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NASA NTRS2004

First Results of the Athena Microscopic Imager Investigation

The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI). The MI is a fixed-focus camera mounted on an extendable arm, the Instrument Deployment Device (IDD). The MI acquires images at a spatial resolution of 30 microns/pixel over a broad spectral range (400 - 700 nm). The MI uses the same electronics design as the other MER cameras but its optics yield a field of view of 31 x 31 mm across a 1024 x 1024 pixel CCD image. The MI acquires images using only solar or skylight illumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 69 mm), allowing concave surfaces to be imaged in good focus. Coarse focusing (approx. 2 mm precision) is achieved by moving the IDD away from a rock target after contact is sensed. The MI optics are protected from the Martian environment by a retractable dust cover. This cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500 - 700 nm, allowing crude color information to be obtained by acquiring images with the cover open and closed. The MI science objectives, instrument design and calibration, operation, and data processing were described by Herkenhoff et al. Initial results of the MI experiment on both MER rovers ('Spirit' and 'Opportunity') are described below.

Herkenhoff, K.↗

NASA NTRS2004

Mars Exploration Rover Panoramic Camera Multidimensional Analyses and Surface Spectral Variability

The Mars Exploration Rover (MER) panoramic camera system (Pancam) has provided surface-based multispectral image data with unprecedented spatial and radiometric fidelity. The spectral coverage of the camera system allows for the discrimination of important Fe2+ and Fe3+ bearing minerals expected to occur on the Martian surface . This paper explores the spatially coherent and structurally consistent spectral variability present at both the Spirit and Opportunity landing sites using multidimensional analysis of representative Pancam multispectral scenes.

Seelos, F. P., IV↗

NASA NTRS2004

High-Resolution Topomapping of Mars: Life After MER Site Selection

In this abstract we describe our ongoing use of high-resolution images from the Mars Global Surveyor Mars Orbiter Camera Narrow-Angle subsystem (MGS MOC-NA) to derive quantitative topographic and slope data for the martian surface at 3 - 10-m resolution. Our efforts over the past several years focused on assessment of candidate landing sites for the Mars Exploration Rovers (MER) and culminated in the selection of sites in Gusev crater and Meridiani Planum as safe as well as scientifically compelling. As of this writing, MER-A (Spirit) has landed safely in Gusev and we are performing a limited amount of additional mapping near the landing point to support localization of the lander and rover operations planning. The primary focus of our work, however, has been extending our techniques to sample a variety of geologic terrains planetwide to support both a variety of geoscientific studies and planning and data analysis for missions such as Mars Express, Mars Reconnaissance Orbiter, and Phoenix.

Kirk, R. L.↗

NASA NTRS2004

Lunar and Planetary Science XXXV: Mars: Hydrology, Drainage, and Valley Systems

The titles in this section include: 1) Analysis of Orientation Dependence of Martian Gullies; 2) A Preliminary Relationship between the Depth of Martian Gullies and the Abundance of Hydrogen on Near-Surface Mars; 3) Water Indicators in Sirenum Terra and around the Argyre Impact Basin, Mars; 4) The Distribution of Gullies and Tounge-shaped Ridges and Their Role in the Degradation of Martian Craters; 5) A Critical Evaluation of Crater Lake Systems in Memnonia Quadrangle, Mars; 6) Impact-generated Hydrothermal Activity at Gusev Crater: Implications for the Spirit Mission; 7) Characterization of the Distributary Fan in Holden NE Crater using Stereo Analysis; 8) Computational Analysis of Drainage Basins on Mars: Appraising the Drainage Density; 9) Hypsometric Analyses of Martian Basins: A Comparison to Terrestrial, Lunar, and Venusian Hypsometry; 10) Morphologic Development of Harmakhis Vallis, Mars; 11) Mangala Valles, Mars: Investigations of the source of Flood Water and Early Stages of Flooding; 12) The Formation of Aromatum Chaos and the Water Discharge Rate at Ravi Vallis; 13) Inferring Hydraulics from Geomorphology for Athabasca Valles, Mars; 14) The Origin and Evolution of Dao Vallis: Formation and Modification of Martian Channels by Structural Collapse and Glaciation; 15) Snowmelt and the Formation of Valley Networks on Martian Volcanoes; 16) Extent of Floating Ice in an Ancient Echus Chasma/Kasei Valley System, Mars.

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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

Lunar and Planetary Science XXXV: Mars: Surface Coatings, Mineralogy, and Surface Properties

The session "Mars: Surface Coatings, Mineralogy, and Surface Properties" contained the following reports:High-Silica Rock Coatings: TES Surface-Type 2 and Chemical Weathering on Mars; Old Desert Varnish-like Coatings and Young Breccias at the Mars Pathfinder Landing Site; Analyses of IR-Stealthy and Coated Surface Materials: A Comparison of LIBS and Reflectance Spectra and Their Application to Mars Surface Exploration; Contrasting Interpretations of TES Spectra of the 2003 Rover:Opportunity-Landing Site: Hematite Coatings and Gray Hematite; A New Hematite Formation Mechanism for Mars; Geomorphic and Diagenetic Analogs to Hematite Regions on Mars: Examples from Jurassic Sandstones of Southern Utah, USA; The Geologic Record of Early Mars: A Layered, Cratered, and "Valley-"ed: Volume; A Simple Approach to Estimating Surface Emissivity with THEMIS; A Large Scale Topographic Correction for THEMIS Data; Thermophysical Properties of Meridiani Planum, Mars; Thermophysical and Spectral Properties of Gusev, the MER-Spirit Landing Site on Mars; Determining Water Content of Geologic Materials Using Reflectance Spectroscopy; and Global Mapping of Martian Bound Water at 6.1 Microns Based on TES Data: Seasonal Hydration.

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NASA NTRS2004

Radar Observations of Recent Mars Landing Sites

The Mars Exploration Rovers Spirit and Opportunity will arrive at their respective landing sites of Gusev Crater and Terra Meridiani in January 2004. During the 2001 and 2003 Mars Oppositions both landing sites were targeted for a series of radar observations using the telescopes of the Goldstone Deep Space Communications Complex (GDSCC). This paper will present results of terrestrial delay- Doppler radar observations of the landing sites, predictions for the surface properties that will be encountered, and, after successful landings, correlation between the predicted and observed surface properties. The in-situ observations made by both missions serve as ground truth for the validation of the high resolution radar mapping results.

Larsen, K. W.↗

NASA NTRS2004

Mars Dust: Characterization of Particle Size and Electrostatic Charge Distributions

Some of the latest pictures of Mars surface sent by NASA s Spirit rover in early January, 2004, show very cohesive, mud-like dust layers. Significant amounts of dust clouds are present in the atmosphere of Mars. NASA spacecraft missions to Mars confirmed hypotheses from telescopic work that changes observed in the planet s surface markings are caused by wind-driven redistribution of dust. In these dust storms, particles with a wide range of diameters (< 1 m to 50 m) are a serious problem to solar cells, spacecraft, and spacesuits. Dust storms may cover the entire planet for an extended period of time. It is highly probable that the particles are charged electrostatically by triboelectrification and by UV irradiation.

Mazumder, M. K.↗

NASA NTRS2004

Mixed-Initiative Constraint-Based Activity Planning for Mars Exploration Rovers

In January, 2004, two NASA rovers, named Spirit and Opportunity, successfully landed on Mars, starting an unprecedented exploration of the Martian surface. Power and thermal concerns constrained the duration of this mission, leading to an aggressive plan for commanding both rovers every day. As part of the process for generating these command loads, the MAPGEN tool provides engineers and scientists an intelligent activity planning tool that allows them to more effectively generate complex plans that maximize the science return each day. The key to'the effectiveness of the MAPGEN tool is an underlying artificial intelligence plan and constraint reasoning engine. In this paper we outline the design and functionality of the MAEPGEN tool and focus on some of the key capabilities it offers to the MER mission engineers.

Bresina, John↗

NASA NTRS1998

A remotely interrogatable sensor for chemical monitoring

A new type of continuously operating, in-situ, remotely monitored sensor is presented. The sensor is comprised of a thin film array of magnetostatically coupled, magnetically soft ferromagnetic thin film structures, adhered to or encased within a thin polymer layer. The polymer is made so that it swells or shrinks in response to the chemical analyte of interest, which in this case is pH. As the polymer swells or shrinks, the magnetostatic coupling between the magnetic elements changes, resulting in changes in the magnetic switching characteristics of the sensor. Placed within a sinusoidal magnetic field the magnetization vector of the coupled sensor elements periodically reverses directions, generating magnetic flux that can be remotely detected as a series of voltage spikes in appropriately placed pickup coils. one preliminary sensor design consists of four triangles, initially spaced approximately 50 micrometers apart, arranged to form a 12 mm x 12 mm square with the triangle tips centered at a common origin. Our preliminary work has focused on monitoring of pH using a lightly crosslinked pH sensitive polymer layer of hydroxyethylmethacrylate and 2-(dimethylamino) ethylmethacrylate. As the polymer swells or shrinks the magnetostatic coupling between the triangles changes, resulting in measurable changes in the amplitude of the detected voltage spirits.

Non-NASA Center↗

NASA NTRS2004

Mars Exploration Rovers Landing Dispersion Analysis

Landing dispersion estimates for the Mars Exploration Rover missions were key elements in the site targeting process and in the evaluation of landing risk. This paper addresses the process and results of the landing dispersion analyses performed for both Spirit and Opportunity. The several contributors to landing dispersions (navigation and atmospheric uncertainties, spacecraft modeling, winds, and margins) are discussed, as are the analysis tools used. JPL's MarsLS program, a MATLAB-based landing dispersion visualization and statistical analysis tool, was used to calculate the probability of landing within hazardous areas. By convolving this with the probability of landing within flight system limits (in-spec landing) for each hazard area, a single overall measure of landing risk was calculated for each landing ellipse. In-spec probability contours were also generated, allowing a more synoptic view of site risks, illustrating the sensitivity to changes in landing location, and quantifying the possible consequences of anomalies such as incomplete maneuvers. Data and products required to support these analyses are described, including the landing footprints calculated by NASA Langley's POST program and JPL's AEPL program, cartographically registered base maps and hazard maps, and flight system estimates of in-spec landing probabilities for each hazard terrain type. Various factors encountered during operations, including evolving navigation estimates and changing atmospheric models, are discussed and final landing points are compared with approach estimates.

Knocke, Philip C.↗

NASA NTRS2003

The Fourier-Kelvin Stellar Interferometer (FKSI): A Discovery Class TPF/DARWIN Pathfinder Mission Concept

The Fourier-Kelvin Stellar Interferometer (FKSI) is a mission concept for an imaging and nulling interferometer for the mid-infrared spectral region (5-30 microns). FKSI is conceived as a scientific and technological pathfinder to TPF/DARWIN as well as SPIRIT, SPECS, and SAFIR. It will also be a high angular resolution system complementary to NGST. The scientific emphasis of the mission is on the evolution of protostellar systems, from just after the collapse of the precursor molecular cloud core, through the formation of the disk surrounding the protostar, the formation of planets in the disk, and eventual dispersal of the disk material. FKSI will also search for brown dwarfs and Jupiter mass and smaller planets, and could also play a very powerful role in the investigation of the structure of active galactic nuclei and extra-galactic star formation. We have been studying alternative interferometer architectures and beam combination techniques, and evaluating the relevant science and technology tradeoffs. Some of the technical challenges include the development of the cryocooler systems necessary for the telescopes and focal plane array, light and stiff but well-damped truss systems to support the telescopes, and lightweight and coolable optical telescopes. We present results of detailed design studies of the FKSI starting with a design consisting of five one meter diameter telescopes arranged along a truss structure in a linear non-redundant array, cooled to 35 K. A maximum baseline of 20 meters gives a nominal resolution of 26 mas at 5 microns. Using a Fizeau beam combination technique, a simple focal plane camera could be used to obtain both Fourier and spectral data simultaneously for a given orientation of the array. The spacecraft will be rotated to give sufficient Fourier data to reconstruct complex images of a broad range of astrophysical sources. Alternative and simpler three and two telescope designs emphasizing nulling and spectroscopy also have been investigated and will be discussed.

Danchi, W. C.↗

NASA NTRS2005

The Fourier-Kelvin Stellar Interferometer (FKSI): A Progress Report and Preliminary Results from Our Laboratory Testbed

The Fourier-Kelvin Stellar Interferometer (FKSI) is a mission concept for an imaging and nulling interferometer for the near-infrared to mid-infrared spectral region (3-8 microns). FKSI is conceived as a scientific and technological pathfinder to TPF/DARWIN as well as SPIRIT, SPECS, and SAFIR. It will also be a high angular resolution system complementary to JWST. The scientific emphasis of the mission is on the evolution of protostellar systems, from just after the collapse of the precursor molecular cloud core, through the formation of the disk surrounding the protostar, the formation of planets in the disk, and eventual dispersal of the disk material. FKSI will also search for brown dwarfs and Jupiter mass and smaller planets, and could also play a very powerful role in the investigation of the structure of active galactic nuclei and extra-galactic star formation. We report additional studies of the imaging capabilities of the FKSI with various configurations of two to five telescopes, studies of the capabilities of FKSI assuming an increase in long wavelength response to 10 or 12 microns (depending on availability of detectors), and preliminary results from our nulling testbed.

Berry, Richard↗

NASA NTRS2005

The Ames MER Microscopic Imager Toolkit

The Mars Exploration Rovers, Spirit and Opportunity, have spent several successful months on Mars, returning gigabytes of images and spectral data to scientists on Earth. One of the instruments on the MER rovers, the Athena Microscopic Imager (MI), is a fixed focus, megapixel camera providing a plus or minus mm depth of field and a 3lx31mm field of view at a working distance of 63 mm from the lens to the object being imaged. In order to maximize the science return from this instrument, we developed the Ames MI Toolkit and supported its use during the primary mission. The MI Toolkit is a set of programs that operate on collections of MI images, with the goal of making the data more understandable to the scientists on the ground. Because of the limited depth of field of the camera, and the often highly variable topography of the terrain being imaged, MI images of a given rock are often taken as a stack, with the Instrument Deployment Device (IDD) moving along a computed normal vector, pausing every few millimeters for the MI to acquire an image. The MI Toolkit provides image registration and focal section merging, which combine these images to form a single, maximally in-focus image, while compensating for changes in lighting as well as parallax due to the motion of the camera. The MI Toolkit also provides a 3-D reconstruction of the surface being imaged using stereo and can embed 2-D MI images as texture maps into 3-D meshes produced by other imagers on board the rover to provide context. The 2-D images and 3-D meshes output from the Toolkit are easily viewed by scientists using other mission tools, such as Viz or the MI Browser. This paper describes the MI Toolkit in detail, as well as our experience using it with scientists at JPL during the primary MER mission.

Sargent, Randy↗

NASA NTRS2005

Spectral Diversity at Gusev Crater from Coordinated Mini-TES and Pancam Observations

During the last year the Spirit rover has explored Gusev crater with the Athena payload. Two remote sensing instruments collected spectral information at visible (Pancam) and at thermal infrared Mini-TES) wavelengths. Observations for these instruments were coordinated and targeted to determine the mineralogical diversity and identify specific lithologies / end members for detailed investigations with the rest of the payload. Initial results were reported last spring. A wide range of materials have been measured including outcrops, rocks, and soils. Both natural and brushed/ratted rocks and natural and disturbed soils have also been measured permitting investigations of coating and soil structure. As of Jan 9, 2005, over 400 coordinated observations have been made.

Blaney, D. L.↗

NASA NTRS2005

Lunar and Planetary Science XXXVI, Part 3

Topics discussed include: Characterization of Non-Organized Soils at Gusev Crater with the Spirit Rover Data; Searching for Life with Rovers: Exploration Methods & Science Results from the 2004 Field Campaign of the "Life in the Atacama" Project and Applications to Future Mars Missions; Analysis of the Lunar Surface with Global Mineral and Mg-Number Maps ALH77005: The Magmatic History from Rehomogenized Melt Inclusions; New 70-cm Radar Mapping of the Moon; Cryptomare Deposits Revealed by 70-cm Radar; Construction of a PZT Sensor Network for Low and Hypervelocity Impact Detection; Palmer Quest: A Feasible Nuclear Fission "Vision Mission" to the Mars Polar Caps; Physical Properties of Volcanic Deposits on Venus from Radar Polarimetry; Science Alert Demonstration with a Rover Traverse Science Data Analysis System; Earth and Mars, Similar Features and Parallel Lives? Didactic Activities; Expected Constraints on Rhea s Interior from Cassini; Microbially Induced Precipitates: Examples from CO3, Si-, Mn- and Fe-rich Deposits; Li, B - Behavior in Lunar Basalts During Shock and Thermal Metamorphism: Implications for H2O in Martian Magmas; Evaluation of CO Self-Shielding as a Possible Mechanism for Anomalous Oxygen Isotopic Composition of Early Solar System Materials; Effect of Ground Ice on Apparent Thermal Inertia on Mars; Utah Marbles and Mars Blueberries: Comparative Terrestrial Analogs for Hematite Concretions on Mars; Newly Discovered Meteor Crater Metallic Impact Spherules: Report and Implications; and Evidence of Very Young Glacial Processes in Central Candor Chasma, Mars.

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NASA NTRS2005

Mineral Composition and Abundance of the Rocks and Soils at Gusev and Meridiani from the Mars Exploration Rover Mini-TES Instruments

The Miniature Thermal Emission Spectrometer (Mini-TES) has provided remote measurements of mineralogy, thermophysical properties, and atmospheric temperature profile and composition of the outcrops, rocks, spherules, and soils surrounding the Spirit and Opportunity Rovers. The mineralogy of volcanic rocks provides insights into the composition of the source regions and the nature of martian igneous processes. Carbonates, sulfates, evaporites, and oxides provide information on the role of water in the surface evolution. Oxides, such as crystalline hematite, provide insight into aqueous weathering processes, as would the occurrence of clay minerals and other weathering products. Diurnal temperature measurements can be used to determine particle size and search for the effects of sub-surface layering, which in turn provide clues to the origin of surficial materials through rock disintegration, aeolian transport, atmospheric fallout, or induration. In addition to studying the surface properties, Mini-TES spectra have also been used to determine the temperature profile in the lower boundary layer, providing evidence for convective activity, and have determined the seasonal trends in atmospheric temperature and dust and cloud opacity.

Christensen, P. R.↗

NASA NTRS2005

Astrobiology and the Basaltic Plains in Gusev Crater

This report assesses the availability of nutrient elements, energy and liquid water on the plains surrounding Columbia Memorial Station by evaluating observations by the MER rover Spirit in the context of previous Mars missions, Earth-based studies of martian meteorites and studies of microbial communities on Earth that represent potential analogs of martian biota.

DesMarais, D. J.↗