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NASA NTRS2003

Mars Exploration Rover Six-Degree-Of-Freedom Entry Trajectory Analysis

The Mars Exploration Rover mission will be the next opportunity for surface exploration of Mars in January 2004. Two rovers will be delivered to the surface of Mars using the same entry, descent, and landing scenario that was developed and successfully implemented by Mars Pathfinder. This investigation describes the trajectory analysis that was performed for the hypersonic portion of the MER entry. In this analysis, a six-degree-of-freedom trajectory simulation of the entry is performed to determine the entry characteristics of the capsules. In addition, a Monte Carlo analysis is also performed to statistically assess the robustness of the entry design to off-nominal conditions to assure that all entry requirements are satisfied. The results show that the attitude at peak heating and parachute deployment are well within entry limits. In addition, the parachute deployment dynamics pressure and Mach number are also well within the design requirements.

Desai, Prasun N.↗
NASA NTRS2003

Martian Atmospheric Circulation and Climate

This proposal is focused on using Mars Global Surveyor (MGS) data and numerical models to address issues of atmospheric mixing of volatiles and aerosols, on defining the mean state of the atmosphere and the degree of variability, and on the processes which exchange volatiles and aerosols between the surface and atmosphere. Specifically, five areas of research were defined: In the first, we proposed to use TES data to examine the general circulation of the atmosphere both through retrieval of the residual circulation, and by comparison of the TES data with a Mars General Circulation Model (GCM). In the second, we proposed to look at synoptic and mesoscale atmospheric mixing processes (baroclinic storms, etc.) by combining TES and MOC Wide Angle data, and by employing a Mars Mesoscale Model. In the third section, we proposed to examine the record of the Martian atmospheric state provided by MGS, Viking, and Mariner 9 - as well as published ground-based observations - in order to assess the nature of interannual variability. In the forth section, we proposed to compare numerical models of the Martian water and dust cycles with TES and MOC data, specifically looking at water ice cloud distributions, dust distribution, etc. In the fifth section, we propose to use the mesoscale model to study the Mars Pathfinder Lander data. This work has now concluded its final of three years.

Ingersoll, Andrew P.↗
NASA NTRS2003

Modeling Near-Surface Temperatures at Martian Landing Sites

We have developed a process for deriving near-surface (approx. 1m) temperatures for potential landing sites, based on observational parameters from MGS TES, Odyssey THEMIS, and a boundary layer model developed by Murphy for fitting Pathfinder meteorological measurements. Minimum nighttime temperatures at the MER landing sites can limit power available, and thus mission lifetime. Temperatures are derived based on thermal inertia, albedo, and opacity estimated for the Hematite site in Sinus Meridiani, using predictions of 1-m air temperatures from a one-dimensional atmospheric model. The Hematite site shows 9 % probability of landing at a location with nighttime temperatures below the 97 C value considered to be a practical limit for operations.

T Z Martin↗
NASA NTRS2003

Multiyear Simulations of the Martian Water Cycle with the Ames General Circulation Model

Mars atmosphere is carbon dioxide dominated with non-negligible amounts of water vapor and suspended dust particles. The atmospheric dust plays an important role in the heating and cooling of the planet through absorption and emission of radiation. Small dust particles can potentially be carried to great altitudes and affect the temperatures there. Water vapor condensing onto the dust grains can affect the radiative properties of both, as well as their vertical extent. The condensation of water onto a dust grain will change the grain s fall speed and diminish the possibility of dust obtaining high altitudes. In this capacity, water becomes a controlling agent with regard to the vertical distribution of dust. Similarly, the atmosphere s water vapor holding capacity is affected by the amount of dust in the atmosphere. Dust is an excellent green house catalyst; it raises the temperature of the atmosphere, and thus, its water vapor holding capacity. There is, therefore, a potentially significant interplay between the Martian dust and water cycles. Previous research done using global, 3-D computer modeling to better understand the Martian atmosphere treat the dust and the water cycles as two separate and independent processes. The existing Ames numerical model will be employed to simulate the relationship between the Martian dust and water cycles by actually coupling the two cycles. Water will condense onto the dust, allowing the particle's radiative characteristics, fall speeds, and as a result, their vertical distribution to change. Data obtained from the Viking, Mars Pathfinder, and especially the Mars Global Surveyor missions will be used to determine the accuracy of the model results.

R M Haberle↗
NASA NTRS2003

Analysis of Moessbauer Data from Mars: A Database and Artificial Neural Network for Identification of Iron-bearing Phases

The exploration of the planet Mars is one of the major goals within the Solar system exploration programs of the US-American space agency NASA and the European Space Agency ESA. In particular the search for water and life and understanding of the history of the surface and atmosphere will be the major tasks of the upcoming space missions to Mars. The miniaturized Moessbauer spectrometer MIMOS II has been selected for the NASA Mars-Exploration-Rover twin-mission to Mars in 2003 and the ESA 2003 Mars-Express Beagle 2 mission. Reduced in size and weight, in comparison to ordinary laboratory setup, the sensor head just weights approximately 400 g, with a volume of (50x50x90) cu mm, and holds two gamma-ray sources: the stronger for experiments and the weaker for calibrations. The collimator (in sample direction) also shields the primary radiation off the detectors. Around the drive four detectors are mounted. The detectors are made of Si-PIN-photodiodes in chip form (100 sq mm, thickness of 0.5 mm). The control unit is located in a separate electronics board. This board is responsible for the power supply, generation of the drive's velocity reference signal, read of the detector pulses to record the spectrum, data storage and communication with the host computer. After more than four decades from the discovery of the Moessbauer effect, more than 400 minerals were studied at different temperatures. Their Moessbauer parameters were reported in the literature, and have been recently collected in a data bank. Previous Mars-missions, namely Viking and Mars Pathfinder, revealed Si, Al, Fe, Mg, Ca, K, Ti, S and Cl to be the major constituents in soil and rock elemental composition of the red planet. More than 200 minerals already studied by Moessbauer spectroscopy contain significant amounts of these elements. A considerable number of Moessbauer studies were also carried out on meteorites and on Moon samples. Looking backward in the studies of the whole Moessbauer community, we have built a specific library containing Moessbauer parameters of those possible Mars minerals. The selected minerals, their Moessbauer parameter values (min. max. s.d and number of available data), main site substitution, behavior as a function of temperature and a ranking as expected to be found on Mars were organized. Mars-analogue Fe-bearing minerals not studied by Moessbauer spectroscopy are being collected and investigated. In addition, it an identification system based on Artificial Neural Networks (ANN) was implemented which enables fast and precise mineral identification from the experimental Moessbauer parameters at a given temperature.

P A de Souza Jr.↗
NASA NTRS2003

Post Impact Mars Climate Simulations Using a GCM

The first images returned by the Mariner 7 spacecraft of the Martian surface showed a landscape heavily scared by impacts. Mariner 9 imaging revealed geomorphic features including valley networks and outflow channels that suggest liquid water once flowed at the surface of Mars. Further evidence for water erosion and surface modification has come from the Viking Spacecraft, Mars Pathfinder and Mars Global Surveyor's (MGS) Mars Obiter Camera (MOC). This evidence includes apparent paleolake beds, fluvial fans and sedimentary layers (Cabrol and Grinn, 1999; Heberle et al., 2001). There is evidence for subsurface water as well. Rampart crates suggest an abundance of water in the near surface regolith (Mouginis-Mark, 1986). The estimated erosion rates necessary to explain the observed surface morphologies (Golombek and Bridges, 2000) present a conundrum. The rates of erosion appear to be highest when the early sun was fainter and only 75% as luminous as it is today. Furthermore the rates of erosion appear to correlate with the rate at which Mars was impacted (Carr and Waenke, 1992). All of this evidence suggests to a very different climate than what exists on Mars today.

A Colaprete↗
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

X-Ray Testing Constellation-X Optics at MSFC's 100-m Facility

In addition to the 530-m-long X-Ray Calibration Facility (XRCF), NASA's Marshall Space Flight Center (MSFC) operates a 104-m-long (source-to-detector) X-ray-test facility. Originally developed and still occasionally used for stray-light testing of visible-fight optical systems, the so-called "Stray-Light Facility" now serves primarily as a convenient and inexpensive facility for performance evaluation and calibration of X-ray optics and detectors. The facility can accommodate X-ray optics up to about 1-m diameter and 12-m focal length. Currently available electron-impact sources at the facility span the approximate energy range 0.2 to 100 keV, thus supporting testing of soft- and hard-X-ray optics and detectors. Available MSFC detectors are a front-illuminated CCD (charge-coupled device) and a scanning CZT (cadmium--zinc--telluride) detector, with low-energy cut-offs of about 0.8 and 3 keV, respectively. In order to test developmental optics for the Constellation-X Project, led by NASA's Goddard Space Flight Center (GSFC), MSFC undertook several enhancements to the facility. Foremost among these was development and fabrication of a five-degree-of-freedom (5-DoF) optics mount and control system, which translates and tilts the user-provided mirror assembly suspended from its interface plate. Initial Constellation-X tests characterize the performance of the Optical Alignment Pathfinder Two (OAP2) for the large Spectroscopy X-ray Telescope (SXT) and of demonstration mirror assemblies for the Hard X-ray Telescope (HXT). With the Centroid Detector Assembly (CDA), used for precision alignment of the Chandra (nee AXAF) mirrors, the Constellation-X SXT Team optically aligned the individual mirrors of the OAPZ at GSFC. The team then developed set-up and alignment procedures, including transfer of the alignment from the optical alignment facility at GSFC to the X-ray test facility at MSFC, using a reference flat and fiducials. The OAPZ incorporates additional ancillary features --- fixed aperture mask and movable sub-aperture mask --- to facilitate X-ray characterization of the optics. Although the OAPZ was designed to- have low sensitivity to temperature offsets and gradients, analyses showed the necessity of active temperature control for the X-ray performance testing. Thus, the Smithsonian Astrophysical Observatory (SAO) implemented a thermal control and monitoring system, designed to hold the OAP2 close to its assembly.

O'Dell, Stephen↗
NASA NTRS2003

Lessons Learned from NASA UAV Science Demonstration Program Missions

During the summer of 2002, two airborne missions were flown as part of a NASA Earth Science Enterprise program to demonstrate the use of uninhabited aerial vehicles (UAVs) to perform earth science. One mission, the Altus Cumulus Electrification Study (ACES), successfully measured lightning storms in the vicinity of Key West, Florida, during storm season using a high-altitude Altus(TM) UAV. In the other, a solar-powered UAV, the Pathfinder Plus, flew a high-resolution imaging mission over coffee fields in Kauai, Hawaii, to help guide the harvest.

Wegener, Steven S.↗
NASA NTRS2001

Wind-Related Modification of Some Small Impact Craters on Mars

Inferred wind-related modifications of impact craters are observed in the vicinity of the Mare Pathfinder (MPF) site and in other regions of Mars. Mars Orbiter Camera (MOC) images show three types of inferred wind-modified morphologies for craters 0.3-1 km in diameter Such modifications could be related to seasonal variations of the strongest winds and a possible paleowind regime. Geomorphic mapping of Big Crater at the MPF shows evidence of former aeolian modification of the crater rim and interiors similar to smaller craters in the area. The morphologic patterns are in good agreement with the results from the Mars Regional Atmospheric Modeling Simulation (MRAMS) of topographically forced wind circulation and atmosphere surface interactions generated by flow over small craters. Simulations show that the maximum surface stress is on the downwind crater rim, consistent with inferred wind modification of the crater rim seen in MOC images. The trend of the Inferred paleowind regime at the MPF site cannot be explained by a change In the global atmospheric circulation resulting ~ from changes in Mars obliquity. We suggest that this wind regime could be associated with a regional meteorological pattern that is not modeled by global scale circulation, An alternative explanation is that Mars spin axis was in a different geographic position than it is at present.

Kuzmin, Ruslan O.↗
NASA NTRS2003

High-Sensitivity X-ray Polarimetry with Amorphous Silicon Active-Matrix Pixel Proportional Counters

Photoelectric X-ray polarimeters based on pixel micropattern gas detectors (MPGDs) offer order-of-magnitude improvement in sensitivity over more traditional techniques based on X-ray scattering. This new technique places some of the most interesting astronomical observations within reach of even a small, dedicated mission. The most sensitive instrument would be a photoelectric polarimeter at the focus of 2 a very large mirror, such as the planned XEUS. Our efforts are focused on a smaller pathfinder mission, which would achieve its greatest sensitivity with large-area, low-background, collimated polarimeters. We have recently demonstrated a MPGD polarimeter using amorphous silicon thin-film transistor (TFT) readout suitable for the focal plane of an X-ray telescope. All the technologies used in the demonstration polarimeter are scalable to the areas required for a high-sensitivity collimated polarimeter. Leywords: X-ray polarimetry, particle tracking, proportional counter, GEM, pixel readout

Black, J. K.↗
NASA NTRS2002

An "Andesitic" Component in Shergottites with Restored LREE Abundances?

The shergottite Martian meteorites present a variety of oft-confusing petrologic features. In particular, represented among this subgroup are basalts with very depleted LREE abundances, as well as those with nearly chondritic overall REE abundances. The LREE-depleted basalts appear to more closely record the REE and isotopic features of their mantle source legions. Those basalts with more nearly chondritic REE abundances appear to contain an extra component often referred to as a "crustal" component. The addition of the crustal component tends to restore the overall REE abundance pattern towards chondritic relative abundances. Here we suggest that the crustal component could derive from andesitic rocks observed remotely to occur on the Martian surface, and which were analysed at the Pathfinder site.

Nyquist, L. E.↗
NASA NTRS2003

Characterization of Martian Rock Shape for MER Airbag Drop Tests

Using the Viking and Mars Pathfinder landing sites as a guide, this study assessed rock shapes, sizes and burial so they could be compared with rocks on the test platforms. This work allowed comparison of the severity of the rock distributions on the test platforms with the 3 landing sites and helped guide the rocks used on the test platforms during the final airbag qualification tests.

DiMaggio, E. N.↗
NASA NTRS2003

Rock Size-Frequency Distributions at the Mars Exploration Rover Landing Sites: Impact Hazard and Accessibility

The Viking and Mars Pathfinder landing sites and a wide variety of rocky locations on the Earth show size-frequency distributions that follow an exponential when expressed in cumulative fractional area covered by rocks of a given diameter or larger versus diameter plots. Mars lander rock distributions have been fit by an equation of the form: Fk(D) = k exp [-q(k) D], where Fk(D) is the cumulative fractional area covered by rocks of diameter D or larger, k is the total area covered by all rocks, and an exponential q(k) = 1.79 + 0.152/k, which governs how abruptly the area covered by rocks decreases with increasing diameter. These distributions form a family of noncrossing curves that flatten out at small rock diameter at a total rock abundance of 5-40%. Model rock size-frequency distributions indicate a low probability of impacting hazardous rocks during MER landing. Rocks large enough to analyze and abrade by the rover should be plentiful within an easy Sol's drive.

Golombek, M. P.↗
NASA NTRS2003

Mars Exploration Rover Landing Site Boulder Fields

As an aid in constraining the rock size-frequency distributions at the Mars Exploration Rover (MER) landing sites, Mars Orbiter Camera (MOC) images of all potential MER landing sites were systematically searched for boulder fields. Low-Sun angle MOC images can be used to identify boulders larger than 1.5 m diameter, which can be used to determine the shape of the rock size-frequency distributions. These distributions can be compared with the rock size-frequency distributions measured at the Viking and Mars Pathfinder landing sites to better quantify potentially hazardous rocks at the MER landing sites.

Schroeder, R. D.↗
NASA NTRS2003

Solar System Test of Gravitational Theories

We are engaged in testing gravitational theory, mainly using observations of objects in the solar system and mainly on the interplanetary scale. Our goal is either to detect departures from the standard model (general relativity) - if any exist within the level of sensitivity of our data - or to place tighter bounds on such departures. For this project, we have analyzed a combination of observational data with our model of the solar system, including primarily planetary radar ranging, lunar laser ranging, and spacecraft tracking, but also including both pulsar timing and pulsar VLBI measurements. In the past year, we have included new data in the analysis, primarily tracking data from the Mars Pathfinder mission. Although these data are relatively few in number, they extend the time span of high-precision tracking on the surface of Mars from six years to over 20. As a result, the statistical standard deviation of our estimate of Mars precession rate has nearly halved, and the rest of the parameters in our solar-system model have experienced a corresponding, albeit smaller, improvement (about 20% for t,he relevant asteroid masses, 10% for the semimajor axis of Mars orbit, and smaller amounts for most other parameters). In the coming year, we plan to continue adding data to our set, as available. Ne 2 expect to use these data and improved models to obtain estimates of the gravitational- theory parameters and to publish these results.

Shapiro, Irwin I.↗
NASA NTRS2003

Aerosol Models for the CALIPSO Lidar Inversion Algorithms

We use measurements and models to develop aerosol models for use in the inversion algorithms for the Cloud Aerosol Lidar and Imager Pathfinder Spaceborne Observations (CALIPSO). Radiance measurements and inversions of the AErosol RObotic NETwork (AERONET1, 2) are used to group global atmospheric aerosols using optical and microphysical parameters. This study uses more than 105 records of radiance measurements, aerosol size distributions, and complex refractive indices to generate the optical properties of the aerosol at more 200 sites worldwide. These properties together with the radiance measurements are then classified using classical clustering methods to group the sites according to the type of aerosol with the greatest frequency of occurrence at each site. Six significant clusters are identified: desert dust, biomass burning, urban industrial pollution, rural background, marine, and dirty pollution. Three of these are used in the CALIPSO aerosol models to characterize desert dust, biomass burning, and polluted continental aerosols. The CALIPSO aerosol model also uses the coarse mode of desert dust and the fine mode of biomass burning to build a polluted dust model. For marine aerosol, the CALIPSO aerosol model uses measurements from the SEAS experiment 3. In addition to categorizing the aerosol types, the cluster analysis provides all the column optical and microphysical properties for each cluster.

Omar, Ali H.↗
NASA NTRS2003

Execution-Based Model Checking of Interrupt-Based Systems

Execution-based model checking (EMC) is a verification technique based on executing a multi-threaded/multiprocess program repeatedly in a systematic manner in order to explore the different interleavings of the program. This is in contrast to traditional model checking, where a model of a system is analyzed Several execution-based model-checking tools exist at this point, such as for example Verisoft and Java PathFinder. The most common formal specification languages used by EMC tools are un- timed, either just assertions, or linear-time temporal logic (LTL). An alternative verification technique is Runtime Execution Monitoring (REM), which is based on monitor- ing the execution of a program, checking that the execution trace conforms to a requirement specification. The Temporal Rover and DBRover are such tools. They provide a very rich specification language, being an extension of LTL with real-time constraints and time-series. We show how execution-based model checking, combined with runtime execution monitoring, can be used for the verification of a large class of safety critical systems commonly known as interrupt-based systems. The proposed approach is novel in that: (i) it supports model checking of a large class of applications not practically verifiable using conventional EMC tools, (ii) it supports verification of LTL assertions extended with real-time and time-series constraints, and (iii) it supports the verification of custom schedulers.

Drusinsky, Doron↗