Engineering topics
Publications and source records attributed to Arvidson, R. E..
Results of May 2000 field testing of the FIDO prototype Mars rover are summarized. Tests included remote science operations and simulated aspects of the Athena payload for 2003 MER (Mars Exploration Rovers). Additional information is contained in the original extended abstract.
The Mars Surveyor program requires tools for martian surface exploration, including remote sensing, in-situ sensing, and sample collection. The Athena Mars rover payload is a suite of scientific instruments and sample collection tools designed to: (1) Provide color stereo imaging of martian surface environments, and remotely-sensed point discrimination of mineralogical composition; (2) Determine the elemental and mineralogical composition of martian surface materials; (3) Determine the fine-scale textural properties of these materials; and (4) Collect and store samples. The Athena payload is designed to be implemented on a long-range rover such as the one now under consideration for the 2003 Mars opportunity. The payload is at a high state of maturity, and most of the instruments have now been built for flight.
The Mars 2003 Mission may include a rover to acquire remote sensing and in-situ measurements of surface materials, including rock surfaces that have been cleared of dust and coatings by use of an abrasion tool. Mars Sample Return Missions for 2005 and beyond may include rovers with remote sensing and in-situ measurement capabilities. Further, these mobility platforms may have systems to drill into rocks and collect cores, acquire soil samples, and place the rock and soil samples in ascent vehicles. The point of this abstract is to document that these operations have already been shown to be tractable based on continuing field trials of the FIDO Mars prototype rover.
A Mars orbital radar mission would use two frequencies to map the planet at 50 m resolution, penetrating 5-10 m. Some areas will be imaged at 5-m resolution. A 50-m resolution topographic map will be acquired, and surface changes detected.
An integrated team of students and teachers from four high schools across the country developed and implemented their own mission of exploration and discovery using the Mars Sample Return prototype rover, FIDO, at Silver Lake in the Mojave Desert.
Correspondence and Least Squares Mixing Analysis techniques are applied to the chemical composition of Viking 1 soils and Pathfinder rocks and soils. Implications for the parent composition of local and global materials are discussed.
During field trials in the Mojave Desert, the Mars Sample Return (MSR) prototype rover, FIDO, simulated sampling and exploration activities with a science payload similar to what will be on the MSR rover, validating the mission operations approach.
The Mars Surveyor Program 2001 Mission will carry instruments on the orbiter, lander and rover that will support synergistic observations and experiments to address important scientific questions regarding the local bedrock and soils. The martian surface is covered in varying degrees by fine materials less than a few mms in size. Viking and Pathfinder images of the surface indicate that soils at those sites are composed of fine particles. Wheel tracks from the Sojourner rover suggest that soil deposits are composed of particles <40 mm. Viking images show that dunes are common in many areas on Mars and new MOC images indicate that dunes occur nearly everywhere. Dunes on Mars are thought to be composed of 250-500 microns particles based upon Viking IRTM data and Mars wind tunnel experiments. If martian dunes are composed of sand particles > 100 microns and soils are dominated by <10 micron particles, then where are the intermediate grain sizes? Have they been wom away through prolonged transport over the eons? Were they never generated to begin with? Or are they simply less easy to identify because do they not form distinctive geomorphic features such as dunes or uniform mantles that tend to assume superposition in the soil structure?
Magellan observations of horizontally and vertically polarized emissivity and radar specific cross sections are jointly modeled to separate dielectric constants from textural effect for lobate plains, fractured plains, fracture belts, festoon flows, and tessera in Ovda Regio and surroundings. The model assumes surface emission and scattering dominate and that signatures are controlled by a combination of quasi-specular and diffuse-scale mechanisms. Textural parameters are found to correlate with geology whereas dielectric constants are found to depend on elevation. A gradual increase in dielectric constant from rock-like values (4 to 5) to a value of approximately 50 is evident over the interval from 6054 to 6056 km, where elevations are derived from Magellan altimetry observations. Stereo radargrammetric analyses demonstrate that a return to rock-like values occurs over approximately 0.5 km above the terrain with highest dielectric constants. The abrupt return to rock-like values occurs independently of geology and reinforces the hypothesis of elevation control on dielectric constant values. Variations in dielectric constant with elevation are modeled using an 1000-ppm concentration of a ferroelectric mineral with a Curie temperature of 707 K. The model reproduces the abrupt change at highest elevations, as the Curie temperature is reached, and the gradual change as lower elevations are encountered. To our knowledge no other model explains the trends with such simplicity.
The Marslink Project focuses on the development, dissemination, and evaluation of instructional materials about the composition, structure, and dynamics of the Martian atmosphere, surface, and interior. A multi-year effort is underway so that middle and high school students can follow a full Martian year of seasonal changes using data from NASA's Mars Observer spacecraft, and the Mars Observer Project has time to process and release the appropriate data sets. Monthly activity packets for students, teacher enhancement sessions, a teacher resource center, an on-call Mars data specialist, daily SPACELINK electronic bulletin board updates, and semi-annual NASA Select TV broadcasts will constitute the basis of the Marslink Project. Various aspects of the Marslink Project are briefly discussed.
The Planetary Data System (PDS) is producing a special educational CD-ROM that contains samples of PDS datasets and is expected to be released in 1993. The CD-ROM will provide university-level instructors with PDS-compatible materials and information that can be used to construct student problem sets using real datasets. The main purposes of the CD-ROM are to facilitate wide use of planetary data and to introduce a large community to the PDS. To meet these objectives the Educational CD-ROM will also contain software to manipulate the data, background discussions about scientific questions that can be addressed with the data, and a suite of exercises that illustrate analysis techniques. Students will also be introduced to the SPICE concept, which is a new way of maintaining geometry and instrument information. The exercises will be presented at the freshman through graduate student levels. With simplification, some of the material should also be of use at the high school level.
In the coming decade, several lander missions to Mars are planned (e.g., MESUR Pathfinder, MESUR). One of the dangers facing planners of these missions is the rough topography observed at both Viking Lander sites. Both landing sites are ubiquitously covered with meter-scale boulders. Objects of this size pose obvious threats to soft landers, especially at Mars where the distance from Earth causes prohibitive time lags between the transmission of commands and feedback from the spacecraft. An obvious solution is to scout for a 'smooth' site prior to the landing. However, the best resolutions realizable on current and future missions (i.e., Mars Observer) are on the order of several meters. Even at this scale, boulders of 1-2 meters in size are unresolvable. Additionally, the amount of time and spacecraft resources required to search even a small area of the planet are unrealistic given other mission objectives. An alternative is to determine the 'roughness' of the surface at a subpixel scale using bidirectional reflectance observations. Much larger areas of the planet can be searched, and much of the search can easily be automated. The morphology of the martian plains observed by the Viking Landers is physically simple. The surface is covered with a layer (approximately flat lying) of aeolian sediment from which numerous outcrops of bedrock and boulders protrude. This morphology, while simple, will be difficult to characterize from orbit using traditional bidirectional reflectance models for two reasons. First, modeling the surface as facets with Gaussian or exponential slope distributions is not realistic given the morphology described above. Second, the roughness parameter is an 'average' of the roughness at scales ranging from the wavelength of light being scattered to the pixel size of the observation. Thus, there is no definite scale of roughness that can be extracted from the Hapke roughness parameter. Using the concepts of geometric and boolean models developed by several workers, we have developed a model for the bidirectional reflectance of a surface morphology comparable to that observed at the Viking Lander sites.
The hydrodynamic evolution of an incompressible plane mixing layer is addressed to elucidate scalar mixing in free shear flows. A detailed description of the onset of three-dimensionality in a mixing layer before or in the absence of pairing is presented. Various simulations were performed to investigate the sensitivity of these results to variations in initial conditions. These variations included changes in amplitude, wavelength, functional form, and relative phasing of the initial low-wavenumber disturbances. Pierrehumber & Widnall's (1982) translative instability eigenfunctions are found to include rib vortices in the braid region and oppositely signed streamwise vorticity in the roller core. The translative instability is an instability of the late-time oversaturated flow. Three-dimensional perturbation growth similar to that of the translative instability can occur whenever spanwise vorticity is present in the braid region. The nonlinear effects that occur when the initial rib circulation is sufficiently high are discussed.
The salient features of the Mars Observer mission are overviewed. Special attention is given to the science objectives of the mission, the spacecraft design, the mapping orbit to be used, and the mission operations. The mission is to be launched in August 1993 and, after four months of trim maneuvers, will come into a low-altitude circular orbit where it will make systematic measurements of the atmosphere, the surface, and the interior of Mars.
Magellan data for Venus reveal a planet with a great diversity of volcanic and tectonic landforms, with good evidence of continuing volcanism and tectonism. Weathering, mass wasting and wind erosion and deposition have modified the surface only to the extent of a few meters, thereby preserving an excellent record of tectonic and volcanic processes on a terrestrial-size planet. All cycle 1 mosaics, radiometry, and altimeter data will be made available through the Planetary Data System and the National Space Science Data Center.
Magellan synthetic aperture radar (SAR) and altimetry data were analyzed to determine the nature and extent of surface modification for venusian plains in the Sedna Planitia, Alpha Regio, and western Ovda Regio areas. Specific cross sections derived from the SAR data were also compared to similar data for dry terrestrial basaltic lava flows (Lunar Crater and Cima volcanic fields) and playas (Lunar and Lavic Lakes) for which microtopographic profiles (i.e., quantitative roughness information) were available.
Images of the Venus surface provided by the Magellan mission make it possible to see the fine-scale features diagnostic of weathering, erosion, and deposition. These include ejecta deposits extending up to 1000 km to the west of several impact craters, windblown deposits, features containing both obstacles and a source of particulate material, and evidence for degradation by atmosphere-surface interactions and mass movements. Initial Magellan observations pertaining to the nature, rate, and history of surficial processes are analyzed. Emphasis is placed on radar imaging, but results from radiometry and altimetry observations are also discussed.
The NASA Magellan Venus Radar Mapper spacecraft, which will be placed into orbit around Venus on August 10, 1990, is described and its mission is discussed. The orbiter's 12-cm wavelength, multimode radar system is examined and the applications of its modes are addressed. In the SAR mode, it can image most of the Venus surface at a resolution of better than 300 m, approaching 120 m over more than half the planet. In the altimeter mode, the radar will determine topographic relief to a vertical accuracy of better than 50 m averaged over a surface resolution cell approximately 10 km in diameter. In the radiometer mode, the radar receiver can determine the surface radio emission brightness temperature with an absolute accuracy of 20 K, at a resolution of 2 K. The nature of the data products and the archiving plans are also considered.