Ancient Aqueous Environments at Endeavour Crater, Mars
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Discovery of Silica-Rich Deposits on Mars by the Spirit Rover
Ancient Aqueous Environments at Endeavour Crater, Mars Authors: R.E. Arvidson1, S.W. Squyres2, J.F. Bell III3, J. G. Catalano1, B.C. Clark4, L.S. Crumpler5, P.A. de Souza Jr.6, A.G. Fairén2, W.H. Farrand4, V.K. Fox1, R. Gellert7, A. Ghosh8, M.P. Golombek9, J.P. Grotzinger10, E. A. Guinness1, K. E. Herkenhoff11, B. L. Jolliff1, A. H. Knoll12, R. Li13, S.M. McLennan14,D. W. Ming15, D.W. Mittlefehldt15, J.M. Moore16, R. V. Morris15, S. L. Murchie17, T.J. Parker9, G. Paulsen18, J.W. Rice19, S.W. Ruff3, M. D. Smith20, M. J. Wolff4 Affiliations: 1 Dept. Earth and Planetary Sci., Washington University in Saint Louis, St. Louis, MO, 63130, USA. 2 Dept. Astronomy, Cornell University, Ithaca, NY, 14853, USA. 3 School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85287, USA. 4Space Science Institute, Boulder, CO 80301, USA. 5 New Mexico Museum of Natural History & Science, Albuquerque, NM 87104, USA. 6 CSIRO Computational Informatics, Hobart 7001 TAS, Australia. 7 Department of Physics, University of Guelph, Guelph, ON, N1G 2W1, Canada. 8 Tharsis Inc., Gaithersburg MD 20877, USA. 9 Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA. 10 Division of Geological and Planetary Sciences, Caltech, Pasadena, CA 91125, USA. 11 U.S. Geological Survey, Astrogeology Science Center, Flagstaff, AZ 86001, USA. 12 Botanical Museum, Harvard University, Cambridge MA 02138, USA. 13 Dept. of Civil & Env. Eng. & Geodetic Science, Ohio State University, Columbus, OH 43210, USA. 14 Dept. of Geosciences, State University of New York, Stony Brook, NY 11794, USA. -
THE MARS 2020 ROVER ENGINEERING CAMERAS. J. N. Maki1, C
51st Lunar and Planetary Science Conference (2020) 2663.pdf THE MARS 2020 ROVER ENGINEERING CAMERAS. J. N. Maki1, C. M. McKinney1, R. G. Willson1, R. G. Sellar1, D. S. Copley-Woods1, M. Valvo1, T. Goodsall1, J. McGuire1, K. Singh1, T. E. Litwin1, R. G. Deen1, A. Cul- ver1, N. Ruoff1, D. Petrizzo1, 1Jet Propulsion Laboratory, California Institute of Technology (4800 Oak Grove Drive, Pasadena, CA 91109, [email protected]). Introduction: The Mars 2020 Rover is equipped pairs (the Cachecam, a monoscopic camera, is an ex- with a neXt-generation engineering camera imaging ception). The Mars 2020 engineering cameras are system that represents a significant upgrade over the packaged into a single, compact camera head (see fig- previous Navcam/Hazcam cameras flown on MER and ure 1). MSL [1,2]. The Mars 2020 engineering cameras ac- quire color images with wider fields of view and high- er angular/spatial resolution than previous rover engi- neering cameras. Additionally, the Mars 2020 rover will carry a new camera type dedicated to sample op- erations: the Cachecam. History: The previous generation of Navcams and Hazcams, known collectively as the engineering cam- eras, were designed in the early 2000s as part of the Mars Exploration Rover (MER) program. A total of Figure 1. Flight Navcam (left), Flight Hazcam (middle), 36 individual MER-style cameras have flown to Mars and flight Cachecam (right). The Cachecam optical assem- on five separate NASA spacecraft (3 rovers and 2 bly includes an illuminator and fold mirror. landers) [1-6]. The MER/MSL cameras were built in two separate production runs: the original MER run Each of the Mars 2020 engineering cameras utilize a (2003) and a second, build-to-print run for the Mars 20 megapixel OnSemi (CMOSIS) CMOS sensor Science Laboratory (MSL) mission in 2008. -
Operation and Performance of the Mars Exploration Rover Imaging System on the Martian Surface
Operation and Performance of the Mars Exploration Rover Imaging System on the Martian Surface Justin N. Maki Jet Propulsion Laboratory California Institute of Technology Pasadena, CA USA [email protected] Todd Litwin, Mark Schwochert Jet Propulsion Laboratory California Institute of Technology Pasadena, CA USA Ken Herkenhoff United States Geological Survey Flagstaff, AZ USA Abstract - The Imaging System on the Mars Exploration Rovers has successfully operated on the surface of Mars for over one Earth year. The acquisition of hundreds of panoramas and tens of thousands of stereo pairs has enabled the rovers to explore Mars at a level of detail unprecedented in the history of space exploration. In addition to providing scientific value, the images also play a key role in the daily tactical operation of the rovers. The mobile nature of the MER surface mission requires extensive use of the imaging system for traverse planning, rover localization, remote sensing instrument targeting, and robotic arm placement. Each of these activity types requires a different set of data compression rates, surface Figure 1. The Mars Exploration Spirit Rover, as viewed by coverage, and image acquisition strategies. An overview the Navcam shortly after lander egress early in the mission. of the surface imaging activities is provided, along with a presents an overview of the operation and performance of summary of the image data acquired to date. the MER Imaging System. Keywords: Imaging system, cameras, rovers, Mars, 1.2 Imaging System Design operations. The MER cameras are classified into five types: Descent cameras, Navigation cameras (Navcam), Hazard Avoidance 1 Introduction cameras (Hazcam), Panoramic cameras (Pancam), and Microscopic Imager (MI) cameras. -
The Degradational History of Endeavour Crater, Mars. J. A
The Degradational History of Endeavour Crater, Mars. J. A. Grant1, T. J. Parker2, L. S. Crumpler3, S. A. Wilson1, M. P. Golombek2, and D. W. Mittlefehldt4, Smithsonian Institution, NASM CEPS, 6th at Independence SW, Washington, DC, 20560 ([email protected]), 2Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, 3New Mexico Museum of Natural History & Science, 1801 Mountain Rd NW, Albuquerque, NM, 87104, 4Astromaterials Research Office, NASA Johnson Space Center, 2101 NASA Parkway, Houston, TX 77058. Endeavour crater (2.28°S, 354.77°E) is a Noachian-aged 22 km-diameter impact structure of complex morphology in Meridiani Planum. The degradation state of the crater has been studied using Mars Reconnaissance Orbiter and Opportunity rover data. Exposed rim segments rise ~10 m to ~100 m above the level of the embaying Burns Formation and the crater is 200-500 m deep with the southern interior wall exposing over ~300 m relief. Both pre-impact rocks (Matijevic Formation) and Endeavour impact ejecta (Shoemaker Formation) are present at Cape York, but only the Shoemaker crops out (up to ~140 m) along the rim segment from Murray Ridge to Cape Tribulation. Study of pristine complex craters Bopolu and Tooting, and morphometry of other martian complex craters, enables us to approximate Endeavour’s pristine form. The original rim likely averaged 410 m ±200 m in elevation and a 250-275 m section of ejecta (±50-60 m) would have composed a significant fraction of the rim height. The original crater depth was likely between 1.5 km and 2.2 km. -
Of Curiosity in Gale Crater, and Other Landed Mars Missions
44th Lunar and Planetary Science Conference (2013) 2534.pdf LOCALIZATION AND ‘CONTEXTUALIZATION’ OF CURIOSITY IN GALE CRATER, AND OTHER LANDED MARS MISSIONS. T. J. Parker1, M. C. Malin2, F. J. Calef1, R. G. Deen1, H. E. Gengl1, M. P. Golombek1, J. R. Hall1, O. Pariser1, M. Powell1, R. S. Sletten3, and the MSL Science Team. 1Jet Propulsion Labora- tory, California Inst of Technology ([email protected]), 2Malin Space Science Systems, San Diego, CA ([email protected] ), 3University of Washington, Seattle. Introduction: Localization is a process by which tactical updates are made to a mobile lander’s position on a planetary surface, and is used to aid in traverse and science investigation planning and very high- resolution map compilation. “Contextualization” is hereby defined as placement of localization infor- mation into a local, regional, and global context, by accurately localizing a landed vehicle, then placing the data acquired by that lander into context with orbiter data so that its geologic context can be better charac- terized and understood. Curiosity Landing Site Localization: The Curi- osity landing was the first Mars mission to benefit from the selection of a science-driven descent camera (both MER rovers employed engineering descent im- agers). Initial data downlinked after the landing fo- Fig 1: Portion of mosaic of MARDI EDL images. cused on rover health and Entry-Descent-Landing MARDI imaged the landing site and science target (EDL) performance. Front and rear Hazcam images regions in color. were also downloaded, along with a number of When is localization done? MARDI thumbnail images. The Hazcam images were After each drive for which Navcam stereo da- used primarily to determine the rover’s orientation by ta has been acquired post-drive and terrain meshes triangulation to the horizon. -
DEGRADATION of ENDEAVOUR CRATER, MARS. J. A. Grant1, L. S. Crumpler2, T
46th Lunar and Planetary Science Conference (2015) 2017.pdf DEGRADATION OF ENDEAVOUR CRATER, MARS. J. A. Grant1, L. S. Crumpler2, T. J. Parker3, M. P. Golombek3, S. A. Wilson1, and D. W. Mittlefehldt4, Smithsonian Institution, NASM CEPS, 6th at Independence SW, Washington, DC, 20560 ([email protected]), 2New Mexico Museum of Natural History & Science, 1801 Mountain Rd NW, Albuquerque, NM, 87104, 3Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, 4NASA JSC, 2101 NASA Parkway, Houston, TX 77058. Introduction: The Opportunity rover has traversed icant degradation. A paucity of debris from the Shoe- portions of two western rim segments of Endeavour, a maker and Matijevic Formations relegates most erosion 22 km-diameter crater in Meridiani Planum (Fig. 1), to before the surrounding plains were emplaced, imply- for the past three years (e.g., [1]). The resultant data ing more efficient erosion in the past [7]. enables the evaluation of the geologic expression [2] Moreover, ejecta comprise ~50-60% of the relief and degradation state of the crater. Endeavour is Noa- around selected Mars complex craters [8] and only 20- chian-aged, complex in morphology [3], and originally 25% around selected lunar complex craters [6]. Hence, may have appeared broadly similar to the more pristine original rim relief at Endeavour may have been only 20.5 km-diameter Santa Fe complex crater in Lunae ~200-500 m or as much as ~400-800 m based on com- Palus (19.5°N, 312.0°E). By contrast, Endeavour is parison with complex Martian and lunar craters of considerably subdued and largely buried by younger broadly similar size [4, 5, 8]. -
Memoirs of Hydrography
MEMOIRS 07 HYDROGRAPHY INCLUDING Brief Biographies of the Principal Officers who have Served in H.M. NAVAL SURVEYING SERVICE BETWEEN THE YEARS 1750 and 1885 COMPILED BY COMMANDER L. S. DAWSON, R.N. I 1s t tw o PARTS. P a r t II.—1830 t o 1885. EASTBOURNE: HENRY W. KEAY, THE “ IMPERIAL LIBRARY.” iI i / PREF A CE. N the compilation of Part II. of the Memoirs of Hydrography, the endeavour has been to give the services of the many excellent surveying I officers of the late Indian Navy, equal prominence with those of the Royal Navy. Except in the geographical abridgment, under the heading of “ Progress of Martne Surveys” attached to the Memoirs of the various Hydrographers, the personal services of officers still on the Active List, and employed in the surveying service of the Royal Navy, have not been alluded to ; thereby the lines of official etiquette will not have been over-stepped. L. S. D. January , 1885. CONTENTS OF PART II ♦ CHAPTER I. Beaufort, Progress 1829 to 1854, Fitzroy, Belcher, Graves, Raper, Blackwood, Barrai, Arlett, Frazer, Owen Stanley, J. L. Stokes, Sulivan, Berard, Collinson, Lloyd, Otter, Kellett, La Place, Schubert, Haines,' Nolloth, Brock, Spratt, C. G. Robinson, Sheringham, Williams, Becher, Bate, Church, Powell, E. J. Bedford, Elwon, Ethersey, Carless, G. A. Bedford, James Wood, Wolfe, Balleny, Wilkes, W. Allen, Maury, Miles, Mooney, R. B. Beechey, P. Shortland, Yule, Lord, Burdwood, Dayman, Drury, Barrow, Christopher, John Wood, Harding, Kortright, Johnson, Du Petit Thouars, Lawrance, Klint, W. Smyth, Dunsterville, Cox, F. W. L. Thomas, Biddlecombe, Gordon, Bird Allen, Curtis, Edye, F. -
The Mars Science Laboratory Engineering Cameras
Space Sci Rev DOI 10.1007/s11214-012-9882-4 The Mars Science Laboratory Engineering Cameras J. Maki · D. Thiessen · A. Pourangi · P. Kobzeff · T. Litwin · L. Scherr · S. Elliott · A. Dingizian · M. Maimone Received: 21 December 2011 / Accepted: 5 April 2012 © Springer Science+Business Media B.V. 2012 Abstract NASA’s Mars Science Laboratory (MSL) Rover is equipped with a set of 12 en- gineering cameras. These cameras are build-to-print copies of the Mars Exploration Rover cameras described in Maki et al. (J. Geophys. Res. 108(E12): 8071, 2003). Images returned from the engineering cameras will be used to navigate the rover on the Martian surface, de- ploy the rover robotic arm, and ingest samples into the rover sample processing system. The Navigation cameras (Navcams) are mounted to a pan/tilt mast and have a 45-degree square field of view (FOV) with a pixel scale of 0.82 mrad/pixel. The Hazard Avoidance Cameras (Hazcams) are body-mounted to the rover chassis in the front and rear of the vehicle and have a 124-degree square FOV with a pixel scale of 2.1 mrad/pixel. All of the cameras uti- lize a 1024 × 1024 pixel detector and red/near IR bandpass filters centered at 650 nm. The MSL engineering cameras are grouped into two sets of six: one set of cameras is connected to rover computer “A” and the other set is connected to rover computer “B”. The Navcams and Front Hazcams each provide similar views from either computer. The Rear Hazcams provide different views from the two computers due to the different mounting locations of the “A” and “B” Rear Hazcams. -
Simulations of Mars Rover Traverses
Simulations of Mars Rover Traverses •••••••••••••••••••••••••••••••••••• Feng Zhou, Raymond E. Arvidson, and Keith Bennett Department of Earth and Planetary Sciences, Washington University in St Louis, St Louis, Missouri 63130 e-mail: [email protected], [email protected], [email protected] Brian Trease, Randel Lindemann, and Paolo Bellutta California Institute of Technology/Jet Propulsion Laboratory, Pasadena, California 91011 e-mail: [email protected], [email protected], [email protected] Karl Iagnemma and Carmine Senatore Robotic Mobility GroupMassachusetts Institute of Technology, Cambridge, Massachusetts 02139 e-mail: [email protected], [email protected] Received 7 December 2012; accepted 21 August 2013 Artemis (Adams-based Rover Terramechanics and Mobility Interaction Simulator) is a software tool developed to simulate rigid-wheel planetary rover traverses across natural terrain surfaces. It is based on mechanically realistic rover models and the use of classical terramechanics expressions to model spatially variable wheel-soil and wheel-bedrock properties. Artemis’s capabilities and limitations for the Mars Exploration Rovers (Spirit and Opportunity) were explored using single-wheel laboratory-based tests, rover field tests at the Jet Propulsion Laboratory Mars Yard, and tests on bedrock and dune sand surfaces in the Mojave Desert. Artemis was then used to provide physical insight into the high soil sinkage and slippage encountered by Opportunity while crossing an aeolian ripple on the Meridiani plains and high motor currents encountered while driving on a tilted bedrock surface at Cape York on the rim of Endeavour Crater. Artemis will continue to evolve and is intended to be used on a continuing basis as a tool to help evaluate mobility issues over candidate Opportunity and the Mars Science Laboratory Curiosity rover drive paths, in addition to retrieval of terrain properties by the iterative registration of model and actual drive results. -
Smectites on Cape York, Matijevic Hill, Mars, As Observed and Characterized by Crism and Opportunity
44th Lunar and Planetary Science Conference (2013) 1286.pdf SMECTITES ON CAPE YORK, MATIJEVIC HILL, MARS, AS OBSERVED AND CHARACTERIZED BY CRISM AND OPPORTUNITY. R. Arvidson1, K. Bennett1, J. Catalano1, A. Fraeman1, R. Gellert2, E. Guinness1, R. Morris3, S. Murchie4, M. Smith5, S. Squyres6, and M. Wolff7, 1Earth and Planetary Sciences, Washington University in Saint Louis, Saint Louis, MO, 63130, [email protected], 2University of Guelph, Ontario, Canada, 3NASA/JSC, Houston, TX, 4JHU/APL, Laurel, MD, 5NASA/GSFC, Green- belt, MD, 6Cornell University, Ithaca, NY, 7Space Science Institute, Boulder, CO. Introduction: Opportunity has conducted an ex- which the H2O bands disappear but the longer wave- tensive “walk-about” and set of in-situ measurements length metal-OH features are retained [6]. Opportunity on strata exposed on the inboard side of Cape York, a was commanded to explore Matijevic Hill based on the segment of the dissected rim of the Noachian-age ~22 locations with this unique spectral signature. km wide Endeavour crater [1] (Fig. 1). The specific Opportunity Data: The “walk-about” Pancam and region for the observations (Matijevic Hill) was chosen Navcam data show Matijevic Hill exposes a set of stra- based on along track oversampled (ATO) CRISM ta that includes a relatively bright, recessive deposit hyperspectral observations (processed to 5 m/pixel) termed Whitewater Lake (Fig. 4). Microscopic imager that showed the presence of exposures of Fe/Mg observations show that this unit is very fine-grained, smectite phyllosilicates. We describe the first ground- with a relatively small component of irregularly shaped based observations of phyllosilicates on Mars and dis- sand grains and occasional ~1 to 2 mm diameter cuss implications based on the combined CRISM and spherules. -
Modeling Risk Perception for Mars Rover Supervisory Control: Before and After Wheel Damage Alex J
Modeling Risk Perception for Mars Rover Supervisory Control: Before and After Wheel Damage Alex J. Stimpson Matthew B. Tucker Masahiro Ono Amanda Steffy Mary L. Cummings Humans and Humans and NASA Jet NASA Jet Humans and Autonomy Lab Autonomy Lab Propulsion Propulsion Autonomy Lab 144 Hudson Hall 144 Hudson Hall Laboratory, Laboratory, 144 Hudson Hall Durham NC 27708 Durham NC 27708 California Institute California Institute Durham NC 27708 (352) 256-7455 (919) 402-3853 of Technology of Technology (919) 660-5306 Alexander.Stimpson Matthew.b.tucker 4800 Oak Grove 4800 Oak Grove Mary.Cummings@d @duke.edu @duke.edu Drive Pasadena, CA Drive Pasadena, CA uke.edu 91109 91109 Masahiro.Ono Amanda.C.Steffy @jpl.nasa.gov @jpl.nasa.gov Abstract— The perception of risk can dramatically influence the was designed to help collect data that can be used to assess the human selection of semi-autonomous system control strategies, past or present capability to support microbial life. In short, particularly in safety-critical systems like unmanned vehicle Curiosity was sent to Mars in order to determine the planet’s operation. Thus, the ability to understand the components of risk habitability [1]. perception can be extremely valuable in developing either operational strategies or decision support technologies. To this The Curiosity rover left Earth on November 26th, 2011. end, this paper analyzes the differences in human supervisory Approximately nine months later, the MSL curiosity rover control of Mars Science Laboratory rover operation before and th after the discovery of wheel damage. This paper identifies four landed on Mars on August 6 , 2012. -
MAHLI): Characterization and Calibration Status
Curiosity’s robotic arm-mounted Mars Hand Lens Imager (MAHLI): Characterization and calibration status Kenneth S. Edgett, Michael A. Caplinger, Justin N. Maki, Michael A. Ravine, F. Tony Ghaemi, Sean McNair, Kenneth E. Herkenhoff, Brian M. Duston, Reg G. Willson, R. Aileen Yingst, Megan R. Kennedy, Michelle E. Minitti, Aaron J. Sengstacken, Kimberley D. Supulver, Leslie J. Lipkaman, Gillian M. Krezoski, Marie J. McBride, Tessa L. Jones, Brian E. Nixon, Jason K. Van Beek, Daniel J. Krysak, and Randolph L. Kirk MSL MAHLI Technical Report 0001, version 2 version 1: 19 June 2015; version 2: 05 October 2015 Citation: Edgett, K. S., M. A. Caplinger, J. N. Maki, M. A. Ravine, F. T. Ghaemi, S. McNair, K. E. Herkenhoff, B. M. Duston, R. G. Willson, R. A. Yingst, M. R. Kennedy, M. E. Minitti, A. J. Sengstacken, K. D. Supulver, L. J. Lipkaman, G. M. Krezoski, M. J. McBride, T. L. Jones, B. E. Nixon, J. K. Van Beek, D. J. Krysak, and R. L. Kirk (2015) Curiosity’s robotic arm-mounted Mars Hand Lens Imager (MAHLI): Characterization and calibration status, MSL MAHLI Technical Report 0001 (version 1: 19 June 2015; version 2: 05 October 2015). doi:10.13140/RG.2.1.3798.5447 – MSL MAHLI Tech. Rept. 0001 – Mars Science Laboratory (MSL) Mars Hand Lens Imager (MAHLI) Technical Report 0001 Cover photo Mars Science Laboratory (MSL) rover Curiosity’s Mars Hand Lens Imager (MAHLI; center) and Dust Removal Tool (DRT; right), as observed by the Mastcam-34 camera on Sol 30 (06 September 2012) in northern Gale crater, Mars.