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NASA NTRS2002

Light-Toned, Layered Outcrops of Northern Terra Meridiani Mars: Viking, Phobos 2, and Mars Global Surveyor Observations

Locating outcrops of sedimentary rock on Mars is an important step toward deciphering the planet's geologic and climatologic record. Sedimentary rock representing the earliest martian environments, are of particular interest in this context. This is a report about a vast exposure of material proposed to be martian sedimentary rock. The outcrops cover an area (approximately sq 300,000 km) roughly the size of the Colorado Plateau in North America (approximately 260,000 sq km). The materials occur in northern Terra Meridiani, near of one of the four sites being considered for a 2004 NASA Mars Exploration Rover (MER) landing. The landing ellipse, centered at deg S, deg W, lies in a region exhibiting smooth and rough (at meter scale) dark-toned surfaces, with scattered light-toned patches. Stratigraphically, the dark-toned materials at the MER site lie unconformably on top of a previously-eroded, light-toned surface; the light-toned patches in the landing ellipse are geologic windows down to this lower stratigraphic unit. North of the landing ellipse, the light-toned materials are well-exposed because the darker materials have been removed, stranding outlier remnants in a few locations. The light-toned materials are layered, vertically heterogeneous, and exhibit lateral continuity over hundreds of kilometers. Eroded layers produce cliffs; some outcrops are expressed as mesas, buttes, and spires; and impact craters ranging in diameter from a few meters to tens of kilometers are interbedded with the layers. The purpose of this report is to summarize the results of greater than 6 years of photogeologic investigation into the nature of the light-toned outcrops of northern Terra Meridiani. The work is a 'snapshot' of progress made toward eventual geologic mapping and establishment of the stratigraphic sequence for the materials through 30 September 2002, a day prior to the first release of Mars Odyssey Thermal Emission Imaging System (THEMIS) data to the NASA Planetary Data System (PDS). The main body of data examined were Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) images acquired through 30 September 2002. The data also 2 include Viking orbiter images, a Phobos 2 Termoscan image, MGS Mars Orbiter Laser Altimeter (MOLA) topographic observations, and the products of published Viking Infrared Thermal Mapper (IRTM) and Mars Global Surveyor (MGS) Thermal Emission Spectrometer (TES) analyses. Through September 2002, over 126,000 MOC images had been acquired, and greater than 600 of the MOC narrow angle (1.5-12 m/pixel) images occur within the portions of Terra Meridiani and southwestern Arabia Terra.

Edgett, Kenneth S.↗

NASA NTRS2003

Human Centered Design and Development for NASA's MerBoard

This viewgraph presentation provides an overview of the design and development process for NASA's MerBoard. These devices are large interactive display screens which can be shown on the user's computer, which will allow scientists in many locations to interpret and evaluate mission data in real-time. These tools are scheduled to be used during the 2003 Mars Exploration Rover (MER) expeditions. Topics covered include: mission overview, Mer Human Centered Computers, FIDO 2001 observations and MerBoard prototypes.

Trimble, Jay↗

NASA NTRS2003

MAPGEN Planner: Mixed-Initiative Activity Planning for the Mars Exploration Rover Mission

This document describes the Mixed-initiative Activity Plan Generation system MAPGEN. The system is be- ing developed as one of the tools to be used during surface operations of NASA's Mars Exploration Rover mission (MER). However, the core technology is general and can be adapted to different missions and applications. The motivation for the system is to better support users that need to rapidly build activity plans that have to satisfy complex rules and fit within resource limits. The system therefore combines an existing tool for activity plan editing and resource modeling, with an advanced constraint-based reasoning and planning framework. The demonstration will show the key capabilities of the automated reasoning and planning component of the system, with emphasis on how these capabilities will be used during surface operations of the MER mission.

Ai-Chang, Mitch↗

NASA NTRS2003

An Alternative Hypothesis for How Microgravity Improves Macromolecular Crystal Quality

There is a substantial body of experimental evidence, from this and other laboratories, that strongly suggests that for many proteins crystal nucleation and growth is by addition of associated species that are preformed by reversible concentration-driven self association processes in the bulk solution. We have developed a self-association model for the crystal nucleation and growth of the protein chicken egg lysozyme. The model accounts for the obtained crystal symmetry, explains the observed surface structures, and shows the importance of the symmetry obtained by self-association in solution to the process as a whole. This model also offers a possible mechanism for fluid flow effects on the growth process and how microgravity may affect it. While a single lysozyme molecule is relatively small an octamer in the 43 helix configuration (the proposed average sized growth unit) would have a M.W. approx. 115,000 and dimensions of 5.6 x 5.6 x 7.6 nm. Direct AFM measurements of growth unit incorporation indicate that units as wide as 11.2 nm and as long as 11.4 nm (a 24-mer) commonly attach to the crystal. AFM results from Weichmann et al. (Ultramicroscopy 86, 159-166, 2001) suggest that associated species of up to 40-mers in size add to the (101) faces. These measurements reflect the sizes of units that both added and desorbed from the crystal surface. The larger and less isotropic the associated species the more likely that it will be oriented to some degree in a flowing boundary layer, even at the low flow velocities measured about macromolecule crystals. On Earth, concentration gradient driven flow will maintain a high interfacial concentration, i.e., a high level (essentially that of the bulk solution) of solute association at the interface and higher growth rate. Higher growth rates mean an increased probability that misaligned growth units are trapped by subsequent growth layers before they can be desorbed and try again, or that the desorbing species is more likely to be smaller than the adsorbing species. In microgravity the extended diffusive boundary layer will lower the interfacial concentration. This results in a net dissociation of aggregated species that diffuse in from the bulk solution, i.e., smaller associated species, which are more likely able to make multiple attempts to correctly bind, yielding higher quality crystals.

Pusey, Marc↗

NASA NTRS2003

Meridiani Planum Hematite Deposit: Potential for Preservation of Microfossils

Christensen et al., using data from the Mars Global Surveyor Thermal Emission Spectrometer (TES), have identified gray crystalline hematite in a 350 km by 750 km region near Meridiani Planum. The deposit corresponds closely to the low-albedo highlands unit sm, mapped as a wind-eroded, ancient, subaqueous sedimentary deposit. Christensen et al. interpreted the Meridiani Planum deposit to be an in-place, rock-stratigraphic sedimentary unit characterized by smooth, friable layers composed primarily of basaltic sediments with approximately 10 to 15% crystalline gray hematite. The Meridiani Planum hematite deposit has recently been designated as the prime landing site for one of the two Mars Exploration Rover (MER) spacecraft. The MER landings are scheduled for January, 2004. Christensen et al. discussed five possible mechanisms for the formation of this deposit: direct precipitation from standing, oxygenated, Fe-rich water; precipitation from Fe-rich hydrothermal fluids; low-temperature dissolution and precipitation through mobile groundwater leaching; surface weathering and coatings; thermal oxidation of magnetite-rich lavas. Four of these mechanisms involve the interactions of rock with water, and thus have implications in the search for evidence of microbial life.

C C Allen↗

NASA NTRS2003

Gusev and Meridiani Will Look Different: Radar Scattering Properties of the Mars Exploration Rover Landing Sites

Analysis of all existing radar data for the two Mars Exploration Rover (MER) landing sites at Meridiani Planum and Gusev Crater suggest that their meter-scale morphological appearance will be noticeably different than previous Mars landing sites; their human-scale, decimeter-to meter-scale roughness is not the same as for previous Mars landing sites. We make this prediction based on a comparison of the MER landing sites.

A F C Haldemann↗

NASA NTRS2003

Development and Testing of Laser-induced Breakdown Spectroscopy for the Mars Rover Program: Elemental Analyses at Stand-Off Distances

One of the most fundamental pieces of information about any planetary body is the elemental composition of its surface materials. The Viking Martian landers employed XRF (x-ray fluorescence) and the MER rovers are carrying APXS (alpha-proton x-ray spectrometer) instruments upgraded from that used on the Pathfinder rover to supply elemental composition information for soils and rocks to which direct contact is possible. These in- situ analyses require that the lander or rover be in contact with the sample. In addition to in-situ instrumentation, the present generation of rovers carry instruments that operate at stand-off distances. The Mini-TES is an example of a stand-off instrument on the MER rovers. Other examples for future missions include infrared point spectrometers and microscopic-imagers that can operate at a distance. The main advantage of such types of analyses is obvious: the sensing element does not need to be in contact or even adjacent to the target sample. This opens up new sensing capabilities. For example, targets that cannot be reached by a rover due to impassable terrain or targets positioned on a cliff face can now be accessed using stand-off analysis. In addition, the duty cycle of stand-off analysis can be much greater than that provided by in-situ measurements because the stand-off analysis probe can be aimed rapidly at different features of interest eliminating the need for the rover to actually move to the target. Over the past five years we have been developing a stand-off method of elemental analysis based on atomic emission spectroscopy called laser-induced breakdown spectroscopy (LIBS). A laser-produced spark vaporizes and excites the target material, the elements of which emit at characteristic wavelengths. Using this method, material can be analyzed from within a radius of several tens of meters from the instrument platform. A relatively large area can therefore be sampled from a simple lander without requiring a rover or sampling arms. The placement of such an instrument on a rover would allow the sampling of locations distant from the landing site. Here we give a description of the LIBS method and its advantages. We discuss recent work on determining its characteristics for Mars exploration, including accuracy, detection limits, and suitability for determining the presence of water ice and hydrated minerals. We also give a description of prototype instruments we have tested in field settings.

D A Cremers↗

NASA NTRS2003

Deciding Where in the World to Go on Mars and Why

This viewgraph presentation provides information on the selection process for determining the landing sites for the Mars Exploration Rovers (MERs) launched in 2003. The presentation covers the mission, instruments, and science goals of the MERs, and lists landing site constraints. The profiles of candidate landing sites include images and characteristics for each. Marsoweb, an Internet resource for analyzing data from Mars missions, is also profiled.

Deardorff, Glenn↗

NASA NTRS2000

Remote Enantioselection Transmitted by an Achiral Peptide Nucleic Acid Backbone

short homochiral segment of DNA into a PNA helix could have guaranteed that the next short segment of DNA to be incorporated would have the same handedness as the first. Once two segments of the same handedness were present, the probability that a third segment would have the same handedness would increase, and so on. Evolution could then slowly dilute out the PNA part. This scenario would ultimately allow the formation of a chiral oligonucleotide by processes that are largely resistant to enantiomeric crossinhibition. It is important to note that the ligation of homochiral dinucleotides on a nucleic acid template would probably be at least as enantiospecific as the reaction that we have studied. The disadvantage of using chiral monomers as components of a replicating system arises from the difficulty of generating a first long homochiral template from a racemic mixture of monomers, although results of experiments designed to overcome this difficulty by employing homochiral tetramers have been reported.l l The probability of obtaining a homochiral n-mer from achiral substrates is approximately 1P-I if the nontemplate-directed extension of the primer is not enantioselective. Hence, it would be very hard to get started with a homochiral 40-mer, for example. No such difficulty exists in a scenario that originates with an achiral genetic material and in which the incorporation of very few chiral monomers in this achiral background gradually progresses towards homochirality. It seems possible that some PNA sequences could act as catalysts, analogous to ribozymes, even though PNA lacks clear metal binding sites. Although such catalysts could not be enantioselective, the incorporation of as few as two chiral nucleotides could then impose chiral specificity on the system. Furthermore, such patch chimeras could help to bridge the gap in catalytic potential between PNA and RNA, while guaranteeing enantioselectivity.

Kozlov, Igor A.↗

NASA NTRS2003

Entry Trajectory and Atmosphere Reconstruction Methodologies for the Mars Exploration Rover Mission

The Mars Exploration Rover (MER) mission will land two landers on the surface of Mars, arriving in January 2004. Both landers will deliver the rovers to the surface by decelerating with the aid of an aeroshell, a supersonic parachute, retro-rockets, and air bags for safely landing on the surface. The reconstruction of the MER descent trajectory and atmosphere profile will be performed for all the phases from hypersonic flight through landing. A description of multiple methodologies for the flight reconstruction is presented from simple parameter identification methods through a statistical Kalman filter approach.

Desai, Prasun N.↗

NASA NTRS2004

Mars Exploration Rover Terminal Descent Mission Modeling and Simulation

Because of NASA's added reliance on simulation for successful interplanetary missions, the MER mission has developed a detailed EDL trajectory modeling and simulation. This paper summarizes how the MER EDL sequence of events are modeled, verification of the methods used, and the inputs. This simulation is built upon a multibody parachute trajectory simulation tool that has been developed in POST I1 that accurately simulates the trajectory of multiple vehicles in flight with interacting forces. In this model the parachute and the suspended bodies are treated as 6 Degree-of-Freedom (6 DOF) bodies. The terminal descent phase of the mission consists of several Entry, Descent, Landing (EDL) events, such as parachute deployment, heatshield separation, deployment of the lander from the backshell, deployment of the airbags, RAD firings, TIRS firings, etc. For an accurate, reliable simulation these events need to be modeled seamlessly and robustly so that the simulations will remain numerically stable during Monte-Carlo simulations. This paper also summarizes how the events have been modeled, the numerical issues, and modeling challenges.

Raiszadeh, Behzad↗

NASA NTRS2004

Lunar and Planetary Science XXXV: Mars Missions

The session "Mars Missions" included the following reports:Future Planetary Surface Imager Development by the Beagle 2 Stereo Camera System Team; Localization, Localization, Localization; Preliminary Assessment of Mars Exploration Rover Landing Site Predictions; Spirit at Gusev Crater: Preliminary Observations, Potential Processes and Hypotheses; MER Field Geologic Traverse in Gusev Crater, Mars: Initial Results From the Perspective of Spirit; Coordinated Observations of Aeolian Features from the Mars Exploration Rovers (MER) and the Mars Express High Resolution Stereo Camera and Other Orbiters; Soil and Rock Physical Properties at the Mars Exploration Rover Landing Sites: Early Returns; Transient Liquid Water as a Mechanism for Induration of Soil Crusts on Mars; First Results of the Athena Microscopic Imager Investigation; APXS on Mars: Analyses of Soils and Rocks at Gusev Crater and Meridiani Planum; Mars Exploration Rover Panoramic Camera Multidimensional Analyses and Surface Spectral Variability ; Hematite at Meridiani Planum: Detailed Spectroscopic Observations and Testable Hypotheses; Maussbauer Spectroscopy of Soils and Rocks at Gusev Crater and Meridiani Planum; and Student Interns Work on Mars.

Source record↗

NASA NTRS2004

MARIE: Current Status and Results from 20 Months of Observations at Mars

The MARIE instrument aboard the 2001 Mars Odyssey spacecraft detects energetic charged particles in the Galactic Cosmic Radiation (GCR) and during solar particle events (SPE) [1]. As of this writing (January 2004), MARIE has been turned off, after losing communication with the spacecraft during the large SPE of October 28, 2003. However, during the prior 20 months, MARIE collected data almost continuously, observing several solar events and the nearly-constant GCR. There is still a possibility the instrument can be recovered, and troubleshooting efforts are scheduled to begin in May 2004, following the completion of the primary missions of MER-A (Spirit) and MER-B (Opportunity). At present, Odyssey is acting as a telecommunications relay for the rovers and only routine science operations are permitted in this mode.

Zeitlin, C.↗

NASA NTRS2004

Solution-Phase Processes of Macromolecular Crystallization

We have proposed, for the tetragonal form of chicken egg lysozyme, that solution phase assembly processes are needed to form the growth units for crystal nucleation and growth. The starting point for the self-association process is the monomeric protein, and the final crystallographic symmetry is defined by the initial dimerization interactions of the monomers and subsequent n-mers formed, which in turn are a function of the crystallization conditions. It has been suggested that multimeric proteins generally incorporate the underlying multimers symmetry into the final crystallographic symmetry. We posed the question of what happens to a protein that is known to grow as an n-mer when it is placed in solution conditions where it is monomeric. The trypsin-treated, or cut, form of the protein canavalin (CCAN) has been shown to nucleate and grow crystals as a trimer from neutral to slightly acidic solutions. Under these conditions the solution is composed almost wholly of trimers. The insoluble protein can be readily dissolved by weakly basic solution, which results in a solution that is monomeric. There are three possible outcomes to an attempt at crystallization of the protein under monomeric (high pH) conditions: 1) we will obtain the same crystals as under trimer conditions, but at different protein concentrations governed by the self association equilibria; 2) we will obtain crystals having a different symmetry, based upon a monomeric growth unit; 3) we will not obtain crystals. Obtaining the first result would be indicative that the solution-phase self-association process is critical to the crystal nucleation and growth process. The second result would be less clear, as it may also reflect a pH-dependent shift in the trimer-trimer molecular interactions. The third result, particularly for experiments in the transition pH's between trimeric and monomeric CCAN, would indicate that the monomer does not crystallize, and that solution phase self association is not part of the crystal nucleation and growth path. Results are presented for crystallization experiments of CCAN over the pH 6.8 to 9.6 range.

Pusey, Marc L.↗

NASA NTRS2004

High Gain Antenna Gimbal for the 2003-2004 Mars Exploration Rover Program

The High Gain Antenna Assemblies built for the 2003-2004 Mars Exploration Rover (MER) missions provide the primary communication link for the Rovers once they arrive on Mars. The High Gain Antenna Gimbal (HGAG) portion of the assembly is a two-axis gimbal that provides the structural support, pointing, and tracking for the High Gain Antenna (HGA). The MER mission requirements provided some unique design challenges for the HGAG. This paper describes all the major subsystems of the HGAG that were developed to meet these challenges, and the requirements that drove their design.

Sokol, Jeff↗

NASA NTRS2004

An Ontology for Requesting Distant Robotic Action: A Case Study in Naming and Action Identification for Planning on the Mars Exploration Rover Mission

This paper focuses on the development and use of the abbreviated names as well as an emergent ontology associated with making requests for action of a distant robotic rover during the 2003-2004 NASA Mars Exploration Rover (MER) mission, run by the Jet Propulsion Laboratory. The infancy of the domain of Martian telerobotic science, in which specialists request work from a rover moving through the landscape, as well as the need to consider the interdisciplinary teams involved in the work required an empirical approach. The formulation of this ontology is grounded in human behavior and work practice. The purpose of this paper is to identify general issues for an ontology of action (specifically for requests for action), while maintaining sensitivity to the users, tools and the work system within a specific technical domain. We found that this ontology of action must take into account a dynamic environment, changing in response to the movement of the rover, changes on the rover itself, as well as be responsive to the purposeful intent of the science requestors. Analysis of MER mission events demonstrates that the work practice and even robotic tool usage changes over time. Therefore, an ontology must adapt and represent both incremental change and revolutionary change, and the ontology can never be more than a partial agreement on the conceptualizations involved. Although examined in a rather unique technical domain, the general issues pertain to the control of any complex, distributed work system as well as the archival record of its accomplishments.

Wales, Roxana C.↗

NASA NTRS2003

Optimization of single-base-pair mismatch discrimination in oligonucleotide microarrays

The discrimination between perfect-match and single-base-pair-mismatched nucleic acid duplexes was investigated by using oligonucleotide DNA microarrays and nonequilibrium dissociation rates (melting profiles). DNA and RNA versions of two synthetic targets corresponding to the 16S rRNA sequences of Staphylococcus epidermidis (38 nucleotides) and Nitrosomonas eutropha (39 nucleotides) were hybridized to perfect-match probes (18-mer and 19-mer) and to a set of probes having all possible single-base-pair mismatches. The melting profiles of all probe-target duplexes were determined in parallel by using an imposed temperature step gradient. We derived an optimum wash temperature for each probe and target by using a simple formula to calculate a discrimination index for each temperature of the step gradient. This optimum corresponded to the output of an independent analysis using a customized neural network program. These results together provide an experimental and analytical framework for optimizing mismatch discrimination among all probes on a DNA microarray.

NASA Discipline Life Sciences Technologies↗

NASA NTRS2002

2'-modified nucleosides for site-specific labeling of oligonucleotides

We report the synthesis of 2'-modified nucleosides designed specifically for incorporating labels into oligonucleotides. Conversion of these nucleosides to phosphoramidite and solid support-bound derivatives proceeds in good yield. Large-scale synthesis of 11-mer oligonucleotides possessing the 2'-modified nucleosides is achieved using these derivatives. Thermal denaturation studies indicate that the presence of 2'-modified nucleosides in 11-mer duplexes has minimal destabilizing effects on the duplex structure when the nucleosides are placed at the duplex termini. The powerful combination of phosphoramidite and support-bound derivatives of 2'-modified nucleosides affords the large-scale preparation of an entirely new class of oligonucleotides. The ability to synthesize oligonucleotides containing label attachment sites at 3', intervening, and 5' locations of a duplex is a significant advance in the development of oligonucleotide conjugates.

Non-NASA Center↗