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Mars Pathfinder, launching in December 1996 and landing on Mars on July 4, 1997, will demonstrate a low-cost delivery system to the surface of Mars for follow-on landers. Objectives are the return of engineering data, panoramic images of the Martian surface, microrover experiments, etc. A technical mission description is included.
This videotape is a compilation of the best NASA JPL (Jet Propulsion Laboratory) videos of the Mars Pathfinder and Mars Global Surveyor missions. The mission is described using animation and narration as well as some actual footage of the entire sequence of mission events. Included within these animations are the spacecraft orbit insertion; descent to the Mars surface; deployment of the airbags and instruments; and exploration by Sojourner, the Mars rover. JPL activities at spacecraft control during significant mission events are also included at the end. The spacecraft cameras pan the surrounding Mars terrain and film Sojourner traversing the surface and inspecting rocks. A single, brief, processed image of the Cydonia region (Mars face) at an oblique angle from the Mars Global Surveyor is presented. A description of the Mars Pathfinder mission, instruments, landing and deployment process, Mars approach, spacecraft orbit insertion, rover operation are all described using computer animation. Actual color footage of Sojourner as well as a 360 deg pan of the Mars terrain surrounding the spacecraft is provided. Lower quality black and white photography depicting Sojourner traversing the Mars surface and inspecting Martian rocks also is included.
The hypersonic transitional flow aerodynamics of the Mars Pathfinder and Mars Microprobe capsules are simulated with the direct simulation Monte Carlo method. Calculations of axial, normal, and static pitching coefficients were obtained over an angle of attack range comparable to actual flight requirements. Comparisons are made with modified Newtonian and free-molecular-flow calculations. Aerothermal results were also obtained for zero incidence entry conditions.
Mars Pathfinder successfully landed on the surface of Mars on July 4, 1997, and ushered in a new era in Mars exploration. This era will feature numberous low cost missions which will perform important science investigations and engage the world's population in the excitement of planetary exploration.
Mars Pathfinder, one of the Discovery class missions (quick. low-cost projects with focused science objectives), will land a single spacecraft with a microrover and several instruments on the surface of Mars in 1997. Pathfinder will be the first mission to use a rover, carrying a chemical analysis instrument, to characterize the rocks and soils in a landing area over hundreds of square meters on Mars, which will provide a calibration point or ground truth for orbital remote sensing observations.
In 1992, Dr. Wes Huntress challenged the JPL staff to undertake the first of NASA's new Discovery Program missions; Pathfinder.
The Mars Pathfinder lander uses a novel airbag impact attenuation system to perform its landing on Mars... this paper will discuss the design of the airbags, the testing techniques used and the lessons learned from the tests.
Mars Pathfinder, one of the first Discovery-class missions (quick, low-cost projects with focused science objectives), will land a single spacecraft with a microrover and several instruments on the surface of Mars in 1997. Pathfinder will be the first mission to use a rover, carrying a chemical analysis instrument, to characterize the rocks and soils in a landing area over hundreds of square meters on Mars, which will provide a calibration point or "ground truth" for orbital remote sensing observations. In addition to the rover, which also performs a number of technology experiments, Pathfinder carries three science instruments: a stereoscopic imager with spectral filters on an extendable mast, an alpha proton X ray spectrometer, and an atmospheric structure instrument/meteorology package. The instruments, the rover technology experiments, and the telemetry system will allow investigations of the surface morphology and geology at submeter to a hundred meters scale, the petrology and geochemistry of rocks and soils, the magnetic properties of dust, soil mechanics and properties, a variety of atmospheric investigations, and the rotational and orbital dynamics of Mars. Landing downstream from the mouth of a giant catastrophic outflow channel, Ares Vallis at 19.5 deg N, 32.8 deg W, offers the potential of identifying and analyzing a wide variety of crustal materials, from the ancient heavily cratered terrain, intermediate-aged ridged plains, and reworked channel deposits, thus allowing first-order scientific investigations of the early differentiation and evolution of the crust, the development of weathering products, and tile early environments and conditions on Mars.
The Mars '94 spacecraft will still be operational when Mars Pathfinder begins its observations. While it will probably not be possible to detect the lander directly, the terrain, including the landing error ellipse, can be covered in high resolution (10 m) in various color bands. The stereo capability of the high resolution camera will provide a three-dimensional terrain map. The landing site of Pathfinder could possibly be chosen so that correlated observations of IMP and the remote sensing instruments onboard Mars '94 may be possible. We will discuss this scenario based on the presently adopted Mars '94 orbit and resulting enhancements stemming from correlations of data obtained by both spacecraft.
The Mars Pathfinder Mission Assurance program was the first.
Mars is the most Earth-like planet in our solar system. It it the first planet humans will visit and the only planet that can support life in the future, with abundant water and the potential for terraforming it to make it more clement...As a result, an exploration program to the Red Planet will allow the investigation of a wide variety of importatn geological, climatological and exobiolgical topics, but can also address in a scientific manner the almost theological question of, Are we alone in the universe?
The Imager for Mars Pathfinder (IMP) was a mast-mounted instrument on the Mars Pathfinder lander which landed on Mars Ares Vallis floodplain on July 4, 1997. During the 83 sols of Mars Pathfinders landed operations, the IMP collected over 16,600 images. Multispectral images were collected using twelve narrowband filters at wavelengths between 400 and 1000 nm in the visible and near infrared (VNIR) range. The IMP provided VNIR spectra of the materials surrounding the lander including rocks, bright soils, dark soils, and atmospheric observations. During the primary mission, only a single primary rock spectral class, Gray Rock, was recognized; since then, Black Rock, has been identified. The Black Rock spectra have a stronger absorption at longer wavelengths than do Gray Rock spectra. A number of coated rocks have also been described, the Red and Maroon Rock classes, and perhaps indurated soils in the form of the Pink Rock class. A number of different soil types were also recognized with the primary ones being Bright Red Drift, Dark Soil, Brown Soil, and Disturbed Soil. Examination of spectral parameter plots indicated two trends which were interpreted as representing alteration products formed in at least two different environmental epochs of the Ares Vallis area. Subsequent analysis of the data and comparison with terrestrial analogs have supported the interpretation that the rock coatings provide evidence of earlier martian environments. However, the presence of relatively uncoated examples of the Gray and Black rock classes indicate that relatively unweathered materials can persist on the martian surface.
Mars Pathfinder, launching on December 2, 1996 and landing on Mars on July 4, 1997, will demonstrate a low-cost delivery system to the surface of Mars. Historically, spacecraft that orbit or land on a distant body carry massive amounts of fuel for braking at the planet. Pathfinder requires fuel only to navigate to Mars; the spacecraft aerobrakes into the Mars atmosphere directly from Earth-Mars transfer trajectory, deploys a parachute at 10 km above the surface and, within 100 m of the surface, fires solid rockets for final braking prior to deployment of airbags that cushion touchdown. After landing, petals open to upright the lander, followed by deployment of a small rover and several science instruments.
The Mars Pathfinder Project GDS Team has designed software that integrates virtual reality technology with existing JPL Navigational Ancillary Information Facilities (NAIF) and image processing capabilities. The result is an interactive, workstation-based application software that provides a high resolution 3-dimensional stereo display of Mars as if it were viewed through the lander camera. This paper describes the architecture and characteristics of this science mission planning software and discusses possible uses of this software by other planetary missions.
The successful landing of the Mars Pathfinder spacecraft on Mars allows the review of the process of selecting the landing site and assessing predictions made for the site based on Viking and Earth-based data. Selection of the landing site for Mars Pathfinder was a two-phase process. The first phase took place from October 1993 to June 1994 and involved: initial identification of engineering constraints, definition of environmental conditions at the site for spacecraft design, and evaluation of the scientific potential of different landing sites. This phase culminated with the first "Mars Pathfinder Landing Site Workshop", held at the Lunar and Planetary Institute in Houston, Texas on April 18-19, 1994, in which suggested approaches and landing sites were solicited from the entire scientific community. A preliminary site was selected by the project for design purposes in June 1994. The second phase took place from July 1994 to March 1996 and involved: developing criteria for evaluating site safety using images and remote sensing data, testing of the spacecraft and landing subsystems (with design improvements) to establish quantitative engineering constraints on landing site characteristics, evaluating all potential landing sites on Mars, and certification of the site by the project. This phase included a second open workshop, "Mars Pathfinder Landing Site Workshop II: Characteristics of the Ares Vallis Region and Field Trips in the Channeled Scabland, Washington" held in Spokane and Moses Lake September 24-30, 1995 and formal acceptance of the site by NASA Headquarters. Engineering constraints on Pathfinder landing sites were developed from the initial design of the spacecraft and the entry, descent and landing scenario. The site must be within 5 degrees of the subsolar latitude at the time of landing (15N for maximum solar power and flexible communications with Earth. It also must be below 0 km elevation to enable enough time for the parachute to bring the lander to the proper terminal velocity for landing. The entire landing ellipse, which is 70 km by 200 km due to navigational, ephemeris and atmospheric uncertainties, must be free of steep slopes, scarps and obvious hazards in Viking orbiter images, have acceptable radar reflectivity, moderate rock abundances and have little or no dust. Scientific considerations of the Mars Pathfinder payload and mission indicate that analyses of "grab bag" samples at the mouths of outflow channels can offer a first order assessment of a variety of rock types on Mars. Highland sites offer the advantage of in situ analysis of ancient rocks on Mars that record crustal differentiation and the nature of the early environment. Dark gray sites offer the potential of analyzing unweathered and unoxidized materials. Following a general assessment of the safety of different sites, a preliminary selection of a "grab bag" site was made. This site, Ares Vallis, is near the mouth of an outflow channel that may contain ancient Noachian terrain, Hesperian ridged plains, and reworked channel materials. All potential landing sites on Mars that met basic safety criteria were analyzed in detail. Sites (100 by 200 km target ellipses) were considered safe if they were below 0 km elevation, were free of obvious hazards (high relief surface features) in high-resolution (< 50 m/pixel) Viking orbiter images and had acceptable reflectivity and roughness at radar wavelengths, high thermal inertia, moderate rock abundance, low red to violet ratio, and low albedo. Only 4 sites on Mars met all the above criteria, which included 1995 opposition 3.5 cm delay-Doppler radar data. Complete data were evaluated for 7 sites and the Viking landing sites for comparison for all the above criteria as well as crater abundance, hill and mesa abundance, slopes over meter to kilometer scales, low altitude winds (from global circulation models and slopes), the size-frequency distribution of large rocks, as well as rover trafficability and science potential. Discussion of potential hazards at Ares Vallis using a variety of data sets (including radar) at a second open workshop, indicated this site cannot be shown to be any more hazardous than the Viking landing sites. Field trips to the Channeled Scabland and the Ephrata Fan, analogs for Ares Vallis and the landing site, respectively, provided valuable insight into possible geologic processes and potential surface characteristics. Three sites met all the data requirements and safety criteria for landing Pathfinder. Ares Vallis was selected by the project because it appeared acceptably safe (although it appeared to have greater rock abundances than other sites, its elevation was likely the best known) and offered the prospect of analyzing a variety of rock types expected to be deposited by catastrophic floods, which would enable addressing first-order scientific questions such as differentiation of the crust, the development of weathering products, and the nature of the early martian environment and its subsequent evolution. The selection was reviewed by an external board at a number of meetings and accepted, and the site was approved by NASA Headquarters. Data gathered by the Pathfinder lander' and rover provides the opportunity to test the predictions made for the site in the selection process based on remote observations from Earth, orbit, and the surface. The discussion below is taken from Golombek et al. to which the reader is referred for a more complete discussion and a complete list of references, which are omitted here for brevity. Many characteristics of the landing site are consistent with its being shaped and deposited by the Ares and Tiu catastrophic floods. The rocky surface is consistent a depositional plain comprising semi-rounded pebbles, cobbles and tabular boulders (some of which appear imbricated and/or inclined in the direction of flow) that appear similar to depositional plains in terrestrial catastrophic floods. The Twin Peaks appear to be streamlined hills in lander images, which is consistent with interpretations of larger hills in Viking orbiter images of the region that suggest the lander is on the flank of a broad, gentle ridge trending northeast from Twin Peaks. This ridge, which is the rise to the north of the lander, is aligned in the downstream direction from the Ares and Tiu Valles floods, and may be a debris tail deposited in the wake of the Twin Peaks. Channels visible throughout the scene may be a result of late stage drainage. As predicted by delay-Doppler radar measurements and tracking results, the average elevation of the center of the site was about the same as Viking Lander I relative to the 6.1 mbar geoid. The Doppler tracking and two-way ranging estimate for the elevation of the spacecraft is only 45 in lower than the Viking I Lander and within 100 in of that expected, which is within the uncertainties of the measurements. After landing, surface pressures and winds (5-10 m/s) were found to be similar to expectations based on Viking data, although temperatures were about 10 K warmer. The temperature profile below 50 km was also roughly 20 K warmer. As a result, predicted densities were 5% higher near the surface and up to 40% lower at 50 km but within the entry, descent and landing design margins. The populations of craters and small hills and the slopes of the hills measured in high-resolution (38 m/pixel) Viking orbiter images and the radar derived slopes of the landing site are all consistent with observations of these properties in the lander images. A rocky surface was expected from Viking Infra-Red Thermal Mapper (IRTM) observations and comparisons with the Viking landing sites. The observed cumulative fraction of area covered by rocks with diameters greater than 3 cm and heights greater than 0.5 in (potentially hazardous to landing) at Ares is similar to that predicted by IRTM observations and models of Viking lander and Earth analog rock size-frequency distributions. The IRTM prediction postulated an effective thermal inertia of 30 (10(exp -3) cgs units - cal/cubic cm/s(exp 0.5)/K) for the rock population, but we obtain a slightly different effective thermal inertia for the actual rock population. The validity of interpretations of radar echoes prior to landing are supported by a simple radar echo model, an estimate of the reflectivity of the soil from its bulk density, and the fraction of area covered by rocks. In the calculations, the soil produces the quasi-specular echo and the rocks produce the diffuse echo. The derived quasispecular cross section is comparable to the cross-sections and reflectivities reported for 3.5-cm wavelength observations. The model yields a diffuse echo that is modestly larger than the polarized diffuse echo reported for 3.5-cm wavelength observations. At 12.5-cm wavelength, similar rock populations at Ares and the Viking I site were expected because the diffuse echoes are comparable, but the large normal reflectivities suggests that bulk densities of the soils at depth are greater than those at the surface. We also obtain a fine-component inertia near 8.4 which agrees with the fine-component inertia of 8.7 (in 10(exp -3) cgs units) estimated from thermal observations from orbit by the IRTM; for this estimate, we used a bulk thermal inertia of 10.4 for the landing site, an effective thermal inertia near 40 (10(exp -3) cgs units) for the rock population, and a graphical representation of Kieffer's model. Color and albedo data for Ares suggested surfaces of materials at Ares Vallis would be relatively dust free or unweathered prior to landing compared with the materials at the Viking landing sites. This suggestion is supported by the abundance of relatively dark-gray rocks at Ares and their relative rarity at the Viking landing sites, where rocks are commonly coated with bright red dust. Finally, the 40 km long Ephrata Fan of the Channeled Scabland in Washington state, which was deposited where c
The Mars Pathfinder Mission was a great engineering achievement for the National Aeronautics and Space Administration (NASA) and the Jet Propulsion Laboratory (JPL) which built the Pathfinder Spacecraft and the Sojourner Rover. The mechanical design of the mission hardware was critical to the success of the complex entry sequence and landed operations.
The Mars Pathfinder Project is being developed by the U.S. (NASA) to demonstrate new technologies for landing on Mars, and to conduct focused, but significant scientific observations.
The Mars Pathfinder Mission was a great engineering achievement for the National Aeronautics and Space Administration (NASA) and the Jet Propulsion Laboratory (JPL) which built the Pathfinder Spacecraft and the Sojourner TM Rover. The mechanical design of the mission hardware was critical to the success of the complex entry sequence and landed operations. A wide variety of mechanisms were employed with varying technologies and heritage. These mechanisms have played a key role in the mission which has greatly exceeded expectations.