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NASA-ESA Mars Sample Return Program

NASA's Perseverance mission arrived at Jezero Crater on Mars in February 2021 and began scientific studies and acquisition of Martian samples for return to Earth by future missions, consistent with the recommendations of the U.S. science community in the previous Planetary Science Decadal Survey. NASA and ESA have established a joint Mars Sample Return (MSR) program to safely deliver these samples back to Earth, allowing researchers to use advanced scientific instrumentation that cannot be transported on robotic spacecraft and enable future studies of carefully curated samples using capabilities that have not yet been developed. The MSR architecture consists of two flight elements to follow Perseverance, the NASA-led Sample Retrieval Lander (SRL) and the ESA-led Earth Return Orbiter (ERO). The ERO is designed to orbit Mars and provide relay services for the SRL, including its ESA Sample Fetch Rover (SFR) and the NASA Mars Ascent Vehicle (MAV). The SRL deploys the SFR to retrieve Martian samples cached by the Perseverance rover and then returns the samples to the Orbiting Sample container (OS) on board the MAV using the ESA Sample Transfer Arm (STA). Independently, Perseverance could also deliver samples retained onboard to the OS. The MAV would launch and release the OS into low Mars orbit for rendezvous with the ERO. Upon successful capture of the OS in the ERO’s primary payload, the NASA Capture/Containment Return System (CCRS), the OS would be safely contained and loaded into the Earth Entry System (EES). The ERO will leave Mars orbit and release the EES on Earth approach on a ballistic reentry trajectory through the Earth's atmosphere for landing in the United States. Following return of the samples to Earth, the samples would be protected, preserved, assessed, curated, and made available to the international science community for scientific research and analysis. The NASA SRL and ESA ERO missions are expected to launch as early as 2026, with the return of Martian samples to Earth as early as 2031. MSR’s primary objective is the return of scientifically selected Mars samples for detailed investigation in terrestrial laboratories. The mission would also further inform the design of future human missions. The Mars Sample Return campaign is underway with the successful collection of several scientifically selected samples in Jezero Crater. The MSR Program is working towards a confirmation review in 2023 for the remaining flight elements.

Mars↗

DOE OSTI2021

Post-landing major element quantification using SuperCam laser induced breakdown spectroscopy

The SuperCam instrument on the Perseverance Mars 2020 rover uses a pulsed 1064 nm laser to ablate targets at a distance and conduct laser induced breakdown spectroscopy (LIBS) by analyzing the light from the resulting plasma. SuperCam LIBS spectra are preprocessed to remove ambient light, noise, and the continuum signal present in LIBS observations. Prior to quantification, spectra are masked to remove noisier spectrometer regions and spectra are normalized to minimize signal fluctuations and effects of target distance. In some cases, the spectra are also standardized or binned prior to quantification. To determine quantitative elemental compositions of diverse geologic materials at Jezero crater, Mars, we use a suite of 1198 laboratory spectra of 334 well-characterized reference samples. The samples were selected to span a wide range of compositions and include typical silicate rocks, pure minerals (e.g., silicates, sulfates, carbonates, oxides), more unusual compositions (e.g., Mn ore and sodalite), and replicates of the sintered SuperCam calibration targets (SCCTs) onboard the rover. For each major element (SiO 2 , TiO 2 , Al 2 O 3 , FeO T , MgO, CaO, Na 2 O, K 2 O), the database was subdivided into five “folds” with similar distributions of the element of interest. One fold was held out as an independent test set, and the remaining four folds were used to optimize multivariate regression models relating the spectrum to the composition. We considered a variety of models, and selected several for further investigation for each element, based primarily on the root mean squared error of prediction (RMSEP) on the test set, when analyzed at 3 m. In cases with several models of comparable performance at 3 m, we incorporated the SCCT performance at different distances to choose the preferred model. Shortly after landing on Mars and collecting initial spectra of geologic targets, we selected one model per element. Subsequently, with additional data from geologic targets, some models were revised to ensure results that are more consistent with geochemical constraints. The calibration discussed here is a snapshot of an ongoing effort to deliver the most accurate chemical compositions with SuperCam LIBS.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRS2021

Recommendation on Orbiting Sample Cleanliness

The National Aeronautics and Space Administration-European Space Agency (NASA-ESA) Mars Sample Return (MSR) campaign involves the collection of samples on Mars by the Perseverance (Mars 2020) rover and their return to Earth. To accomplish this, the Orbiting Sample container (OS) will be sent to Mars to accommodate the collected samples then launched from Mars and returned to Earth, where the samples will be removed for examination in the Sample Return Facility (SRF). Crucial to this entire sequence will be establishment of the required level of cleanliness inside the OS. In February 2021, the NASA Headquarters' Mars Sample Return Program and Office of Planetary Protection assembled an MSR OS Tiger Team (OSTT) to discuss the appropriate cleanliness level options of the interior of the OS. The team's remit was primarily focused on evaluating the trade-offs between Planetary Protection cleanliness levels 4a and 4b. These cleanliness levels are determined by the Committee on Space Research (COSPAR) planetary protection regulations, where 4a requires <300 bacterial spores/m^2 and <3 x 10^5 bacterial spores on the spacecraft (in this case, the interior of the OS) and 4b mandates the more stringent requirement of <30 bacterial spores on the spacecraft. This report documents the consensus opinion submitted by the OSTT that recommended the interior of the OS be cleaned to a 4a requirement with any feasible added effort toward 4b. This report provides, as well, the rationale for that decision.

Charles S. Cockell↗

NASA NTRS2022

Balancing Predictive and Reactive Science Planning for Mars 2020 Perseverance

The design of the science planning process for a space science mission needs to find a balance between operational and resource constraints and scientific decision-making. Science planning has previously been characterized as either predictive or reactive. Predictive science planning is needed when constraints drive science activities to be planned far in advance. For example, a combination of long one-way light time plus high-stakes science decisions drove the Cassini-Huygens mission to Saturn to have an extremely predictive planning process. On the other extreme, reactive science planning is needed when constraints drive science activities to be planned based on the results of the previous plan. For example, the Mars Exploration Rover mission interacted with the surface of Mars, and so the planning team needed to know the state of the rover at the end of each planning cycle before starting the next cycle. Operational and resource constraints that require management on intermediate timescales has led to the development of a science planning process between these two extremes. For example, the Mars Science Laboratory is a technically complex rover and has a parallel predictive process that allows the operations team to manage engineering constraints several days in advance while maintaining the reactive tactical planning process similar to that of MER. The Mars 2020 Perseverance rover is a technically complex rover in the MSL style, but has an added layer of science complexity: it is tasked with collecting a returnable cache of scientifically valuable samples of Mars within prime mission. Thus, the science planning process also needs to accommodate high-stakes longer-term science decisions in the style of Cassini. In order to balance the push-pull of these constraints, we have developed a science campaign-focused operational paradigm for Mars 2020 Perseverance that allows for both predictive planning to accommodate technological complexity and high-stakes science decisions as well as reactive planning to accommodate the realities of interacting with the martian surface. This paradigm influenced the design of operational processes and operational tools.

Spanovich, Nicole↗

NASA NTRS2021

Mars 2020 Perseverance trajectory reconstruction and performance from launch through landing

The Mars 2020 (M2020) Mission carrying Perseverance, the most advanced rover ever sent to Mars, successfully launched on an Atlas V 541 (AV-088) launch vehicle from the Eastern Test Range (ETR) at Cape Canaveral Air Force Station (CCAFS) in Florida at 11:50:00 UTC (T-Zero time) on July 30, 2020. After some station reconfiguration, carrier/telemetry were locked at both Deep Space Network (DSN) Canberra and Goldstone stations. Perseverance entered the Martian atmosphere at 20:36:50 Spacecraft Event Time (SCET) UTC, and landed inside Jezero Crater at 20:43:49 SCET UTC on February 18, 2021. Confirmation of nominal landing was received at the DSN Goldstone and Madrid tracking stations via the Mars Reconnaissance Orbiter at 20:55:11 Earth Received Time (ERT) UTC. This paper summarizes in detail the actual vs. predicted performance in terms of launch vehicle events, launch vehicle injection performance, actual DSN spacecraft lockup, trajectory correction maneuver performance, Entry, Descent, and Landing events, and overall trajectory and geometric characteristics.

Abilleira, Fernando↗

NASA NTRS2021

Mars 2020 Perseverance Trajectory Reconstruction and Performance from Launch through Landing

Wong, Mau↗

NASA NTRS2022

New Rover Conops with High-Performance Onboard Computing: Give Up Raw Data to Reduce Ops Cost and Do More Science

A major portion of time during the tactical operation of Mars rovers is spent for selecting, prioritizing, and coordinating sciences and engineering activities such that they fit within resource constraints, including the downlink data volume, energy, and time. In particular, the downlink data volume constraint is getting particularly tighter in recent missions because modern instruments produce increasingly high data volume while the communication bandwidth is essentially bounded by the law of physics. Tactical operation would be substantially simplified, hence the operation cost could be reduced, if the data volume constraint is relaxed or even removed. In this abstract, we propose a new operation paradigm for achieving this goal. The key observation is that, both in science and engineering applications, the bit size of raw data is typically much greater than the volume of processed information that is needed for scientific or engineering analysis. For example, a full-resolution image from Mastcam-Z, the main science camera on Perseverance, is about 700 kB in volume and we downlinked 29,685 images up to Sol 243, totaling ~20 GB of data. But of course, scientists do not use every pixel of these images; what they really look for in the images are geological features, typically represented by specific geometric configurations or textures. An end product after processing hundreds of Mascam-Z images could be a single geological map summarizing the spatial distribution of the features. For another example, a 100-meter drive of Perseverance produces 7-12 MB of drive telemetry, which records every detail of the rover's motion at 8 Hz, including position, attitude, steering angles, encoder readings, motor currents and many other information. But what the ground engineers eventually pay attention to is the signs of anomaly, such as excessive motor currents or high slip; if a drive is nominal, the vast majority of this data is unused. What if, then, we process the raw data onboard and only downlink the processed data that is relevant to scientific or engineering analyses, such as a list of detected science features (with cropped images) or a list of potential signs of anomaly while driving? A major roadblock for such onboard, high-level information processing has been the onboard computational resource. RAD750, the main onboard computer of Perseverance, is obviously not sufficient for performing complex image or signal processing such as object detection, semantic segmentation, or anomaly detection. Interestingly, RAD750 is not the best processor that Perseverance has; Qualcomm's Snapdragon 801, a modern mobile processor, is on her Heli Base Station, a device for communicating with Mars Helicopter Ingenuity; also, Intel's Atom E3845 processors are on engineering cameras. In the reminder of this paper, we will introduce two particular uses cases of these high-performance co-processors (meaning auxiliary CPU, GPU, or other types of processors that are separate from the main processor that runs the main flight software) for lowering operation cost and accommodating more science activities for a given communication constraint.

Didier, A.↗

DOE OSTI2025

Geochemistry of Mars with Laser-Induced Breakdown Spectroscopy (LIBS): ChemCam, SuperCam, and MarSCoDe

Laser-induced breakdown spectroscopy (LIBS) has been used to explore the chemistry of three regions of Mars on respective missions by NASA and CNSA, with CNES contributions. All three LIBS instruments use ~100 mm diameter telescopes projecting pulsed infrared laser beams of 10–14 mJ to enable LIBS at 2–10 m distances, eliminating the need to position the rover and instrument directly onto targets. Over 1.3 million LIBS spectra have been used to provide routine compositions for eight major elements and several minor and trace elements on >3000 targets on Mars. Onboard calibration targets common to all three instruments allow careful intercomparison of results. Operating over thirteen years, ChemCam on Curiosity has explored lacustrine sediments and diagenetic features in Gale crater, which was a long-lasting (>1 My) lake during Mars’ Hesperian period. SuperCam on Perseverance is exploring the ultramafic igneous floor, fluvial–deltaic features, and the rim of Jezero crater. MarSCoDe on the Zhurong rover investigated for one year the local blocks, soils, and transverse aeolian ridges of Utopia Planitia. The pioneering work of these three stand-off LIBS instruments paves the way for future space exploration with LIBS, where advantages of light-element (H, C, N, O) quantification can be used on icy regions.

47 OTHER INSTRUMENTATION↗

NASA NTRS2022

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

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

Ono, Hiro↗

NASA NTRS2024

The Scientific Value of Collecting Samples From the Jezero Crater Rim

The Mars 2020 mission has been conducting ground-based investigation of the geology, habitability, and biosignature preservation potential and collecting samples for return to Earth in Jezero crater, Mars for nearly 3 years. Analysis of these samples will address outstanding questions in Mars science including potential habitability and how and why the climate the interior of the planet evolved through time. As of December 2023, samples of 4 igneous rocks of the Jezero crater floor and 9 sedimentary rocks of the Jezero fan and inner margin, remain on the rover. 15 tubes remain to be filled to enhance the diversity of the cache and broaden the scope of the science questions that can be addressed with returned sample studies. The next step in the mission is to explore the Jezero crater rim. It will be imperative to investigate and sample the diversity of crater rim rocks because they represent materials from Mars’ most ancient crust older than those sampled in Jezero crater, a diversity of geologic processes, and potential ancient habitable environments that have not yet been investigated or sampled. Ongoing mapping efforts are using orbiter data and long-distance images from Perseverance to identify and interpret the geologic context of the crater rim. Building on this effort and the broader geologic context for the crater rim put forward by previous studies, we identify diverse targets for in situ investigation and potential sampling by Mars 2020.

Mars sample return↗