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At least 19 records

Petrology of Apollo 11 sample 10071 - A differentiated mini-igneous complex.

Sample 10071,33 is a thin section of Apollo 11 ferrobasalt showing an unusual dual texture. The major portion of the sample is very similar to other fine grained Apollo 11 basalts, but the thin section also includes materials with a distinct variolitic texture. The two areas are separated by a sharp boundary and the mineralogy and composition of the two textural types are quite distinct. The mineralogy and chemistry of the variolitic portion show it to be the product of rapid cooling of a liquid, intermediate between the typical Apollo 11 ferrobasalt and the associated Si and K-rich mesostasis. This liquid is the result of fractional crystallization of a magma of composition closely corresponding to the major portion of the 10071 system, followed by crystal-liquid separation. The sample provides strong and direct evidence for igneous differentiation on the lunar surface.

Drake, M. J.↗

Microgravity Testing of a Surface Sampling System for Sample Return from Small Solar System Bodies

The return of samples from solar system bodies is becoming an essential element of solar system exploration. The recent National Research Council Solar System Exploration Decadal Survey identified six sample return missions as high priority missions: South-Aitken Basin Sample Return, Comet Surface Sample Return, Comet Surface Sample Return-sample from selected surface sites, Asteroid Lander/Rover/Sample Return, Comet Nucleus Sample Return-cold samples from depth, and Mars Sample Return [1] and the NASA Roadmap also includes sample return missions [2] . Sample collection methods that have been flown on robotic spacecraft to date return subgram quantities, but many scientific issues (like bulk composition, particle size distributions, petrology, chronology) require tens to hundreds of grams of sample. Many complex sample collection devices have been proposed, however, small robotic missions require simplicity. We present here the results of experiments done with a simple but innovative collection system for sample return from small solar system bodies.

Franzen, M. A.↗

In Situ Identification of Mineral Resources with an X-Ray-Optical "Hands-Lens" Instrument

The recognition of material resources on a planetary surface requires exploration strategies not dissimilar to those employed by early field geologists who searched for ore deposits primarily from surface clues. In order to determine the location of mineral ores or other materials, it will be necessary to characterize host terranes at regional or subregional scales. This requires geographically broad surveys in which statistically significant numbers of samples are rapidly scanned from a roving platform. To enable broad-scale, yet power-conservative planetary-surface exploration, we are developing an instrument that combines x-ray diffractometry (XRD), x-ray fluorescence spectrometry (XRF), and optical capabilities; the instrument can be deployed at the end of a rover's robotic arm, without the need for sample capture or preparation. The instrument provides XRD data for identification of mineral species and lithological types; diffractometry of minerals is conducted by ascertaining the characteristic lattice parameters or "d-spacings" of mineral compounds. D-spacings of 1.4 to 25 angstroms can be determined to include the large molecular structures of hydrated minerals such as clays. The XRF data will identify elements ranging from carbon (Atomic Number = 6) to elements as heavy as barium (Atomic Number = 56). While a sample is being x-rayed, the instrument simultaneously acquires an optical image of the sample surface at magnifications from lx to at least 50x (200x being feasible, depending on the sample surface). We believe that imaging the sample is extremely important as corroborative sample-identification data (the need for this capability having been illustrated by the experience of the Pathfinder rover). Very few geologists would rely on instrument data for sample identification without having seen the sample. Visual inspection provides critical recognition data such as texture, crystallinity, granularity, porosity, vesicularity, color, lustre, opacity, and so forth. These data can immediately distinguish sedimentary from igneous rocks, for example, and can thus eliminate geochemical or mineral ambiguities arising, say between arkose and granite. It would be important to know if the clay being analyzed was part of a uniform varve deposit laid down in a quiescent lake, or the matrix of a megabreccia diamictite deposited as a catastrophic impact ejecta blanket. The unique design of the instrument, which combines Debye-Scherrer geometry with elements of standard goniometry, negates the need for sample preparation of any kind, and thus negates the need for power-hungry and mechanically-complex sampling systems that would have to chip, crush, sieve, and mount the sample for x-ray analysis. Instead, the instrument is simply rested on the sample surface of interest (like a hand lens); the device can interrogate rough rock surfaces, coarse granular material, or fine rock flour. A breadboard version of the instrument has been deployed from the robotic arm of the Marsokhod rover in field trials at NASA Ames, where large vesicular boulders were x-rayed to demonstrate the functionality of the instrument design, and the ability of such a device to comply with constraints imposed by a roving platform. Currently under development is a flight prototype concept of this instrument that will weigh 0.3 kg, using about 4500 J of energy per sample analysis. It requires about 5 min. for XRD analysis, and about 30 min. for XRF interrogation. Its small mass and rugged design make it ideal for deployment on small rovers of the type currently envisaged for the exploration of Mars (e.g., Sojourner-scale platforms). The design utilizes a monolithic P-N junction photodiode pixel array for XRD, a Si PIN photodiode/avalanche photodiode system for XRF, and an endoscopic imaging camera system unobtrusively embedded between the detectors and the x-ray source (the endoscope with its board-mounted camera can be adapted for IR light in addition to visible wavelenths. A rugged, miniature (7 cu cm) x-ray source for the instrument has already been breadboarded.

Marshall, J.↗

Automated Desalting Apparatus

Because salt and metals can mask the signature of a variety of organic molecules (like amino acids) in any given sample, an automated system to purify complex field samples has been created for the analytical techniques of electrospray ionization/ mass spectroscopy (ESI/MS), capillary electrophoresis (CE), and biological assays where unique identification requires at least some processing of complex samples. This development allows for automated sample preparation in the laboratory and analysis of complex samples in the field with multiple types of analytical instruments. Rather than using tedious, exacting protocols for desalting samples by hand, this innovation, called the Automated Sample Processing System (ASPS), takes analytes that have been extracted through high-temperature solvent extraction and introduces them into the desalting column. After 20 minutes, the eluent is produced. This clear liquid can then be directly analyzed by the techniques listed above. The current apparatus including the computer and power supplies is sturdy, has an approximate mass of 10 kg, and a volume of about 20 20 20 cm, and is undergoing further miniaturization. This system currently targets amino acids. For these molecules, a slurry of 1 g cation exchange resin in deionized water is packed into a column of the apparatus. Initial generation of the resin is done by flowing sequentially 2.3 bed volumes of 2N NaOH and 2N HCl (1 mL each) to rinse the resin, followed by .5 mL of deionized water. This makes the pH of the resin near neutral, and eliminates cross sample contamination. Afterward, 2.3 mL of extracted sample is then loaded into the column onto the top of the resin bed. Because the column is packed tightly, the sample can be applied without disturbing the resin bed. This is a vital step needed to ensure that the analytes adhere to the resin. After the sample is drained, oxalic acid (1 mL, pH 1.6-1.8, adjusted with NH4OH) is pumped into the column. Oxalic acid works as a chelating reagent to bring out metal ions, such as calcium and iron, which would otherwise interfere with amino acid analysis. After oxalic acid, 1 mL 0.01 N HCl and 1 mL deionized water is used to sequentially rinse the resin. Finally, the amino acids attached to the resin, and the analytes are eluted using 2.5 M NH4OH (1 mL), and the NH4OH eluent is collected in a vial for analysis.

Spencer, Maegan K.↗

An Efficient, Highly Flexible Multi-Channel Digital Downconverter Architecture

In this innovation, a digital downconverter has been created that produces a large (16 or greater) number of output channels of smaller bandwidths. Additionally, this design has the flexibility to tune each channel independently to anywhere in the input bandwidth to cover a wide range of output bandwidths (from 32 MHz down to 1 kHz). Both the flexibility in channel frequency selection and the more than four orders of magnitude range in output bandwidths (decimation rates from 32 to 640,000) presented significant challenges to be solved. The solution involved breaking the digital downconversion process into a two-stage process. The first stage is a 2 oversampled filter bank that divides the whole input bandwidth as a real input signal into seven overlapping, contiguous channels represented with complex samples. Using the symmetry of the sine and cosine functions in a similar way to that of an FFT (fast Fourier transform), this downconversion is very efficient and gives seven channels fixed in frequency. An arbitrary number of smaller bandwidth channels can be formed from second-stage downconverters placed after the first stage of downconversion. Because of the overlapping of the first stage, there is no gap in coverage of the entire input bandwidth. The input to any of the second-stage downconverting channels has a multiplexer that chooses one of the seven wideband channels from the first stage. These second-stage downconverters take up fewer resources because they operate at lower bandwidths than doing the entire downconversion process from the input bandwidth for each independent channel. These second-stage downconverters are each independent with fine frequency control tuning, providing extreme flexibility in positioning the center frequency of a downconverted channel. Finally, these second-stage downconverters have flexible decimation factors over four orders of magnitude The algorithm was developed to run in an FPGA (field programmable gate array) at input data sampling rates of up to 1,280 MHz. The current implementation takes a 1,280-MHz real input, and first breaks it up into seven 160-MHz complex channels, each spaced 80 MHz apart. The eighth channel at baseband was not required for this implementation, and led to more optimization. Afterwards, 16 second stage narrow band channels with independently tunable center frequencies and bandwidth settings are implemented A future implementation in a larger Xilinx FPGA will hold up to 32 independent second-stage channels.

Goodhart, Charles E.↗

Advanced Laser Architecture for Two-Step Laser Tandem Mass Spectrometer

Future astrobiology missions will focus on planets with significant astrochemical or potential astrobiological features, such as small, primitive bodies and the icy moons of the outer planets that may host diverse organic compounds. These missions require advanced instrument techniques to fully and unambiguously characterize the composition of surface and dust materials. Laser desorptionionization mass spectrometry (LDMS) is an emerging instrument technology for in situ mass analysis of non-volatile sample composition. A recent Goddard LDMS advancement is the two-step laser tandem mass spectrometer (L2MS) instrument to address the need for future flight instrumentation to deconvolve complex organic signatures. The L2MS prototype uses a resonance enhanced multi-photon laser ionization mechanism to selectively detect aromatic species from a more complex sample. By neglecting the aliphatic and inorganic mineral signatures in the two-step mass spectrum, the L2MS approach can provide both mass assignments and clues to structural information for an in situ investigation of non-volatile sample composition. In this paper we will describe our development effort on a new laser architecture that is based on the previously flown Lunar Orbiter Laser Altimeter (LOLA) laser transmitter for the L2MS instrument. The laser provides two discrete midinfrared wavelengths (2.8 m and 3.4 m) using monolithic optical parametric oscillators and ultraviolet (UV) wavelength (266 nm) on a single laser bench with a straightforward development path toward flight readiness.

Laser↗

Analysis of At-Altitude LTE Power Spectra for C2 Communications for UAS Traffic Management

The National Aeronautics and Space Administration’s (NASA) Unmanned Aircraft Systems Traffic Management (UTM) project works to develop tools and technologies essential for safely enabling civilian low-altitude small Unmanned Aerial Systems (sUAS, also known as drones) operations. This paper presents results of work completed in the paper [1] presented at the 2018 ICNS conference where proposed approaches were explored for evaluating and analyzing sUAS Command and Control (C2) links based on commercial cellular networks. This paper focuses on the UTM Project’s Technology Capability Level 3 (TCL-3) test results which address the communications portion identified within the same paper. A software defined radio (SDR) was flown as a sUAS payload to capture received signal spectrum in Long Term Evolution (LTE) frequency bands of interest. The purpose was to measure the RF environment at UTM altitudes to characterize the interference potential. The SDR payload was flown at various stationary altitudes where the LTE over-the-air complex (I/Q) samples were captured by the SDR and later post-processed. The SDR received inputs through an omnidirectional antenna. The complex samples captured were an aggregate of transmissions received from all line-of-sight (LOS) towers within the geographic area for the specific radio frequency bandwidth the SDR is programmed to capture. Using this approach, the complex samples captured do not distinguish between the various eNodeB's (Long Term Evolution (LTE) transmitting towers). The complex samples were post processed via a Discrete Fourier Transform (DFT) algorithm to view the captured spectrum along with the power levels across the captured LTE bandwidth. This SDR payload process of capturing complex samples was done at two different regions within the US: 1) NASA's Ames Research Center (ARC) in Moffett Field, CA, and 2) Griffiss Airfield in Rome, NY. The data capture at the ARC site was done at two physical locations within the Ames campus where many stationary altitude captures where done as high as 800 ft. above ground level (AGL). The data captured at the Griffiss Airport (also known as the NY Corridor Site) were acquired at one location with three specific stationary altitude levels – {Ground Level (GL), 300 ft., and 400 ft.}. The LTE spectrum power levels were captured for two LTE carriers, AT&T and Verizon, at both sites where their respective spectra and power levels were measured and compared at various altitudes. The overall results show that there is an increase in LTE spectrum power levels at higher altitudes for drones. A detailed analysis of this data and conclusions drawn from the results are presented in this paper.

Kerczewski, Robert J.↗

The BioMole Facility: Advancement of In Situ Microbiome Analysis for the International Space Station

Characterization of the International Space Station (ISS) microbiome has been enabled by sample return and Earth-based analysis. As human exploration pushes beyond low-Earth orbit, microbial-related crew health, planetary protection, and space research requires in situ capabilities. Steps toward reducing Earth-dependence for complex sample analysis began in 2016 with the amplification of DNA within the miniPCR thermal cycler and DNA sequencing with the MinION sequencer onboard the ISS; for both, samples were prepared on Earth. In 2017, these platforms synergistically enabled the in-situ identification of unknown bacteria collected and cultured from ISS surfaces, thereby shifting the paradigm that microbial cultures had to be returned to Earth. The following year, a culture-independent, swab-to-sequencer method further advanced spaceflight microbiology, demonstrating that culturing could be excluded and provided enhanced insight into the bacterial profile of ISS surfaces. Based on the success of these payloads in confirming the ability to meet crew health identification requirements and the benefits accompanying a culture-independent method, the BioMole Facility was established by the medical operations Crew Health Care Systems team. BioMole is the set of hardware, consumables, and procedures required to support sample preparation and nanopore sequencing onboard the ISS. BioMole goals include expanding sample sources, comparing data to previous methods, demonstrating onboard data analytics, and validating new hardware. To date, comparative surface analysis, molecular- and culture-based, has been completed. Additionally, the demonstration of a sample-to-answer process was achieved when BioMole data was processed onboard using the IBM Open Data and AI Edge software platform installed on the ISS-residing Spaceborne Computer-2. The taxonomic profiles generated from the edge analysis were as expected and paralleled that of the downlinked processed data. Future BioMole efforts involve microbial profiling of the ISS water system, ISS validation of the MinION Mk1C, and an expansion to a research facility available to investigators.

Sarah L. Castro-Wallace↗

The Dependence of Target Properties Upon Fresh Crater Morphologies on Mars

Viking and Mars Orbiter Camera (MOC) images for approx. 900 "fresh" complex craters were chosen for inspection from a database of 1599 complex craters for which physical attributes have been obtained using the Mars Orbiter Laser Altimeter (MOLA). Preliminary analysis revealed that many of the complex craters have been significantly modified by various processes of denudation, as well as partial or complete infilling with sediments +/- impact melt +/- lava, considerably shallowing many of the craters. This study confirms that the majority of the 894 sampled complex craters are affected by such processes. In 474 cases (52%), no central peaks were observed owing to erosion or burial. Of the remaining craters with visible central peaks, 159 of the freshest craters were selected for further study. These were chosen based on: the absence of significant infilling materials; the presence of a sharp rim and, typically; the preservation of the finer scale morphologic features of the associated ejecta blanket. These craters were used in order to assess the association between the target type and various central peak morphologies, ejecta types and crater depth/diameter relations.

Whitehead, J.↗

Development of Ion Mobility Spectrometry for Exobiology Flight Experiments

Ion Mobility Spectrometry (IMS) can provide gas chromatography with sample identification independent of sample retention time, with minimal interface. Initial commercial methods of IMS however, did not possess sufficient analytical capabilities and presented operational parameters which were unsuitable for exobiology missions. Subsequent development of IMS technology, with the focus on exobiology analytical requirements and mission imposed operational limitations, has produced an IMS interfaced with a GC capable of fulfilling the analytical requirements of several exobiology missions. Future exobiology missions will require further development of the IMS, particularly in the areas of overall instrument miniaturization and complex sample identification. The evolution of the exobiology focused IMS will be presented up to the current prototype design, which is a component of several proposed exobiology instruments. Areas of future development will also be discussed.

Kojiro, Daniel R.↗

In Situ Mineralogical Analysis of Planetary Materials Using X-Ray Diffraction and X-Ray Fluorescence

Remote observations of Mars have led scientists to believe that its early climate was similar to that of the early Earth, having had abundant liquid water and a dense atmosphere. One of the most fascinating questions of recent times is whether simple bacterial life developed on Mars (as it did on the Earth) during this early element period. Analyses of SNC meteorites have broadened considerably our knowledge of the chemistry of certain types of Martian rocks, underscoring the tantalizing possibility of early hydrothermal systems and even of ancient bacterial life. Detailed analyses of SNC meteorites in Terrestrial laboratories utilize the most sophisticated organic, isotopic and microscopic techniques in existence. Indeed; it is unlikely that the key biogenic indicators used in McKay et al (ibid) could be identified by a remote instrument on the surface of Mars. As a result, it is probable that any robotic search for evidence of an ancient Martian biosphere will have as its focus the identification of key minerals in likely host rocks rather than the direct detection of organic or isotopic biomarkers. Even on a sample return mission, mineralogical screening will be utilized to choose the most likely candidate rocks. X-ray diffraction (XRD) is the only technique that can provide a direct determination of the crystal structures of the phases present within a sample. When many different crystalline phases are present, quantitative analysis is better constrained if used in conjunction with a determination of elemental composition, obtainable by X-ray fluorescence (XRF) using the same X-ray source as for XRD. For planetary surface analysis, a remote instrument combining XRD and XRF could be used for mineralogical characterization of both soils and rocks. We are designing a remote XRD/XRF instrument with this objective in mind. The instrument concept pays specific attention to constraints in sample preparation, weight, volume, power, etc. Based on the geometry of a pinhole camera (transmission geometry, flat two-dimensional detector perpendicular to the direct beam), the instrument (which we call CHEMIN, for Chemistry and Mineralogy) uses an X-ray sensitive CCD detector which will allow concurrent positional and energy-dispersive analysis of collected photons. Thus XRF (energy) and XRD (geometry) analysis of transmitted X-rays will be performed at the same time. Tests performed with single minerals and simple mixtures give promising results. Refinements of the prototype promise interpretable results on complex samples.

Sarrazin, P.↗

Feasibility study, software design, layout and simulation of a two-dimensional Fast Fourier Transform machine for use in optical array interferometry

The goal of this project was the feasibility study of a particular architecture of a digital signal processing machine operating in real time which could do in a pipeline fashion the computation of the fast Fourier transform (FFT) of a time-domain sampled complex digital data stream. The particular architecture makes use of simple identical processors (called inner product processors) in a linear organization called a systolic array. Through computer simulation the new architecture to compute the FFT with systolic arrays was proved to be viable, and computed the FFT correctly and with the predicted particulars of operation. Integrated circuits to compute the operations expected of the vital node of the systolic architecture were proven feasible, and even with a 2 micron VLSI technology can execute the required operations in the required time. Actual construction of the integrated circuits was successful in one variant (fixed point) and unsuccessful in the other (floating point).

Boriakoff, Valentin↗

Validation of an In-Water, Tower-Shading Correction Scheme

Large offshore structures used for the deployment of optical instruments can significantly perturb the intensity of the light field surrounding the optical measurement point, where different portions of the visible spectrum are subject to different shadowing effects. These effects degrade the quality of the acquired optical data and can reduce the accuracy of several derived quantities, such as those obtained by applying bio-optical algorithms directly to the shadow-perturbed data. As a result, optical remote sensing calibration and validation studies can be impaired if shadowing artifacts are not fully accounted for. In this work, the general in-water shadowing problem is examined for a particular case study. Backward Monte Carlo (MC) radiative transfer computations- performed in a vertically stratified, horizontally inhomogeneous, and realistic ocean-atmosphere system are shown to accurately simulate the shadow-induced relative percent errors affecting the radiance and irradiance data profiles acquired close to an oceanographic tower. Multiparameter optical data processing has provided adequate representation of experimental uncertainties allowing consistent comparison with simulations. The more detailed simulations at the subsurface depth appear to be essentially equivalent to those obtained assuming a simplified ocean-atmosphere system, except in highly stratified waters. MC computations performed in the simplified system can be assumed, therefore, to accurately simulate the optical measurements conducted under more complex sampling conditions (i.e., within waters presenting moderate stratification at most). A previously reported correction scheme, based on the simplified MC simulations, and developed for subsurface shadow-removal processing of in-water optical data taken close to the investigated oceanographic tower, is then validated adequately under most experimental conditions. It appears feasible to generalize the present tower-specific approach to solve other optical sensor shadowing problems pertaining to differently shaped deployment platforms, and also including surrounding structures and instrument casings.

Hooker, Stanford B.↗

Array biosensor for detection of toxins

The array biosensor is capable of detecting multiple targets rapidly and simultaneously on the surface of a single waveguide. Sandwich and competitive fluoroimmunoassays have been developed to detect high and low molecular weight toxins, respectively, in complex samples. Recognition molecules (usually antibodies) were first immobilized in specific locations on the waveguide and the resultant patterned array was used to interrogate up to 12 different samples for the presence of multiple different analytes. Upon binding of a fluorescent analyte or fluorescent immunocomplex, the pattern of fluorescent spots was detected using a CCD camera. Automated image analysis was used to determine a mean fluorescence value for each assay spot and to subtract the local background signal. The location of the spot and its mean fluorescence value were used to determine the toxin identity and concentration. Toxins were measured in clinical fluids, environmental samples and foods, with minimal sample preparation. Results are shown for rapid analyses of staphylococcal enterotoxin B, ricin, cholera toxin, botulinum toxoids, trinitrotoluene, and the mycotoxin fumonisin. Toxins were detected at levels as low as 0.5 ng mL(-1).

Review↗

A Compact Tandem Two-Step Laser Time-of-Flight Mass Spectrometer for In Situ Analysis of Non-Volatile Organics on Planetary Surfaces

Two-step laser desorption mass spectrometry is a well suited technique to the analysis of high priority classes of organics, such as polycyclic aromatic hydrocarbons, present in complex samples. The use of decoupled desorption and ionization laser pulses allows for sensitive and selective detection of structurally intact organic species. We have recently demonstrated the implementation of this advancement in laser mass spectrometry in a compact, flight-compatible instrument that could feasibly be the centerpiece of an analytical science payload as part of a future spaceflight mission to a small body or icy moon.

time-of-flight↗

Tandem Mass Spectrometry on a Miniaturized Laser Desorption Time-of-Flight Mass Spectrometer

Tandem mass spectrometry (MSMS) is a powerful and widely-used technique for identifying the molecular structure of organic constituents of a complex sample. Application of MSMS to the study of unknown planetary samples on a remote space mission would contribute to our understanding of the origin, evolution, and distribution of extraterrestrial organics in our solar system. Here we report on the realization of MSMS on a miniaturized laser desorption time-of-flight mass spectrometer (LD-TOF-MS), which is one of the most promising instrument types for future planetary missions. This achievement relies on two critical components: a curved-field reflectron and a pulsed-pin ion gate. These enable use of the complementary post-source decay (PSD) and laser-assisted collision induced dissociation (L-CID) MSMS methods on diverse measurement targets with only modest investment in instrument resources such as volume and weight. MSMS spectra of selected molecular targets in various organic standards exhibit excellent agreement when compared with results from a commercial, laboratory-scale TOF instrument, demonstrating the potential of this powerful technique in space and planetary environments.

Li, Xiang↗

A low cost/low complexity concept for the Mars Sample Return mission

Earlier concepts for the Mars Sample Return mission were complex and costly, and had little chance of being funded. This paper summarizes the evolution of a concept that permitted cost to be reduced by a factor of six, and the number of spacecraft elements to be halved. The primary feature of this low cost/low complexity concept is the application of advanced lightweight propulsion, materials, power, and avionics technology to the Mars Ascent Vehicle to make a direct return from Mars feasible. Mission parameters, launch mass breakdowns, spacecraft configuration drawings, technology requirements, and cost estimates are presented.

Gamber, R. T.↗

Mars sample return mission: What level of complexity

The complexity of the U.S. Sample Return Mission is ultimately dependent on current mission funding and the projected direction of the U.S. space program. Despite these uncertainties, it is important to examine mission scenarios to address desired scientific objectives that can be summarized in the following list: (1) determine existence of climatic records in geologic records; (2) does Mars have a subpermafrost groundwater system; (3) fundamental questions on the existence of Mars biology; (4) what is the internal structure of Mars; (5) determine the systems for regolith formation; and (6) what is the contribution of meteorites to Martian geology and climate are presented. To address these objectives, the sample size, quantity and location must be established and whether this should be the only data searched for on the Martian surface. With this in mind, three mission scenarios are briefly discussed, in order of increasing complexity.

Ciesla, Thomas M.↗