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NASA NTRSDate not supplied

Effects of Mars Analogue Dust Deposition on DUV Raman Spectra: Implications for the Mars2020 Perserverance Rover SHERLOC Instrument

The Scanning Habitable Environments with Raman & Luminescence for Organics & Chemicals (SHERLOC) instrument suite includes a deep ultraviolet (DUV) Raman and fluorescence instrument on the robotic arm of the Mars2020 (M2020) Perseverance rover [1]. When sufficiently thick dust coatings are present, substrate surfaces are not detected, and mineralogical information not obtained. For example, the effect of palagonitic dust coatings as a function of depth to various substrates on thermal emission, VNIR, and Mössbauer spectra are reported by [2, 3]. In this study, we use the same palagonitic dust to study the effect of dust coating thickness on DUV Raman spectra.

N. C. Haney↗

NASA NTRSDate not supplied

Overview of the Capture, Containment, and Return System (CCRS)

The Mars Sample Return (MSR) campaign is one of the most ambitious and complex planetary exploration missions currently underway. With the participation of NASA, ESA, and a large number of industry partners, MSR aims to bring Martian soil, rock, and atmospheric samples back to Earth, in order to answer key questions about Mars’ biological evolution. To accomplish this goal the campaign relies on four coordinated missions, each fulfilling a fundamental role to bring the samples to Earth. The Mars Perseverance rover, the first of the four missions, landed safely on Mars on February 18, 2021 and has already acquired candidate samples for Earth return. A selection of the samples of Martian soil and atmosphere that Perseverance has captured during its mission will be recovered, launched into Mars orbit, and transported back to Earth. The Sample Fetch Rover and Mars Ascent System, both parts of the Sample Return Lander project, perform the Mars surface missions to retrieve the collected samples and launch them into Mars orbit. NASA’s Capture, Containment, and Return System (CCRS), hosted on ESA’s Earth Return Orbiter (ERO), brings the samples back to Earth from Mars orbit. These retrieval and return missions are currently in the planning and design stages of development. The NASA-provided CCRS is the payload of the ESA ERO and is the focus of this presentation. ERO will enter Mars orbit and provide communication relay to Earth for the other MSR elements. The Sample Return Lander systems will fetch the sample tubes and integrate them into a protective vessel – the Orbiting Sample (OS) system – which is then launched into low Mars orbit. ERO will perform rendezvous maneuvers, allowing its CCRS payload to capture the OS, contain it, and perform the first automated in-space assembly of a spacecraft, the Earth Entry System (EES), while in Mars orbit. ERO will then begin its journey back to Earth, with CCRS and its assembled EES spacecraft. Three days prior to arrival, CCRS will release the EES on an Earth entry trajectory from a distance beyond the orbit of the Moon. The passive EES spacecraft will then enter Earth’s atmosphere, flying on a ballistic trajectory, followed by a terminal descent (without a parachute) and landing at the Utah Test and Training Range (UTTR). This presentation will show the current design of the CCRS system and its concept of operations. ERO and CCRS will perform several firsts in planetary exploration: (a) orbital rendezvous and capture in Mars orbit, (b) in-space sterilization and containment, (c) on-orbit spacecraft assembly at Mars, and (d) fully-passive entry, descent, and landing sequence for sample return.

Carlie H. Zumwalt↗

NASA NTRSDate not supplied

MSR Science Planning Group 2 (MSPG2): Science & Curation Considerations for Time Sensitive Measurements That Should be Performed in Containment

The Perseverance rover is currently collecting samples on the martian surface for potential return to Earth and planning is underway to develop facilities to study these samples. Perseverance will collect up to 38 samples that will be sealed in TiN tubes. As long as the tubes remain sealed the samples will be metastable. However, as soon as a tube is opened, or headspace gas is extracted these samples will begin to re-equilibrate with their new surroundings. The MSPG2 time-sensitive science sub-group attempted to quantify the rates at which alteration is likely to occur assuming the samples are opened and stored in a nitrogen atmosphere at room temperature. The group also recommended ~20 instruments for inclusion in a sample receiving facility to allow the time sensitive properties of these samples to be measured before they are irreversibly altered.

Aaron B Regberg↗

NASA NTRS2022

Electrical Ground Support Equipment for the Sampling Caching System of the Mars 2020 Rover

In this work we describe in detail the architecture, design, testing and operation of the Electrical Ground Support Equipment (EGSE) “Blue Box” used to test and validate the Sampling Caching System (SCS) of the Mars 2020 Perseverance rover. The Blue Box architecture is centered around COTS motor controllers and COTS input-output modules communicating over an EtherCAT bus. A custom, low-level safety subsystem ensures no harm can be done to the flight articles. The modular architecture of the EGSE reduces cost and complexity while expediting assembly time. The Blue Box drives the 19 actuators of the SCS which span the main robotic arm, the corer system, the internal sample handling arm, the sample tube sealing system and the gas dust removal tool; mimicking the Rover Motor Control Assembly (RMCA). Due to the limited availability of RMCA’s, the EGSE enabled and performed the bulk of testing activities for SCS. The majority of the SCS actuators are composed of a 3-phase DC brushless motors, hall sensors for commutation, dual resolvers for output angular measurement, brakes, heaters and platinum thermistors. Additionally, the EGSE read 12 strain gauges forming part of a force torque sensor, and switches used for external positioning references. Over the 3-year span of the V&V campaign for the SCS, over 32 EGSE systems were built, tested and deployed to test venues at JPL and externally. The EGSE tested several families of the SCS subsystem, ranging from engineering units, life test units and two flight units. Test venues that this EGSE supported included lab benches, ultra-clean cleanrooms, ATLO facilities, and thermal vacuum chambers. Together with the test software systems, SSDEV and SSDEV-ECAT, the Blue Box EGSE enabled the team to efficiently test flight hardware and flight software together. We go over the safety features and fault management techniques employed to protect flight hardware. The effects of the long, 50-feet, EGSE harnesses on motor performance, EMI, electrical noise, and motor control performance are explained. Mitigations to these unwanted effects, including shielding strategy and inductance compensation, are summarized. We go over an excerpt of notable anomalies that this EGSE suffered through its operation, along with investigations and resolutions. Lessons learned, areas of improvement as part of future work, and recommendations for future implementations for similar EGSE’s, are shared.

Levine, Dan↗

NASA NTRSDate not supplied

Connecting Community Scientific Hypotheses to Mars Sample Science

The proposed Mars Sample Return (MSR) program seeks to bring back to Earth a set of specially curated samples from the surface of Mars. The first segment of the MSR program is presently under-way; the Mars 2020 rover Perseverance has, to date, collected 24 samples of martian rock, regolith, and at-mosphere within Jezero crater. Its geologically diverse rock sample set can provide insight into the time evolu-tion of the Jezero environment, including the possible preservation of ancient biosignatures. Presently, a cache of 10 samples has been deposited in the Three Forks region on the floor of Jezero crater. These sam-ples, deemed scientifically return worthy by the Mars science community [1], are intended as a contingency sample set, as Perseverance has subsequently obtained more samples, and is therefore storing a more compre-hensive and scientifically valuable set of samples that will grow as the rover ascends to the rim of Jezero crater. The return of samples from Mars has been identi-fied as the highest priority planetary mission in the past three National Academies Decadal Surveys [2-4]. Sub-stantial work has gone into establishing science objec-tives for an MSR program, an overall framework for sample retrieval and analysis, and the expected impact on future Mars science and exploration (e.g., [5]). These objectives have been established at a relatively high level, e.g., “Interpret the primary geologic pro-cesses and history that formed the martian geologic rec-ord, with an emphasis on the role of water.” (Objective 1 in [5]) and are designed to encapsulate the broad sci-entific priorities of, and lay the groundwork for, inves-tigation strategies and measurements to be conducted by a future MSR program. It is from this overarching framework that the Connecting Community Scientific Hypotheses to Mars Sample Science workshop (‘The Workshop’) was conceived, with the purpose of distil-ling these high-level scientific objectives into discrete, testable hypotheses across a range of scientific disci-plines. The output of the workshop is meant to be a ‘hy-pothesis document’ serving as a starting point for cata-loging and condensing specific hypotheses for consid-eration by the scientific community. The template for this approach is based on the “driving hypotheses” de-veloped by the OSIRIS-REx team as part of their Sam-ple Analysis Plan [6].

Michael A Mischna↗

NASA NTRS2024

What Are the Olivine-Rich Boulders in the Upper Fan and Margin Unit at Jezero Crater, Mars?

Since February 2021, the Perseverance rover has explored Jezero Crater in the Nili Fossae region of Mars which hosts large outcrops of a regional olivine-carbonate unit. In the crater floor, Perseverance investigated two igneous formations: Máaz, composed of basaltic lava and/or pyroclastic flows, and Séítah, an olivine-rich cumulate] below Máaz. Then, Perseverance explored the western fan composed by diverse sedimentary rocks of variable composition, but often containing olivine On the upper fan and margin unit, Perseverance encountered number of centimetric to metric boulder rocks. Two main types of boulders were identified based on texture and composition: the olivine-rich and pyroxene-bearing boulders. Here, we use SuperCam data to describe the texture, geochemistry and mineralogy of the olivine-rich boulders. Then, we discuss their possible petrological origin and some possible implications for the regional Nili Fossae olivine-carbonate unit.

Mars 2020↗

NASA NTRS2024

Going With the Flow: Sedimentary Evolution of the Jezero Western Fan, Mars

Sedimentary fans developed at the mouths of Martian valleys have been interpreted as the deposits of sustained surface water flow on early Mars building either fluvial fan systems or deltas into standing bodies of water. Whilst much insight has been gleaned from orbital observations, it is only possible to constrain the character, relative timing and persistence of ancient aqueous activity on Mars through detailed on-the-ground interrogation of sedimentary successions built during fan growth. A prominent sedimentary fan deposit at the western margin of Jezero crater – the Western fan – has been interpreted from orbital data/observations to be a river delta that prograded into an ancient lake basin during the Late Noachian-Early Hesperian epochs on Mars (~3.6-3.8 Ga). The Western fan deposit forms a point-sourced depositional system developed at the mouth of Neretva Vallis, a valley system that is incised across the crater rim and has an extensive extra-crater catchment draining over diverse ancient geological units in Nili Planum. The mechanism of crater rim breaching remains unconstrained. Between 2022 and 2023, the Mars 2020 Perseverance rover explored the Western fan, with the objective of characterizing its paleoenvironmental context and collecting a diverse suite of sedimentary rock samples for return to Earth via the Mars Sample Return mission. Perseverance has now completed her traverse across the Western fan having commenced in the distal downstream sectors exposed at the erosional front of the fan and then crossing across its upper exposed surface toward the fan apex region near the mouth of Neretva Vallis. This transect provides a unique window into a Martian sediment routing system at a time when climate conditions permitted the flow of surface water. In this contribution, we review the overall sedimentary architecture of the fan and develop a model for its evolution based on detailed mapping of lithofacies changes across the fan. A first-order synoptic overview is presented.

Mars 2020↗

NASA NTRSDate not supplied

The Scientific Significance of Potential Samples From the Jezero Crater Rim

The Mars 2020 Perseverance rover has been exploring Jezero crater, Mars to characterize the geology,assess the potential for rocks to represent ancient habitable environments and/or preserve biosignatures, and collect a suite of scientifically compelling samples for return to Earth (Farleyet al.,2020).Thus far, Perseverance has collected samples that represent the diversity of igneous materials encountered on the crater floor and a suite of aqueously deposited sedimentary rocks from the fanand margin units(Simon et al., 2023; Bosak et al., 2024). When the rover ascendsthe crater rimit will encounter rocktypesthat are not included in the current sample cache. These include rocks fromthe Noachian whose mineralogical, geochemical, and geochronological recordswould greatly expand our understanding of early Mars. Some of the exposures are understood to come from subsurface aquifers that may represent the most ancient potentially habitablesubsurfaceenvironmentson Mars(Ehlmann et al., 2024). Samples ofthese rocks will add uniquescientific value tothe sample cache and to the Mars sample returnprogramby addressing outstanding questions in Mars science including potential habitability and how the climate and the interior of the planet evolved through time.

Mars 2020↗

NASA NTRSDate not supplied

Sedimentology and Stratigraphy of the Lower Delta Sequence, Jezero Crater, Mars.

In April 2022, the Mars 2020 Perseverance rover arrived at the base of the ancient delta in Jezero crater after completing the first year of its mission exploring and sampling aqueously altered igneous rocks of the present-day crater floor. Perseverance then spent ~200 sols exploring the lower ~25 m of rock exposed within the eastern scarp of the Jezero delta, a sedimentary sequence informally named the ‘Shenandoah’ formation. This study describes the sedimentology and stratigraphy of the Shenandoah formation explored by Perseverance at two sections—'Cape Nukshak’ and ‘Hawksbill Gap’—including a description, interpretation, and depositional framework for the facies that comprise it.

K. M. Stack↗

NASA NTRS2022

Mars 2020 Entry, Descent, and Landing as Observed by Radio Science Techniques at UHF and X-band Frequencies

On February 18, 2021, NASA’s Mars 2020 Rover “Perseverance” conducted the Entry, Descent, and Landing (EDL) sequence to land safely on the surface of Mars at Jezero Crater. Due to the criticality of the EDL sequence, redundant telecommunications strategies were utilized to observe the event. The rover transmitted an X-band (8.4 GHz) signal encoded with Multiple Frequency Shift Keying tones direct-to-Earth and a UHF (401.5 MHz) signal with 8 kbps encoded telemetry to orbiters, which relayed the signal back to Earth at X-band. NASA’s Deep Space Network complexes at Goldstone, California and Madrid, Spain received the direct-to-Earth X-band signal. Two of the largest steerable radio telescopes in the world, the 100-meter Green Bank Telescope in West Virginia and the Effelsberg 100-meter Radio Telescope in Germany also received the UHF carrier signal on Earth. During the EDL event, full spectrum recordings of the UHF and X-band signals were captured at these observatories using open-loop receivers. Real-time and post-processing signal analysis to determine power level, received frequency, and Doppler shift allowed determination of the spacecraft’s health and safety state during critical sequences, including event detection such as atmospheric entry, plasma blackouts, and parachute deployment. Simultaneous observations of the UHF and X-band radio links allow for redundancy in the event of a fault and greatly improve confidence in Doppler event detection.

Gladden, Roy↗

DOE OSTI2022

Dust, Sand, and Winds Within an Active Martian Storm in Jezero Crater

Rovers and landers on Mars have experienced local, regional, and planetary-scale dust storms. However, in situ documentation of active lifting within storms has remained elusive. Over 5–11 January 2022 (L S 153°–156°), a dust storm passed over the Perseverance rover site. Peak visible optical depth was ~2, and visibility across the crater was briefly reduced. Pressure amplitudes and temperatures responded to the storm. Winds up to 20 m s -1 rotated around the site before the wind sensor was damaged. The rover imaged 21 dust-lifting events—gusts and dust devils—in one 25-min period, and at least three events mobilized sediment near the rover. Rover tracks and drill cuttings were extensively modified, and debris was moved onto the rover deck. Migration of small ripples was seen, but there was no large-scale change in undisturbed areas. This work presents an overview of observations and initial results from the study of the storm.

58 GEOSCIENCES↗

NASA NTRSDate not supplied

The Mars Sample Return Analogue Collection

The Mars 2020 Perseverance rover touched down in Jezero crater on February 18th, 2021, and sealed the first sample for Mars Sample Return (MSR) later that summer. As of sol 1088, 23 rock cores have been collected across a diverse set of lithologies that span rock types from sedimentary to igneous. As the cache on Perseverance continues to grow, the overall portfolio of MSR expands, creating long lasting implications for a wide net in the scientific community as well as supporting detailed analyses for generations to come. To best prepare for these precious samples to return to Earth one day, NASA and ESA are jointly planning to create a MSR Analogue Collection that will be available to the community in the near future.

M T Thorpe↗

NASA NTRSDate not supplied

Overview of the Bedrock Geochemistry and Mineralogy Observed By Supercam During Perseverance’S Delta Front Campaign

In February 2021, the Perseverance rover landed in Jezero crater, Mars. The crater floor was found to be composed of lava flows and cumulate rocks. These magmatic rocks appear to have undergone some limited aqueous alteration; however, it is not clear whether this alteration is related to the lacustrine phase of the crater. After completing its exploration of the crater floor, Perseverance reached the foot of the Jezero western fan in late April 2022 (sol ~422). Long-distance images acquired earlier in the mission had already confirmed the deltaic nature of the fan, which had long been suspected from orbital observations. Between April and December 2022, Perseverance investigated the basal layers of the delta at two locations named Hawksbill Gap and Cape Nukshak, which are ~400 m apart. Here, we present an overview of the geochemistry and mineralogy of the delta rocks as observed by SuperCam and show that these rocks record a diversity of past aqueous alteration environments.

E. Dehouck↗

NASA NTRSDate not supplied

Mars Science Helicopter: Conceptual Design of the Next Generation of Mars Rotorcraft

Robotic planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers, and have more near-surface capability than orbiters. Aerial mobility is a promising possibility for planetary exploration as it reduces the challenges that difficult obstacles pose to ground vehicles. The first use of a rotorcraft for a planetary mission will be in 2021, when the Ingenuity Mars helicopter technology demonstrator will be deployed via the Perseverance rover. NASA’s Jet Propulsion Laboratory and NASA Ames Research Center are exploring possibilities for a Mars Science Helicopter, a second-generation Mars rotorcraft with the capability of conducting science investigations independently of a lander or rover (although this type of vehicle could also be used to assist rovers or landers in future missions). Two, large rotorcraft configurations are described: a hexacopter and a co-axial helicopter with a payload in the range of two to three kilograms and an overall vehicle mass of approximately twenty kilograms. Additionally, advancements in technology over the course of the study are applied to a rotorcraft of the same size and form as Ingenuity. Initial estimates of weight and performance were based on the capabilities of Ingenuity. Rotorcraft designs for Mars are constrained by the dimensions of the aeroshell and lander for the trip to the planet, constraining maximum rotor dimensions and, hence, overall performance potential. The effects of airfoils designed specifically for the low Reynolds number and high Mach number inherent to operation on Mars were studied. Rotor structural designs were developed that met blade frequency and weight targets, subject to material stress limits. The final designs are representative of the vehicle configurations required for a large range of future missions and will require relatively minor adaptations once science tasks are chosen. These designs will be compared to Ingenuity to demonstrate technology advancements developed during the study.

Mars Science Helicopter↗

NASA NTRSDate not supplied

A Mars 2020 Perseverance SuperCam Perspective on the Igneous Nature of the Máaz Formation at Jezero Crater, Mars

The Mars2020 Perseverance rover landed in Jezero crater in February 2020,and first encountered the Máaz formation (or Crater floor-fractured rough(Cf-fr) unit previously mapped based on orbital data[1]).In this study, we use data from the SuperCam instrument(SCAM) to show that the Máaz formation has an igneous origin. SuperCam is a remote-sensing instrument onboard Perseverance, and investigates the texture, mineralogy, and chemistry of rocks and soils, as well as atmospheric features [2,3]. SuperCam comprises the Remote Micro Imager (RMI) to provide high-resolution images, laser-induced breakdown spectroscopy (LIBS)to investigate the major and minor element chemistry of materials, Raman, and passive visible-near infrared (VISIR) spectroscopy to analyze the mineralogy of targets, and time-resolved luminescence spectroscopy (TRLS)to measure organic fluorescence and inorganic luminescence. In addition, the microphone (MIC) can constrain the rock hardness through measurements of the shockwave of LIBS shots. In this study, we use LIBS-based major-oxide compositions (MOC),quantified using the calibration in [2].

Mars 2020↗

NASA NTRSDate not supplied

SHERLOC: Results of the first 350 sols of operations

On February 18th 2021, the Perseverance rover landed in Jezero crater, Mars. This site was chosen because orbiter data analysis provides evidence that the crater hosted a stream-fed lake during the Martian Noachian period. The Octavia Butler landing site is located ~1.9 km east of the remnants of a river delta. Deltaic and lacustrine sediments can preserve biosignatures, making Jezero crater a prime target for Mars sample return science. One of the seven instruments on Perseverance’s science payload is SHERLOC –Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals. SHERLOC combines fluorescence and Raman spectroscopy with microscopic imaging to analyze surface material to better understand the history of the aqueous environments recorded in the rocks of Jezero crater and to search for potential biosignatures. SHERLOC imaging obtains high spatial resolution images of geological targets to identify grain-scale structure and texture. SHERLOC spectroscopy enables high-sensitivity detection, characterization, and spatially resolved correlation of trace organic materials. Native fluorescence emissions from aromatic organic species allow for detection and classification of aromatic organic molecules, whereas Raman scattered photons from molecules allow identification of functional groups of organics, chemicals, and minerals. In the first 300 sols, SHERLOC has analyzed 3 natural surfaces, and 5 abraded rock patches created during the Crater Floor Campaign within Jezero crater. SHERLOC has been able to identify phosphates, amorphous/microcrystalline silicate (AMS), olivine, sulfates, and carbonates in abraded patches in the green zone campaign within Jezero Crater Máaz and Séítah formations. Within these detections we have begun to tell the story of what this crater was like when it was full of liquid water over 3 billion years ago. In each of these samples we have identified fluorescence features that are likely aromatic organics native to the rock interiors. We have identified multiple unique fluorescence signatures, within each of the abraded patches. The organic signatures have either been widely distributed over an extended area, which is probably due to planetary wide dust, or have spatially resolved locations that are collocated with different mineral signatures. Note: Additional information available on attachment.

L. W. Beegle↗

NASA NTRS2022

Scientific Value of Including an Atmospheric Sample as Part of Mars Sample Return (MSR)

The Perseverance rover is meant to collect samples of the martian surface for eventual return to Earth. The headspace gas present over the solid samples within the sample tubes will be of significant scientific interest for what it reveals about the interactions of the solid samples with the trapped atmosphere and for what it will reveal about the martian atmosphere itself. However, establishing the composition of the martian atmosphere will require other dedicated samples. The headspace gas as the sole atmospheric sample is problematic for many reasons. The quantity of gas present within the sample tube volume is insufficient for many investigations, and there will be exchange between solid samples, headspace gas, and tube walls. Importantly, the sample tube materials and preparation were not designed for optimal Mars atmospheric gas collection and storage as they were not sent to Mars in a degassed evacuated state and have been exposed to both Earth's and Mars' atmospheres. Additionally, there is a risk of unconstrained seal leakage in transit back to Earth, which would allow fractionation of the sample (leak-out) and contamination (leak-in). The science return can be improved significantly (and, in some cases, dramatically) by adding one or more of several strategies listed here in increasing order of effectiveness and difficulty of implementation: (1) Having Perseverance collect a gas sample in an empty sample tube, (2) Collecting gas in a newly-designed, valved, sample-tube-sized vessel that is flown on either the Sample Fetch Rover (SFR) or the Sample Retrieval Lander (SRL), (3) Adding a larger (50-100 cc) dedicated gas sampling volume to the Orbiting Sample container (OS), (4) Adding a larger (50-100 cc) dedicated gas sampling volume to the OS that can be filled with compressed martian atmosphere.

Timothy D. Swindle↗

NASA NTRS2021

AI4MARS: A Dataset for Terrain-Aware Autonomy on Mars

Deep learning has quickly become a necessity for selfdriving vehicles on Earth. In contrast, the self-driving vehicles on Mars, including NASA’s latest rover, Perseverance, which is planned to land on Mars in February 2021, are still driven by classical machine vision systems. Deep learning capabilities, such as semantic segmentation and object recognition, would substantially benefit the safety and productivity of ongoing and future missions to the red planet. To this end, we created the first large-scale dataset, AI4Mars, for training and validating terrain classification models for Mars, consisting of ~326K semantic segmentation full image labels on 35K images from Curiosity, Opportunity, and Spirit rovers, collected through crowdsourcing. Each image was labeled by ~10 people to ensure greater quality and agreement of the crowdsourced labels. It also includes ~1.5K validation labels annotated by the rover planners and scientists from NASA’s MSL (Mars Science Laboratory) mission, which operates the Curiosity rover, and MER (Mars Exploration Rovers) mission, which operated the Spirit and Opportunity rovers. We trained a DeepLabv3 model on the AI4Mars training dataset and achieved over 96% overall classification accuracy on the test set. The dataset is made publicly available.1

Ono, Hiro↗