si-rich Amorphous Materials

Chemical and mineralogical analyses of several samples from Murray Formation mudstones and Stimson Formation sandstones by the Mars Science Laboratory (MSL) revealed the presence of Si-rich amorphous or poorly ordered materials. It is possible to identify the presence of high-SiO2 vs. lower SiO2 amorphous materials (e.g., basaltic glasses), based on the position of the resulting wide diffraction features in XRD patterns from the Chemistry and Mineralogy (CheMin) instrument, but it is not possible to distinguish between several candidate high-SiO2 amorphous materials such as opal-A or rhyolitic glass. In the Buckskin (BS) sample from the upper Murray Formation, and the Big Sky (BY) and Greenhorn (GH) samples from the Stimson Formation, analyses by the Sample Analysis at Mars (SAM) instrument showed very broad H2O evolutions during sample heating at temperatures >450-500degC which had not been observed from previous samples. BS also had a significant broad evolution <450-500degC. We have undertaken a laboratory study targeted at understanding if the data from SAM can be used to place constraints on the nature of the amorphous phases. SAM-like evolved gas analyses have been performed on several opal and rhyolitic glass samples. Opal-A samples exhibited wide <500degC H2O evolutions, with lesser H2O evolved above ~500degC. H2O evolution traces from rhyolitic glasses varied, having either two broad H2O peaks, <300degC and >500degC, or a broad peak centered around 400degC. For samples that produced two evolutions, the lower temperature peak is more intense than the higher temperature peak, a trend also exhibited by opal-A. This trend is consistent with data from BS, but does not seem consistent with data from BY and GH which evolved most of their H2O >500degC. It may be that dehydration of opal-A and/or rhyolitic glass can result in some preferential loss of lower temperature H2O, to produce traces that more closely resemble BY and GH. This is currently under investigation and results will be reported.

McAdam, Amy↗
NASA NTRS2017

Constraints on the Mineralogy of Gale Crater Mudstones from MSL SAM Evolved Water

The Sample Analysis at Mars (SAM) and Chemistry and Mineralogy (CheMin) instruments on the Mars Science Laboratory (MSL) have analysed more than 150 micron fines from 14 sites at Gale Crater. Here we focus on the mudstone samples. Two were drilled from sites John Klein (JK) and Cumberland (CB) in the Sheepbed mudstone. Six were drilled from Murray Formation mudstone: Confidence Hills (CH), Mojave (MJ), Telegraph Peak (TP), Buckskin (BK), Oudam (OU), Marimba (MB). SAM's evolved gas analysis mass spectrometry (EGA-MS) detected H2O, CO2, O2, H2, SO2, H2S, HCl, NO, and other trace gases, including organic fragments. The identity and evolution temperature of evolved gases can support CheMin mineral detection and place constraints on trace volatile-bearing phases or phases difficult to characterize with X-ray diffraction (e.g., amorphous phases). Here we will focus on SAM H2O data and comparisons to SAM-like analyses of key reference materials.

McAdam, A. C.↗
NASA NTRS2016

Winds Measured by the Rover Environmental Monitoring Station (REMS) During the Mars Science Laboratory (MSL) Rover's Bagnold Dunes Campaign and Comparison with Numerical Modeling Using MarsWRF

A high density of REMS wind measurements were collected in three science investigations during MSL's Bagnold Dunes Campaign, which took place over approx. 80 sols around southern winter solstice (Ls approx. 90deg) and constituted the first in situ analysis of the environmental conditions, morphology, structure, and composition of an active dune field on Mars. The Wind Characterization Investigation was designed to fully characterize the near-surface wind field just outside the dunes and confirmed the primarily upslope/downslope flow expected from theory and modeling of the circulation on the slopes of Aeolis Mons in this season. The basic pattern of winds is 'upslope' (from the northwest, heading up Aeolis Mons) during the daytime (approx. 09:00-17:00 or 18:00) and 'downslope' (from the southeast, heading down Aeolis Mons) at night (approx. 20:00 to some time before 08:00). Between these times the wind rotates largely clockwise, giving generally westerly winds mid-morning and easterly winds in the early evening. The timings of these direction changes are relatively consistent from sol to sol; however, the wind direction and speed at any given time shows considerable intersol variability. This pattern and timing is similar to predictions from the MarsWRF numerical model, run at a resolution of approx. 490 m in this region, although the model predicts the upslope winds to have a stronger component from the E than the W, misses a wind speed peak at approx. 09:00, and under-predicts the strength of daytime wind speeds by approx. 2-4 m/s. The Namib Dune Lee Investigation reveals 'blocking' of northerly winds by the dune, leaving primarily a westerly component to the daytime winds, and also shows a broadening of the 1 Hz wind speed distribution likely associated with lee turbulence. The Namib Dune Side Investigation measured primarily daytime winds at the side of the same dune, in support of aeolian change detection experiments designed to put limits on the saltation threshold, and also appears to show the influence of the dune body on the local flow, though less clearly than in the lee. Using a vertical grid with lower resolution near the surface reduces the relative strength of nighttime winds predicted by MarsWRF and produces a peak in wind speed at approx. 09:00, improving the match to the observed diurnal variation of wind speed, albeit with an offset in magnitude. The annual wind field predicted using this grid also provides a far better match to observations of aeolian dune morphology and motion in the Bagnold Dunes. However, the lower overall wind speeds than observed and disagreement with the observed wind direction at approx. 09:00 suggest that the problem has not been solved and that alternative boundary layer mixing schemes should be explored which may result in more mixing of momentum down to the near-surface from higher layers. These results demonstrate a strong need for in situ wind data to constrain the setup and assumptions used in numerical models, so that they may be used with more confidence to predict the circulation at other times and locations on Mars.

Newman, Claire E.↗
NASA NTRS2018

Full-Scale MSL Heatshield Material Response Using DSMC and CFD to Compute the Aerothermal Environments

During Mars atmospheric entry, the Mars Science Laboratory (MSL) was protected by a 4.5 meters diameter ablative heatshield assembled in 113 tiles [1]. The heatshield was made of NASA's flagship ablative material, the Phenolic Impregnated Carbon Ablator (PICA) [2]. Prior work [3] compared the traditional one-dimensional and three-dimensional material response models at different locations in the heatshield. It was observed that the flow was basically one-dimensional in the nose and flank regions, but three-dimensional flow effects were observed in the outer flank. Additionally, the effects of tiled versus monolithic heatshield models were also investigated. It was observed that the 3D tiled and 3D monolithic configurations yielded relative differences for in-depth material temperature up to 18% and 28%, respectively, when compared to the a 1D model.

Aerothermal↗
NASA NTRS2013

The unparalleled systems engineering of MSL’s backup entry, descent, and landing system : second chance

Second Chance (SECC) was a bare bones version of Mars Science Laboratory’s (MSL) Entry Descent & Landing (EDL) flight software that ran on Curiosity’s backup computer, which could have taken over swiftly in the event of a reset of Curiosity’s prime computer, in order to land her safely on Mars. Without SECC, a reset of Curiosity’s prime computer would have lead to catastrophic mission failure. Even though a reset of the prime computer never occurred, SECC had the important responsibility as EDL’s guardian angel, and this responsibility would not have seen such success without unparalleled systems engineering. This paper will focus on the systems engineering behind SECC: Covering a brief overview of SECC’s design, the intense schedule to use SECC as a backup system, the verification and validation of the system’s “Do No Harm” mandate, the system’s overall functional performance, and finally, its use on the fateful day of August 5th, 2012.

Reeves, Glenn↗
NASA NTRSDate not supplied

Hematite Formation and Growth in Gale Crater Seen Through MSL Chemin X-Ray Diffraction Data

For more than 10 Earth years, the Mars Science Laboratory (MSL) Curiosity rover has been studying modern sediments and ancient sedimentary rocks deposited by lacustrine, fluvial, deltaic, and eolian processes in Gale crater. The mineral and X-ray amorphous abundances in rocks and sediments have been quantified via X-ray diffraction (XRD) data from the CheMin instrument. The received data demonstrate significant mineralogical variations within the stratigraphy, including changes in the type and abundances of Fe-oxides/oxyhydroxides silica polymorphs, phyllosilicates, and sulfate minerals. Characterizing Fe-oxides/oxyhydroxide minerals in Gale crater is especially important for constraining past aqueous environments because their formation depends on a variety of conditions, including pH, Eh, temperature, and salinity. Hematite, magnetite, goethite, and akaganeite have been identified by CheMin in different portions of the stratigraphic section. Hematite is the most prevalent Fe-bearing oxide mineral and has been detected (>1 wt.%) in 34 of the studied 36 drill targets. Variations in hematite crystallite size were reported in association with Vera Rubin ridge, which has a strong hematite signature in orbital reflectance spectroscopy. Here, we calculate hematite crystallite sizes and shapes for the entire stratigraphic section to date, to characterize trends and evaluate the processes by which hematite formed and transformed in Gale crater.

M. Szczerba↗