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Dreaming on Mars: How Curiosity Performs Actuator Warm-Up While Sleeping

Before the Curiosity rover can perform its science activities for the day, such as driving, moving its robotic arm, or drilling, it first has to ensure that its actuators are within their allowable flight temperatures (AFTs). When the rover is awake, flight software uses heaters to warm up and maintain thermal zones at operational temperatures. However, Curiosity spends about 70% of its time sleeping, with the flight computer off, in order to conserve energy. Dream Mode is a special behavior that allows the rover to execute warm-up activities while sleeping. Using Dream Mode, actuators can be warmed up to their AFTs before the flight computer wakes up and uses them - saving power and improving operational efficiency. This paper describes the motivation behind Dream Mode, how it was implemented and tested on Curiosity, and the challenges and lessons learned along the way.

fault protection↗

Carbon and Sulfur Isotopic Composition of Yellowknife Bay Sediments: Measurements by the Sample Analysis at Mars (SAM) Quadrupole Mass Spectrometer

Since landing at Gale Crater in Au-gust 2012, the Sample Analysis at Mars (SAM) instru-ment suite on the Mars Science Laboratory (MSL) “Curiosity” rover has analyzed solid samples from the martian regolith in three locations, beginning with a scoop of aeolian deposits from the Rocknest (RN) sand shadow. Curiosity subsequently traveled to Yellowknife Bay, where SAM analyzed samples from two separate holes drilled into the Sheepbed Mudstone, designated John Klein (JK) and Cumberland (CB). Evolved gas analysis (EGA) of all samples revealed the presence of H2O as well as O-, C- and S-bearing phas-es, in most cases at abundances below the detection limit of the CheMin instrument. In the absence of definitive mineralogical identification by CheMin, SAM EGA data can help provide clues to the mineralogy of volatile-bearing phases through examination of tem-peratures at which gases are evolved from solid sam-ples. In addition, the isotopic composition of these gas-es may be used to identify possible formation scenarios and relationships between phases. Here we report C and S isotope ratios for CO2 and SO2 evolved from the JK and CB mudstone samples as measured with SAM’s quadrupole mass spectrometer (QMS) and draw com-parisons to RN.

Franz, H. B.↗

Crystal-Chemical Analysis Martian Minerals in Gale Crater

The CheMin instrument on the Mars Science Laboratory rover Curiosity performed X-ray diffraction analyses on scooped soil at Rocknest and on drilled rock fines at Yellowknife Bay (John Klein and Cumberland samples), The Kimberley (Windjana sample), and Pahrump (Confidence Hills sample) in Gale crater, Mars. Samples were analyzed with the Rietveld method to determine the unit-cell parameters and abundance of each observed crystalline phase. Unit-cell parameters were used to estimate compositions of the major crystalline phases using crystal-chemical techniques. These phases include olivine, plagioclase and clinopyroxene minerals. Comparison of the CheMin sample unit-cell parameters with those in the literature provides an estimate of the chemical compositions of the major crystalline phases. Preliminary unit-cell parameters, abundances and compositions of crystalline phases found in Rocknest and Yellowknife Bay samples were reported in. Further instrument calibration, development of 2D-to- 1D pattern conversion corrections, and refinement of corrected data allows presentation of improved compositions for the above samples.

Morrison, S. M.↗

The Development of the Chemin Mineralogy Instrument and Its Deployment on Mars (and Latest Results from the Mars Science Laboratory Rover Curiosity)

The CheMin instrument (short for "Chemistry and Mineralogy") on the Mars Science Laboratory rover Curiosity is one of two "laboratory quality" instruments on board the Curiosity rover that is exploring Gale crater, Mars. CheMin is an X-ray diffractometer that has for the first time returned definitive and fully quantitative mineral identifications of Mars soil and drilled rock. I will describe CheMin's 23-year development from an idea to a spacecraft qualified instrument, and report on some of the discoveries that Curiosity has made since its entry, descent and landing on Aug. 6, 2012, including the discovery and characterization of the first habitable environment on Mars.

Mars↗

The Nitrate/Perchlorate Ratio on Mars as an Indicator for Habitability

Discovery of indigenous martian nitrogen in Mars surface materials has important implications for habitability and the potential development of a nitrogen cycle at some point in martian history. The Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) Curiosity Rover detected evolved nitric oxide (NO) gas during pyrolysis of scooped aeolian sediments and drilled mudstone acquired in Gale Crater. The detection of NO suggests an indigenous source of fixed N, and may indicate a mineralogical sink for atmospheric N2 in the form of nitrate. The ratio of nitrate to oxychlorine species (e.g. perchlorate) may provide insight into the extent of development of a nitrogen cycle on Mars.

Stern, J. C.↗

The Nitrate/Perchlorate Ratio on Mars as an Indicator for Habitability

Discovery of indigenous martian nitrogen in Mars surface materials has important implications for habitability and the potential development of a nitrogen cycle at some point in martian history. The Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) Curiosity Rover detected evolved nitric oxide (NO) gas during pyrolysis of scooped aeolian sediments and drilled mudstone acquired in Gale Crater. The detection of NO suggests an indigenous source of fixed N, and may indicate a mineralogical sink for atmospheric N2 in the form of nitrate. The ratio of nitrate to oxychlorine species (e.g. perchlorate) may provide insight into the extent of development of a nitrogen cycle on Mars.

Mars↗

Is Tridymite at Gale Crater Evidence for Silicic Volcanism on Mars?

The X-ray diffraction (XRD) instrument (CheMin) onboard the MSL rover Curiosity detected 17 wt% of the SiO2 polymorph tridymite (relative to bulk sample) for the Buckskin drill sample (73 wt% SiO2) obtained from sedimentary rock in the Murray formation at Gale Crater, Mars. Other detected crystalline materials are plagioclase, sanidine, cristobalite, cation-deficient magnetite, and anhydrite. XRD amorphous material constitutes approx. 60 wt% of bulk sample, and the position of its broad diffraction peak near approx. 26 deg. 2-theta is consistent with opal-A. Tridymite is a lowpressure, high-temperature mineral (approx. 870 to 1670 deg. C) whose XRD-identified occurrence on the Earth is usually associated with silicic (e.g., rhyolitic) volcanism. High SiO2 deposits have been detected at Gale crater by remote sensing from martian orbit and interpreted as opal-A on the basis H2O and Si-OH spectral features. Proposed opal-A formation pathways include precipitation of silica from lake waters and high-SiO2 residues of acid-sulfate leaching. Tridymite is nominally anhydrous and would not exhibit these spectral features. We have chemically and spectrally analyzed rhyolitic samples from New Mexico and Iwodake volcano (Japan). The glassy (by XRD) NM samples have H2O spectral features similar to opal-A. The Iwodake sample, which has been subjected to high-temperature acid sulfate leaching, also has H2O spectral features similar to opal-A. The Iwodake sample has approx. 98 wt% SiO2 and 1% wt% TiO2 (by XRF), tridymite (>80 wt.% of crystalline material without detectable quartz by XRD), and H2O and Si-OH spectral features. These results open the working hypothesis that the opal-A-like high-SiO2 deposits at Gale crater detected from martian orbit are products of alteration associated with silicic volcanism. The presence or absence of tridymite will depend on lava crystallization temperatures (NM) and post crystallization alteration temperatures (Iwodake).

Morris, Richard V.↗

Chemistry and Crystallography of Diagenetic, Authigenic, and Igneous Potassium Feldspar: Implications for Sedimentary Petrology in Gale Crater, Mars

The Mars Science Laboratory Curiosity’s Chemistry and Mineralogy (CheMin) instrument performed X-ray diffraction (XRD) analysis of Gale Crater drill sample Windjana and found 21 wt.% nearly pure potassium feldspar in the disordered structural state of high-sanidine. The source of sanidine in Windjana is not clear – it could be detrital igneous, hydrothermal, or authigenic, with each possible source representing widely different implications for the sedimentary history of Gale Crater and igneous evolution of sediment sources. Here, we try to constrain the origin of the Windjana sanidine by determining unit-cell (UC) parameters and compositions of sanidines from a range of environments on Earth.

Ott, J. P.↗

High Resolution Imaging and Analysis of Terrestrial Impact Glass: Amorphous Materials, Phyllosilicates and Everything in Between

Introduction: Impact cratering is one of the most ubiquitous geologic processes shaping the surface of all solid bodies in our solar system. Impacts are also a major source of clay minerals, poorly crystalline clay-like phases and amorphous (i.e., lacking long-range atomic order) materials on Earth and Mars. Phyllosilicates and amorphous materials have consistently formed a major component (~20-70 wt%) of every single drilled rock and soil sample in Gale Crater on Mars, as determined by the CheMin instrument on Curiosity. The origin of the amorphous component is speculative, but could be primary impact or volcanic-produced glass(es) deposited via aeolian or fluvial processes, secondary aqueous alteration products or chemical precipitates; it is likely to be a combination of all three possibilities. Efforts to determine the composition of these materials across the rover’s traverse through Gale Crater are ongoing. Naturally occurring amorphous phases are found in a variety of environments on Earth, and terrestrial analogue studies may help shed light on how they may have formed on Mars. Primary and altered impact glass are likely widespread on Mars and may have contributed to the amorphous component found throughout Gale Crater. In its pristine, unaltered state, impact glass (i.e., melt glass) is considered amorphous. However, truly unaltered glass is rarely preserved in crater fill impactites as it quickly alters in the post-impact environ-ment, commonly forming a mixture of hydrated aluminosilicate phases whose structures are not always discernable at the microscale (i.e., they may be amorphous or contain short-range order). These phases are part of an incredibly complex group of materials; differences in their composition and crystalline structure (or lack thereof) and genetic relationship to the more well-crystalline clay minerals are often only discernable at the nanoscale, beyond the resolution of traditional X-ray diffractometers (XRD) and scanning electron microscopes/microprobes (SEM/EPMA) alone. In this contribution, we summarize recent results from ongoing characterization of clay minerals, poorly crystalline clay-like phases, and amorphous materials preserved in altered terrestrial impact glass from the Chicxulub (~66 Ma) and Ries (~15 Ma) impact structures. This work has been performed using a combination of high-resolution transmission electron microscopy (HR-TEM), SEM, microprobe/EPMA, Raman spectroscopy and XRD.

Impact crater↗

Decarboxylation of Carbon Compounds as a Potential Source for CO2 and CO Observed by SAM at Yellowknife Bay, Gale Crater, Mars

Martian carbon was detected in the Sheepbed mudtsone at Yellowknife Bay, Gale Crater, Mars by the Sample Analysis at Mars (SAM) instrument onboard Curiosity, the rover of the Mars Science Laboratory missio]. The carbon was detected as CO2 thermally evolved from drilled and sieved rock powder that was delivered to SAM as a <150-micron-particle- size fraction. Most of the CO2 observed in the Cumberland (CB) drill hole evolved between 150deg and 350deg C. In the John Klein (JK) drill hole, the CO2 evolved up to 500deg C. Hypotheses for the source of the the CO2 include the breakdown of carbonate minerals reacting with HCl released from oxychlorine compounds, combustion of organic matter by O2 thermally evolved from the same oxychlorine minerals, and the decarboxylation of organic molecules indigenous to the martian rock sample. Here we explore the potential for the decarboxylation hypothesis.

Eigenbrode, J. L.↗

Mars 2020: Mission, Science Objectives and Build

If all goes according to plan, in February 2021, NASA will land the Mars 2020 Rover on the surface of Mars. Mars 2020 is the latest in a series of unmanned Martian robotic rover missions that are part of NASA’s Mars Exploration Program, a long-term effort of robotic exploration of the planet. The mission seeks to address high-priority goals for Mars exploration, including answering questions about the potential for past life on Mars. Mars 2020 will look for evidence of habitable conditions on Mars in the ancient past, as well as look for signs of past microbial life itself. The mission also seeks to understanding the geological history and evolution of the planet, and to prepare for future robotic and human exploration. The Mars 2020 spacecraft and rover borrow heavily from the Mars Science Laboratory (MSL) mission and Curiosity rover which landed on Mars in 2012. This reliance on proven technology helps reduce mission risk and cost. Mars 2020 does contain new technology, including a drill for coring samples from Martian rock and soil and a Sample Caching System for gathering, storing and preserving samples for possible future return to Earth. In this paper, we will review the primary goals of the Mars 2020 Mission and look at the reasons for choosing Jezero Crater as the landing site. We will discuss the design and build of the Mars 2020 Spacecraft system and its similarities and differences with Mars Science Laboratory and the Curiosity Rover. We will also review the Mars 2020 Scientific Instrument Suite and their goals. Finally, we will review the Return Sample Contamination Control requirements and the design choices that were made to facilitate meeting these requirements.

Soares, Carlos E.↗

Update on the Chemical Composition Of Crystalline, Smectite, and Amorphous Components for Rocknest Soil and John Klein and Cumberland Mudstone Drill Fines at Gale Crater, Mars

We have previously calculated the chemical compositions of the X-ray-diffraction (XRD) amorphous component of three solid samples (Rocknest (RN) soil, John Klein (JK) drill fines, and Cumberland (CB) drill fines) using major-element chemistry (APXS), volatile-element chemistry (SAM), and crystalline- phase mineralogy (CheMin) obtained by the Curiosity rover as a part of the ongoing Mars Science Laboratory mission in Gale Crater. According to CheMin analysis, the RN and the JK and CB samples are mineralogically distinct in that RN has no detectable clay minerals and both JK and CB have significant concentrations of high-Fe saponite. The chemical composition of the XRD amorphous component is the composition remaining after mathematical removal of the compositions of crystalline components, including phyllosilicates if present. Subsequent to, we have improved the unit cell parameters for Fe-forsterite, augite, and pigeonite, resulting in revised chemical compositions for the XRD-derived crystalline component (excluding clay minerals). We update here the calculated compositions of amorphous components using these revised mineral compositions.

Morris, R. V.↗

Aqueous Alteration of Smectite in Acid-Sulfate Fluids: Implications for Clay Mineralogy at Gale Crater

The Chemistry and Mineralogy (CheMin) instrument on the Mars Science Laboratory (MSL) Rover, Curiosity, analyzes samples collected in Gale Crater, Mars using X-ray diffraction (XRD). One site of interest is the Oudam drill sample that CheMin analyzed on sols 1362, 1365, and 1369, which contains ~3 wt% phyllosilicate. XRD analysis of this phyllosilicate suggests a 2:1 Fe3+-smectite, akin to nontronite.

Rudolph, A. N.↗

Red Dragon Drill Missions to Mars

We present the concept of using a variant of a Space Exploration Technologies Corporation (SpaceX) Dragon space capsule as a low-cost, large-capacity, near-term, Mars lander (dubbed "Red Dragon") for scientific and human precursor missions. SpaceX initially designed the Dragon capsule for flight near Earth, and Dragon has successfully flown many times to low-Earth orbit (LEO) and successfully returned the Dragon spacecraft to Earth. Here we present capsule hardware modifications that are required to enable flight to Mars and operations on the martian surface. We discuss the use of the Dragon system to support NASA Discovery class missions to Mars and focus in particular on Dragon's applications for drilling missions. We find that a Red Dragon platform is well suited for missions capable of drilling deeper on Mars (at least 2 m) than has been accomplished to date due to its ability to land in a powered controlled mode, accommodate a long drill string, and provide payload space for sample processing and analysis. We show that a Red Dragon drill lander could conduct surface missions at three possible targets including the ice-cemented ground at the Phoenix landing site (68degN), the subsurface ice discovered near the Viking 2 (49degN) site by fresh impact craters, and the dark sedimentary subsurface material at the Curiosity site (4.5degS).

Drill↗

The Investigation of Perchlorate/Iron Phase Mixtures as A Possible Source of Oxygen Detected by the Sample Analysis at Mars (SAM) Instrument in Gale Crater, Mars

The Sample Analysis at Mars (SAM) instrument onboard the Curiosity rover detected O2 and HCl gas releases from the Rocknest (RN) eolian bedform and the John Klein (JK) and Cumberland (CB) drill hole materials in Gale Crater. Chlorinated hydrocarbons have also been detected by the SAM quadrupole mass spectrometer (QMS) and gas chromatography/mass spectrometer (GCMS). These detections along with the detection of perchlorate (ClO4-) by the Mars Phoenix Lander's Wet Chemistry Laboratory (WCL) suggesting perchlorate is a possible candidate for evolved O2 and chlorine species. Laboratory thermal analysis of individual per-chlorates has yet to provide an unequivocal temperature match to the SAM O2 and HCl release data. These detections along with the detection of perchlorate (ClO4-) by the Mars Phoenix Lander's Wet Chemistry Laboratory suggested perchlorate is a possible candidate for evolved O2 and chlorine species. Laboratory thermal analysis of pure perchlorates has yet to provide an unequivocal temperature match to the SAM O2 and HCl release data. Analog laboratory analysis of iron mineralogy detected in Gale materials that was physically mixed with Ca- and Mg-perchlorate has been shown to catalyze lower O2 release temperatures and approach some SAM O2 release data. Instead of physical mixtures used in previous work, the work presented here utilized perchlorate solutions added to Fe phases. This technique allowed for perchlorate to come in closer contact with the Fe-phase and may more closely mimic Mars conditions where humidity can increase enough to cause deliquescence of the highly hygroscopic perchlorate phases. The objective of this work is to: 1) Utilize a laboratory SAM analog instrument to evaluate the O2 release temperatures from Mg- and Ca-perchlorates solutions applied to Fephases detetected in Gale Crate; and 2) Determine if perchlorate solutions can provide improved matches with the SAM O2 temperature release profiles.

Sutter, B.↗

Synthesis of Akaganeite in the Presence of Sulfate: Implications for Akaganeite Formation in Yellowknife Bay, Gale Crater, Mars

Akaganeite (beta-FeOOH) is an Fe(III) (hydr)oxide with a tunnel structure usually occupied by chloride. Akaganeite has been recently discovered in a mudstone on the surface of Mars by the Chemistry and Mineralogy (CheMin) and Sample Analysis at Mars (SAM) instruments onboard the Mars Science Laboratory (MSL) Curiosity Rover in Gale crater [1, 2]. Akaganeite was detected together with sulfate minerals [anhydrite (CaSO4) and basanite (2CaSO4·2H2O)] in the drilled Cumberland and John Clein mudstone samples at Yellowknife Bay [2]. Discovery of akaganeite and sulfates in the same samples suggests that sulfate ions could be present in aqueous solution during akaganeite formation. However, mechanism and aqueous environmental conditions of akaganeite formation (e.g., pH and range of sulfate concentration) in Yellowknife Bay remain unknown. The objective of our work was to perform synthesis of akaganeite without or with sulfate addition at variable pHs in order to constrain formation conditions of akaganeite in Yellowknife Bay, Gale crater on Mars.

Peretyazhko, T. S.↗

Detection and Quantification of Nitrogen Compounds in the First Drilled Martian Solid Samples by the Sample Analysis at Mars (SAM) Instrument Suite on the Mars Science Laboratory (MSL)

The Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) Curiosity Rover detected both reduced and oxidized nitrogen-bearing compounds during the pyrolysis of surface materials at Yellowknife Bay in Gale Crater. Preliminary detections of nitrogen species include NO, HCN, ClCN, CH3CN, and TFMA (trifluoro-N-methyl-acetamide). Confirmation of indigenous Martian N-bearing compounds requires quantifying N contribution from the terrestrial derivatization reagents (e.g. N-methyl-N-tertbutyldimethylsilyltrifluoroacetamide, MTBSTFA and dimethylformamide, DMF) carried for SAM's wet chemistry experiment that contribute to the SAM background. Nitrogen species detected in the SAM solid sample analyses can also be produced during laboratory pyrolysis experiments where these reagents are heated in the presence of perchlorate, a compound that has also been identified by SAM in Mars solid samples.

Curiosity rover↗

Detection and Quantification of Nitrogen Compounds in the First Drilled Martian Solid Samples by the Sample Analysis at Mars (SAM) Instrument Suite on the Mars Science Laboratory (MSL)

The Sampl;e Analysis at Mars (sam) instrument suite on the Mars Science Laboratory (MSL) Curiosity Rover detected both reduced and oxidized nitrogen bearing compounds during the pyrolysis of surface materials from the three sites at Gale Crater. Preliminary detections of nitrogen species include No, HCN, ClCN, and TFMA ((trifluoro-N-methyl-acetamide), Confirmation of indigenous Martian nitrogen-bearing compounds requires quantifying N contribution from the terrestrial derivatization reagents carried for SAM's wet chemistry experiment that contribute to the SAM background. Nitrogen species detected in the SAM solid sample analyses can also be produced during laboratory pyrolysis experiments where these reagents are heated in the presence of perchlorate a compound that has also been identified by SAM in Mars solid samples.

Stern, Jennifer C.↗