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Dr. James Murphy is a member of the Mars Pathfinder Atmospheric Structure Investigation Meteorology (ASI/MET) Science Team. The activities of Dr. Murphy, and his collaborators are summarized in this report, which reviews the activities in support of the analysis of the meteorology data from the Mars Pathfinder Lander.
This videotape is a compilation of the best NASA JPL (Jet Propulsion Laboratory) videos of the Mars Pathfinder and Mars Global Surveyor missions. The mission is described using animation and narration as well as some actual footage of the entire sequence of mission events. Included within these animations are the spacecraft orbit insertion; descent to the Mars surface; deployment of the airbags and instruments; and exploration by Sojourner, the Mars rover. JPL activities at spacecraft control during significant mission events are also included at the end. The spacecraft cameras pan the surrounding Mars terrain and film Sojourner traversing the surface and inspecting rocks. A single, brief, processed image of the Cydonia region (Mars face) at an oblique angle from the Mars Global Surveyor is presented. A description of the Mars Pathfinder mission, instruments, landing and deployment process, Mars approach, spacecraft orbit insertion, rover operation are all described using computer animation. Actual color footage of Sojourner as well as a 360 deg pan of the Mars terrain surrounding the spacecraft is provided. Lower quality black and white photography depicting Sojourner traversing the Mars surface and inspecting Martian rocks also is included.
Several rock counts have been carried out at the Mars Pathfinder landing site producing consistent statistics of rock coverage and size-frequency distributions. These rock statistics provide a primary element of "ground truth" for anchoring remote sensing information used to pick the Pathfinder, and future, landing sites. The observed rock population statistics should also be consistent with the emplacement and alteration processes postulated to govern the landing site landscape. The rock population databases can however be used in ways that go beyond the calculation of cumulative number and cumulative area distributions versus rock diameter and height. Since the spatial parameters measured to characterize each rock are determined with stereo image pairs, the rock database serves as a subset of the full landing site digital terrain model (DTM). Insofar as a rock count can be carried out in a speedier, albeit coarser, manner than the full DTM analysis, rock counting offers several operational and scientific products in the near term. Quantitative rock mapping adds further information to the geomorphic study of the landing site, and can also be used for rover traverse planning. Statistical analysis of the surface roughness using the rock count proxy DTM is sufficiently accurate when compared to the full DTM to compare with radar remote sensing roughness measures, and with rover traverse profiles.
The observation that the Mars Pathfinder landing site probably looks very similar to when it was deposited by catastrophic floods some 1.8-3.5 Ga allows quantitative constraints to be placed on the rate of change at the landing site since that time. When combined with interpretations of data recently returned by the Mars Pathfinder and Global Surveyor missions and perspectives drawn from 20 years of analysis and interpretation of Viking data, these observations and inferences suggest an early warmer and wetter environment with vastly different erosion rates and a major climatic change on Mars. Additional information is contained in the original extended abstract.
We describe an interactive terrain visualization system which rapidly generates and interactively displays photorealistic three-dimensional (3-D) models produced from stereo images. This product, first demonstrated in Mars Pathfinder, is interactive, 3-D, and can be viewed in an immersive display which qualifies it for the name Virtual Reality (VR). The use of this technology on Mars Pathfinder was the first use of VR for geologic analysis. A primary benefit of using VR to display geologic information is that it provides an improved perception of depth and spatial layout of the remote site. The VR aspect of the display allows an operator to move freely in the environment, unconstrained by the physical limitations of the perspective from which the data were acquired. Virtual Reality offers a way to archive and retrieve information in a way that is intuitively obvious. Combining VR models with stereo display systems can give the user a sense of presence at the remote location. The capability, to interactively perform measurements from within the VR model offers unprecedented ease in performing operations that are normally time consuming and difficult using other techniques. Thus, Virtual Reality can be a powerful a cartographic tool. Additional information is contained in the original extended abstract.
Study of the environment has historically been done with observations and measurements in relatively few local areas. While some of these have been done over long time spans, most have not. The NOAA/NASA Pathfinder project was initiated to complement these data sets with satellite data that can provide information over larger spatial areas and longer time spans. The AVHRR Polar Pathfinder (APR) program was part of this project. The APR was to supply data from the NOAA AVHRR instruments that was consistently generated in a format usable to a wide range of scientific investigators. A grant was obtained from the NASA Research Announcement 97-MTPE-03 to evaluate the APP products, to provide any enhancements, and to compare with products from the new MODIS instrument. There was about a two year overlap between the projects, and this validation effort had several impacts on the APP products. The APP products are derived from the instruments aboard 4 NOAA satellites, NOAA-7, 9, 11, and 14. Initial validation efforts compared the thermal calibrations of these instruments, and differences are found. Calibration has undergone many revisions and techniques have changed since the satellites were launched. The first calibration methods were optimized for global ocean temperatures, as this was one of the primary and important uses of the AVHRR instruments. As the APP program started, newer methods that provided more accurate temperature retrievals over a wider range of temperatures were being developed. The calibration of a wider range of temperatures were necessary because of the extremely low values in the polar regions. These methods were also designed so that calibrated data was also consistent between all the NOAA satellites. These newer calibration methods were then adopted primarily because of the initial finding of this validation effort.
The primary focus of this study was to determine the accuracy of the Mars Pathfinder lander local pressure readings in accordance with the actual ambient atmospheric pressures of Mars during parachute descent. In order to obtain good measurements, the plane of the lander pressure sensor opening should ideally be situated so that it is parallel to the freestream. However, due to two unfavorable conditions, the sensor was positioned in locations where correction factors are required. One of these disadvantages is due to the fact that the parachute attachment point rotated the lander's center of gravity forcing the location of the pressure sensor opening to be off tangent to the freestream. The second and most troublesome factor was that the lander descends with slight oscillations that could vary the amplitude of the sensor readings. In order to accurately map the correction factors required at each sensor position, an experiment simulating the lander descent was conducted in the Martian Surface Wind Tunnel at NASA Ames Research Center. Using a 115 scale model at Earth ambient pressures, the test settings provided the necessary Reynolds number conditions in which the actual lander was possibly subjected to during the descent. In the analysis and results of this experiment, the readings from the lander sensor were converted to the form of pressure coefficients. With a contour map of pressure coefficients at each lander oscillatory position, this report will provide a guideline to determine the correction factors required for the Mars Pathfinder lander descent pressure sensor readings.
The Pathfinder Program is presented. The topics include: 1) High Visibility Flight Projects; 3) Significant Events/Accomplishments; 4) Pathfinder Flight Experiments; 5) Top level Goals; 6) Flight Testing for a Multistage Reusable System; 7) Key Embedded Technologies; 8) X-34 Vehicle Description; 9) Government Participation; 10) X-37 Vehicle Characteristics; 10) X-37 Vehicle Deployment Process; and 11) X-37 Configuration Modification Options.
The purpose of this research project was to evaluate the APXS data collected on soils and rocks at the Pathfinder site in terms of sedimentary geochemistry. Below are described the major findings of this research: (1) An influential model to explain the chemical variation among Pathfinder soils and rocks is a two component mixing model where rocks of fairly uniform composition mix with soil of uniform composition; (2) The very strong positive correlation between MgO and SO, points to a control by a MgSO4 mineral however, spectroscopic data continue to suggest that Fe-sulfates, notably schwertmannite and jarosite, may be important components; (3) In an attempt to better understand the causes of complexities in mixing relationships, the possible influence of sedimentary transport has been evaluated; (4) Another aspect of this research has been to examine the possibility of sedimentary silica being a significant phase on Mars; and (5) On Earth, the geochemistry of sedimentary rocks has been used to constrain the chemical composition of the continental crust and an important part of this research was to evaluate this approach for Mars.
The Mars Pathfinder Mission is a Discovery Class mission that will place a small lander and rover on the surface of Mars in July of 1997. It is primarily a technology demonstration to test the feasibility of a direct entry-delivery system, but carries a nominal scientific payload that includes rover-lander and instrumentation for limited mineralogical analysis. The nominal landing site was selected by the Pathfinder Team under the leadership of Dr. Matthew Golombek (JPL) based input from 60 participants at a Landing Site Workshop held last Spring at the Lunar Planetary Institute in Houston. The mission constraints for the landing site were 0-30 deg. N latitude, and below the 0.0 elevation datum. Over 20 landing sites were proposed and a nominal site was selected on southern Chryse Planitia near the terminae of the Ares and Tui outflow channels. In part, the decision to land at this location was based on the opportunity to sample a potentially large number lithologies in a small area (the rover will have a range of a few tens of meters from the lander). The purpose here is to review the general geological context of the landing site and the rationale for Exobiology's recommendation of the Ares site given at the workshop last spring. Because Ares and Tui Valles are sourced within terranes that may have originated by thermokarst processes, hydrothermal processes could have operated there for some time. Hydrothermal systems are presently regarded as important sites for a fossil record on Mars. Models for the formation of the outflow channels suggest that thermal spring sinters and associated aqueous mineral deposits, high priority targets for Mars Exopaleontology, could have formed in association with thermokarst processes and subsequently been delivered to the landing site in large quantities during the periodic cataclysmic outflows that created the channels.
Virtual reality (VR) technology has played an integral role for Mars Pathfinder mission, operations Using an automated machine vision algorithm, the 3d topography of the Martian surface was rapidly recovered fro -a the stereo images captured. by the Tender camera to produce photo-realistic 3d models, An advanced, interface was developed for visualization and interaction with. the virtual environment of the Pathfinder landing site for mission scientists at the Space Flight Operations Facility of the Jet Propulsion Laboratory. The VR aspect of the display allowed mission scientists to navigate on Mars in Bud while remaining here on Earth, thus improving their spatial awareness of the rock field that surrounds the lenders Measurements of positions, distances and angles could be easily extracted from the topographic models, providing valuable information for science analysis and mission. planning. Moreover, the VR map of Mars has also been used to assist with the archiving and planning of activities for the Sojourner rover.
Mars is one of the most interesting planets in the solar system, featuring enormous canyons, giant volcanoes, and indications that, early in its history, it might have had rivers and perhaps even oceans. Five years ago, in July of 1997, the Pathfinder mission landed on Mars, bringing with it the microwave-oven sized Sojourner rover to wander around on the surface and analyse rocks. Among the experiments on the mission was one designed to analyse dust deposition. Pathfinder is only the first of an armada of spacecraft which will examine Mars from the pole to the equator in the next decade, culminating with a mission to bring humans to Mars.
The composition and spectral properties of the Mars Pathfinder rocks and soils together with the identification of basaltic and andesitic Mars terrains based on Thermal Emission Spectrometer (TES) data raised interesting questions regarding the nature and origin of Mars surface rocks. We have investigated the following questions: (1) are the Pathfinder rocks igneous and is it possible these rocks could have formed by known igneous processes, such as equilibrium or fractional crystallization, operating within SNC magmas known to exist on Mars? If it is possible, what P (depth) and PH2O conditions are required? (2) whether TES-based interpretations of plagioclase-rich basalt and andesitic terrains in the south and north regions of Mars respectively are unique. Are the surface compositions of these regions plagioclase-rich, possibly indicating the presence of old AI-rich crust of Mars, or are the spectra being affected by something like surface weathering processes that might determine the spectral pyroxene to plagioclase ratio?
New analyses of rocks and soils at the Mars Pathfinder landing site have been completed using the full Imager for Mars Pathfinder (IMP) 12- color SuperPan panorama. These revise early conclusions that rocks at the landing site are a single lithology coated only by windblown dust. We conclude instead that there is also a second lithology in addition to the dominant gray rock, and that it is consistent with highlands material excavated from beneath a thin veneer of northern plains; that many rocks have cemented coatings that formed during an early, probably wetter climate; and that young rocks excavated after coating formation ceased are mainly breccias or conglomerates.
The Mars Pathfinder (MPF) landing site was predicted to contain a broad sampling of rock types varying in mineralogical, physical, mechanical and geochemical characteristics. Although rocks have been divided into several spectral categories based on Imager for Mars Pathfinder visible/near-infrared spectra, it has not been fully determined which of these stem from intrinsic mineralogical differences between rocks or rock surfaces, and which result from factors such as physical or chemical weathering. This has made isolation of unique mineralogy's difficult. Efforts in isolating and classifying spectral units among MPF rocks and soils have met with varying degrees of success, and the current understanding is such that many factors influencing spectral signatures cannot be quantified to a sufficient level so they may be removed. The result is that fundamental questions regarding information needed to reveal the present and past interactions between the rocks and rock surfaces and the Martian environment remain unanswered. But it is possible to approach the issue of identifying distinct rock and rock surface types from a different angle.
The NASA Lewis Research Center has a prime role in the Mars Pathfinder mission, the first in the series of Discovery-class missions, sponsored by NASA Headquarter's Office of Space Science. Mars Pathfinder is an engineering proof-of-concept mission intended to demonstrate the successful deployment of scientific instruments, including a small rover, on a planetary body and to gain engineering design information for follow-on systems. The mission was launched in December 1996 and will land on Mars on July 4, 1997.
Indirect evidence (dust accumulation) has been obtained indicating that the Mars Pathfinder rover, Sojourner, experienced electrostatic charging on Mars. Lander camera images of the Sojourner rover provide distinctive evidence of dust accumulation on rover wheels during traverses, turns, and crabbing maneuvers. The sol 22 (22nd Martian "day" after Pathfinder landed) end-of-day image clearly shows fine red dust concentrated around the wheel edges with additional accumulation in the wheel hubs. A sol 41 image of the rover near the rock "Wedge" (see the next image) shows a more uniform coating of dust on the wheel drive surfaces with accumulation in the hubs similar to that in the previous image. In the sol 41 image, note particularly the loss of black-white contrast on the Wheel Abrasion Experiment strips (center wheel). This loss of contrast was also seen when dust accumulated on test wheels in the laboratory. We believe that this accumulation occurred because the Martian surface dust consists of clay-sized particles, similar to those detected by Viking, which have become electrically charged. By adhering to the wheels, the charged dust carries a net nonzero charge to the rover, raising its electrical potential relative to its surroundings. Similar charging behavior was routinely observed in an experimental facility at the NASA Lewis Research Center, where a Sojourner wheel was driven in a simulated Martian surface environment. There, as the wheel moved and accumulated dust (see the following image), electrical potentials in excess of 100 V (relative to the chamber ground) were detected by a capacitively coupled electrostatic probe located 4 mm from the wheel surface. The measured wheel capacitance was approximately 80 picofarads (pF), and the calculated charge, 8 x 10(exp -9) coulombs (C). Voltage differences of 100 V and greater are believed sufficient to produce Paschen electrical discharge in the Martian atmosphere. With an accumulated net charge of 8 x 10(exp -9) C, and average arc time of 1 msec, arcs can also occur with estimated arc currents approaching 10 milliamperes (mA). Discharges of this magnitude could interfere with the operation of sensitive electrical or electronic elements and logic circuits. Sojourner rover wheel tested in laboratory before launch to Mars. Before launch, we believed that the dust would become triboelectrically charged as it was moved about and compacted by the rover wheels. In all cases observed in the laboratory, the test wheel charged positively, and the wheel tracks charged negatively. Dust samples removed from the laboratory wheel averaged a few ones to tens of micrometers in size (clay size). Coarser grains were left behind in the wheel track. On Mars, grain size estimates of 2 to 10 mm were derived for the Martian surface materials from the Viking Gas Exchange Experiment. These size estimates approximately match the laboratory samples. Our tentative conclusion for the Sojourner observations is that fine clay-sized particles acquired an electrostatic charge during rover traverses and adhered to the rover wheels, carrying electrical charge to the rover. Since the Sojourner rover carried no instruments to measure this mission's onboard electrical charge, confirmatory measurements from future rover missions on Mars are desirable so that the physical and electrical properties of the Martian surface dust can be characterized. Sojourner was protected by discharge points, and Faraday cages were placed around sensitive electronics. But larger systems than Sojourner are being contemplated for missions to the Martian surface in the foreseeable future. The design of such systems will require a detailed knowledge of how they will interact with their environment. Validated environmental interaction models and guidelines for the Martian surface must be developed so that design engineers can test new ideas prior to cutting hardware. These models and guidelines cannot be validated without actual flighata. Electrical charging of vehicles and, one day, astronauts moving across the Martian surface may have moderate to severe consequences if large potential differences develop. The observations from Sojourner point to just such a possibility. It is desirable to quantify these results. The various lander/rover missions being planned for the upcoming decade provide the means for doing so. They should, therefore, carry instruments that will not only measure vehicle charging but characterize all the natural and induced electrical phenomena occurring in the environment and assess their impact on future missions.
The Mars Pathfinder (MPF) landing site was predicted to contain a broad sampling of rock types varying in mineralogical, physical, mechanical and geochemical characteristics. Although rocks have been divided into several spectral categories based on Imager for Mars Pathfinder (IMP) visible/near-infrared data, efforts in isolating and classifying spectral units among MPF rocks and soils have met with varying degrees of success, as many factors influencing spectral signatures cannot be quantified to a sufficient level to be removed. It has not been fully determined which spectral categories stem from intrinsic mineralogical differences between rocks or rock surfaces, and which result from factors such as physical or chemical weathering. This has made isolation of unique rock mineralogies difficult. Morphology, like composition, is a characteristic tied to the intrinsic properties and geologic and weathering history of rocks. Rock morphologies can be assessed quantitatively and compared with spectral data, to identify and classify rock types at the MPF landing site. They can also isolate actual rock spectra from spectral types that are surficial in origin, as compositions associated with mantling dust or chemical coatings would presumably not influence rock morphology during weathering events. We previously reported on an initial classification of rocks using the quantitative morphologic indices of size, roundness, sphericity and elongation. Here, we compare this database of rock characteristics with associated rock surface spectra to improve our ability to discriminate between spectra associated with rock types and those from other sources.