Mars Science Laboratory Rover Research Articles

Observations of an aeolian landscape: From surface to orbit in Gale Crater

Landscapes derived solely from aeolian processes are rare on Earth because of the dominance of subaqueous processes. In contrast, aeolian-derived landscapes should typify Mars because of the absence of liquid water, the long exposure times of surfaces, and the presence of wind as the default geomorphic agent. Using the full range of available orbital and Mars Science Laboratory rover Curiosity images, wind-formed features in Gale Crater were cataloged and analyzed in order to characterize the aeolian landscape and to derive the evolution of the crater wind regime over time. Inferred wind directions show a dominance of regional northerly winds over geologic time-scales, but a dominance of topography-driven katabatic winds in modern times. Landscapes in Gale Crater show a preponderance of aeolian features at all spatial scales. Interpreted processes forming these features include first-cycle aeolian abrasion of bedrock, pervasive deflation, organization of available sand into bedforms, abundant cratering, and gravity-driven wasting, all of which occur over a background of slow physical weathering. The observed landscapes are proposed to represent a spectrum of progressive surface denudation from fractured bedrock, to retreating bedrock-capped mesas, to remnant hills capped by bedrock rubble, to desert pavement plains. This model of landscape evolution provides the mechanism by which northerly winds acting over ∼3Ga excavated tens of thousands of cubic kilometers of material from the once sediment-filled crater, thus carving the intra-crater moat and exhuming Mount Sharp (Aeolis Mons). The current crater surface is relatively sand-starved, indicating that potential sediment deflation from the crater is greater than sediment production, and that most exhumation of Mount Sharp occurred in the ancient geologic past.

A full martian year of line-of-sight extinction within Gale Crater, Mars as acquired by the MSL Navcam through sol 900

We report on line-of-sight extinction in northern Gale Crater, Mars as seen by the Mars Science Laboratory (MSL) rover, Curiosity from sol 100 to sol 900; a little more than an entire martian year. Navcam images oriented due north, which show the distant crater rim, the near ground and the sky allow the extinction due to dust within the crater to be determined. This line-of sight extinction is compared to a complementary dataset of column extinctions derived from Mastcam. The line-of-sight extinction within the crater is less than the column extinction for the majority of the martian year. This implies that the relatively low mixing ratio of dust within the crater as compared to the atmosphere above the crater rim persists through most of the year. This suggests relatively little mixing between the atmosphere above the crater and the atmosphere inside the crater and suggests that northern Gale Crater is a net sink of dust in the current era. The data does however show a yearly convergence of the line-of-sight extinction and the column-averaged extinction around Ls=270–290°. This suggests that air above the crater mixes with air in the crater at this time, as predicted by mesoscale models. Matching line-of-sight and column extinction values are also seen around Ls≈135°, a season that has only been observed once in this dataset, this is particularly interesting as the Rover Environmental Monitoring Station onboard Curiosity reports increased convective boundary layer heights in the same season.

Water equivalent hydrogen estimates from the first 200 sols of Curiosity’s traverse (Bradbury Landing to Yellowknife Bay): Results from the Dynamic Albedo of Neutrons (DAN) passive mode experiment

The Dynamic Albedo of Neutrons (DAN) experiment on the Mars Science Laboratory (MSL) rover Curiosity is designed to detect neutrons to determine hydrogen abundance within the subsurface of Mars (Mitrofanov, I.G. et al. [2012]. Space Sci. Rev. 170, 559–582. http://dx.doi.org/10.1007/s11214-012-9924-y; Litvak, M.L. et al. [2008]. Astrobiology 8, 605–613. http://dx.doi.org/10.1089/ast.2007.0157). While DAN has a pulsed neutron generator for active measurements, in passive mode it only measures the leakage spectrum of neutrons produced by the Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) and Galactic Cosmic Rays (GCR). DAN passive measurements provide better spatial coverage than the active measurements because they can be acquired while the rover is moving. Here we compare DAN passive-mode data to models of the instrument’s response to compositional differences in a homogeneous regolith in order to estimate the water equivalent hydrogen (WEH) content along the first 200 sols of Curiosity’s traverse in Gale Crater, Mars. WEH content is shown to vary greatly along the traverse. These estimates range from 0.5±0.1wt.% to 3.9±0.2wt.% for fixed locations (usually overnight stops) investigated by the rover and 0.6±0.2wt.% to 7.6±1.3wt.% for areas that the rover has traversed while continuously acquiring DAN passive data between fixed locations. Estimates of WEH abundances at fixed locations based on passive mode data are in broad agreement with those estimated at the same locations using active mode data. Localized (meter-scale) anomalies in estimated WEH values from traverse measurements have no particular surface expression observable in co-located images. However at a much larger scale, the hummocky plains and bedded fractured units are shown to be distinct compositional units based on the hydrogen content derived from DAN passive measurements. DAN passive WEH estimates are also shown to be consistent with geologic models inferred from other MSL instruments, which indicate that fluvial/lacustrine activity occurred at certain locations (e.g., Yellowknife Bay).

Manifold preprocessing for laser‐induced breakdown spectroscopy under Mars conditions

Laser‐induced breakdown spectroscopy (LIBS) is currently being used onboard the Mars Science Laboratory rover Curiosity to predict elemental abundances in dust, rocks, and soils using a partial least squares regression model developed by the ChemCam team. Accuracy of that model is constrained by the number of samples needed in the calibration, which grows exponentially with the dimensionality of the data, a phenomenon known as the curse of dimensionality. LIBS data are very high dimensional, and the number of ground‐truth samples (i.e., standards) recorded with the ChemCam before departing for Mars was small compared with the dimensionality, so strategies to optimize prediction accuracy are needed. In this study, we first use an existing machine learning algorithm, locally linear embedding (LLE), to combat the curse of dimensionality by embedding the data into a low‐dimensional manifold subspace before regressing. LLE constructs its embedding by maintaining local neighborhood distances and discarding large global geodesic distances between samples, in an attempt to preserve the underlying geometric structure of the data. We also introduce a novel supervised version, LLE for regression (LLER), which takes into account the known chemical composition of the training data when embedding. LLER is shown to outperform traditional LLE when predicting most major elements. We show the effectiveness of both algorithms using three different LIBS datasets recorded under Mars‐like conditions. Copyright © 2015 John Wiley & Sons, Ltd.

High Energy Density, Long-Life Li-S Batteries for Aerospace Applications

Lithium-ion batteries have been successfully employed in several Mars surface missions, e.g., Mars Exploration Rovers (Spirit and Opportunity), Mars Phoenix Lander, and more recently in the Mars Science Laboratory rover (Curiosity).1 With distinct benefits in gravimetric and volumetric densities combined with good low temperature performance relative to the aqueous battery systems, Li-ion batteries contribute to reduced launch costs, increased payload and science capabilities in the space missions. NASA’s upcoming missions however need energy storage systems with enhanced performance capability, especially higher specific energies and energy densities. One such application involves astronaut Extra Vehicular Activity (EVA), wherein the astronaut’s Portable Life Support System (PLSS) is expected to support 8 hours of EVA. The state of art batteries with ~200 Wh/kg at the cell level can support only four hours of EVA. To address these needs, we are developing high-energy and long-life lithium-sulfur cells, with the following performance targets: cell specific energy of 400 Wh/kg ii) cycle life exceeding 200 cycles and iii) ability to operate safely over a wide temperature of -10 to +30 °C. We have been developing improved cell components for Li-S cells, e.g., protected Li anode, dense sulfur cathode and compatible electrolytes, mainly addressing the key technological hurdlesof poor utilization at high cathode loading (necessary for a practical high energy cell) and limited cycle life.2-5 We have developed new sulfur cathodes that show high specific capacities of ≥800 mAh/g at C/5 rate with practical material loadings, ii) Li anode protected with a polymer electrolyte that displays efficient Li cycling and durability in laboratory Li-S cells, and iii) Electrolytes and new proprietary coatings of polysulfide blocking layers which inhibit the deleterious effects of sulfur redistribution and contribute to a good cycle life. We have also developed suitable cell designs and fabricated pouch cells that displayed specific energies of ~300 Wh/kg, moderate cycle and safety towards thermal and electrical abuse. In this paper, we will describe some of these material developments and their performance in laboratory cells and later in prototype cells. B. V. Ratnakumar, W. C. West, P. DeGrosse Jr., M. C. Smart, L. Jones and R.C. Ewell, NASA Battery Workshop, Huntsville, AL, November 6, (2012)Y. Yin, S. Xin, Y. Guo and L. Wan, Angew. Chem. Int. Ed. 2013, 52, 13186 (2013).S. Evers, L. F. Nazar, Acc. Chem. Res., 46, 1135 (2013);X. Ji, K. T. Lee, L. F. Nazar, Nat. Mater. 8, 500 (2009).A. Manthiram, S.-H. Chung, C. Zu, Adv. Mater. 27, 1980 (2015).S. S. Zhang, Front. Energy Res. 1, 1 (2013).

Mars Science Laboratory diurnal moisture observations and column simulations

Hourly observations of air temperature and relative humidity at 1.6 m height from the surface (T 1.6 m, RH 1.6 m) measured by the Mars Science Laboratory (MSL) Rover Environmental Monitoring Station relative humidity (REMS-H) device are shown for MSL solar days 15–17 and 80–82, augmented with column model simulations. The diurnal range of T 1.6 m was 197–268 K in the first period, RH 1.6 m being small (<1%) in daytime but increasing to 45–49% by sunrise. During the warmer second period the T 1.6 m range was 201–275 K with RH 1.6 m only up to 16% in the morning. The modeled temperatures were quite close to those observed when the local albedo was set to 0.15 and thermal inertia to 300 tiu. The modeled RH 1.6 m was close to that observed when the well-mixed boundary layer values (0–4 km) of the mass mixing ratio q were 28–30 ppmm (suggesting a precipitable water content (PWC) of ~5.5 µm) during the first period and 12 ppmm (PWC of ~2 µm) during the second period. The REMS-H observations indicate systematic diurnal variation in the near-surface mixing ratio.

Data processing of the active neutron experiment DAN for a Martian regolith investigation

Searching for water in the soil of Gale Crater is one of the primary tasks for the NASA Mars Science Laboratory rover named Curiosity. The primary task of the Dynamic Albedo of Neutrons (DAN) experiment on board the rover is to investigate and qualitatively characterize the presence of water along the rover’s traverse across Gale Crater. The water depth distribution may be found from measurements of neutrons generated by the Pulsing Neutron Generator (PNG) included in the DAN instrument, scattered by the regolith and returned back to the detectors. This paper provides a description of the data processing of such measurements and data products of DAN investigation.

The origin and implications of clay minerals from Yellowknife Bay, Gale crater, Mars.

The Mars Science Laboratory (MSL) rover Curiosity has documented a section of fluvio-lacustrine strata at Yellowknife Bay (YKB), an embayment on the floor of Gale crater, approximately 500 m east of the Bradbury landing site. X-ray diffraction (XRD) data and evolved gas analysis (EGA) data from the CheMin and SAM instruments show that two powdered mudstone samples (named John Klein and Cumberland) drilled from the Sheepbed member of this succession contain up to ~20 wt% clay minerals. A trioctahedral smectite, likely a ferrian saponite, is the only clay mineral phase detected in these samples. Smectites of the two samples exhibit different 001 spacing under the low partial pressures of H2O inside the CheMin instrument (relative humidity <1%). Smectite interlayers in John Klein collapsed sometime between clay mineral formation and the time of analysis to a basal spacing of 10 Å, but largely remain open in the Cumberland sample with a basal spacing of ~13.2 Å. Partial intercalation of Cumberland smectites by metal-hydroxyl groups, a common process in certain pedogenic and lacustrine settings on Earth, is our favored explanation for these differences. The relatively low abundances of olivine and enriched levels of magnetite in the Sheepbed mudstone, when compared with regional basalt compositions derived from orbital data, suggest that clay minerals formed with magnetite in situ via aqueous alteration of olivine. Mass-balance calculations are permissive of such a reaction. Moreover, the Sheepbed mudstone mineral assemblage is consistent with minimal inputs of detrital clay minerals from the crater walls and rim. Early diagenetic fabrics suggest clay mineral formation prior to lithification. Thermodynamic modeling indicates that the production of authigenic magnetite and saponite at surficial temperatures requires a moderate supply of oxidants, allowing circum-neutral pH. The kinetics of olivine alteration suggest the presence of fluids for thousands to hundreds of thousands of years. Mineralogical evidence of the persistence of benign aqueous conditions at YKB for extended periods indicates a potentially habitable environment where life could establish itself. Mediated oxidation of Fe2+ in olivine to Fe3+ in magnetite, and perhaps in smectites provided a potential energy source for organisms.

First detection of fluorine on Mars: Implications for Gale Crater's geochemistry

AbstractVolatiles and especially halogens (F and Cl) have been recognized as important species in the genesis and melting of planetary magmas. Data from the Chemical Camera instrument on board the Mars Science Laboratory rover Curiosity now provide the first in situ analyses of fluorine at the surface of Mars. Two principal F‐bearing mineral assemblages are identified. The first is associated with high aluminum and low calcium contents, in which the F‐bearing phase is an aluminosilicate. It is found in conglomerates and may indicate petrologically evolved sources. This is the first time that such a petrologic environment is found on Mars. The second is represented by samples that have high calcium contents, in which the main F‐bearing minerals are likely to be fluorapatites and/or fluorites. Fluorapatites are found in some sandstone and may be detrital, while fluorites are also found in the conglomerates, possibly indicating low‐T alteration processes.

Atmospheric movies acquired at the Mars Science Laboratory landing site: Cloud morphology, frequency and significance to the Gale Crater water cycle and Phoenix mission results

We report on the first 360 sols (LS 150° to 5°), representing just over half a Martian year, of atmospheric monitoring movies acquired using the NavCam imager from the Mars Science Laboratory (MSL) Rover Curiosity. Such movies reveal faint clouds that are difficult to discern in single images. The data set acquired was divided into two different classifications depending upon the orientation and intent of the observation. Up to sol 360, 73 Zenith movies and 79 Supra-Horizon movies have been acquired and time-variable features could be discerned in 25 of each. The data set from MSL is compared to similar observations made by the Surface Stereo Imager (SSI) onboard the Phoenix Lander and suggests a much drier environment at Gale Crater (4.6°S) during this season than was observed in Green Valley (68.2°N) as would be expected based on latitude and the global water cycle. The optical depth of the variable component of clouds seen in images with features are up to 0.047±0.009 with a granularity to the features observed which averages 3.8°. MCS also observes clouds during the same period of comparable optical depth at 30 and 50km that would suggest a cloud spacing of 2.0 to 3.3km. Multiple motions visible in atmospheric movies support the presence of two distinct layers of clouds. At Gale Crater, these clouds are likely caused by atmospheric waves given the regular spacing of features observed in many Zenith movies and decreased spacing towards the horizon in sunset movies consistent with clouds forming at a constant elevation. Reanalysis of Phoenix data in the light of the NavCam equatorial dataset suggests that clouds may have been more frequent in the earlier portion of the Phoenix mission than was previously thought.

Diagenesis and clay mineral formation at Gale Crater, Mars.

The Mars Science Laboratory rover Curiosity found host rocks of basaltic composition and alteration assemblages containing clay minerals at Yellowknife Bay, Gale Crater. On the basis of the observed host rock and alteration minerals, we present results of equilibrium thermochemical modeling of the Sheepbed mudstones of Yellowknife Bay in order to constrain the formation conditions of its secondary mineral assemblage. Building on conclusions from sedimentary observations by the Mars Science Laboratory team, we assume diagenetic, in situ alteration. The modeling shows that the mineral assemblage formed by the reaction of a CO2-poor and oxidizing, dilute aqueous solution (Gale Portage Water) in an open system with the Fe-rich basaltic-composition sedimentary rocks at 10–50°C and water/rock ratio (mass of rock reacted with the starting fluid) of 100–1000, pH of ∽7.5–12. Model alteration assemblages predominantly contain phyllosilicates (Fe-smectite, chlorite), the bulk composition of a mixture of which is close to that of saponite inferred from Chemistry and Mineralogy data and to that of saponite observed in the nakhlite Martian meteorites and terrestrial analogues. To match the observed clay mineral chemistry, inhomogeneous dissolution dominated by the amorphous phase and olivine is required. We therefore deduce a dissolving composition of approximately 70% amorphous material, with 20% olivine, and 10% whole rock component.

Embedded clays and sulfates in Meridiani Planum, Mars

The area of Meridiani Planum on Mars became of particular interest after the detection of coarse-grained, gray hematite, which led to the choice of this region as final landing site for the Mars Exploration Rover Opportunity. Multiple additional minerals have since been detected in the region, both from orbit and in situ. The present paper reassesses in detail the mineralogy and geomorphology of the area (between 3.5°S to 6.5°N latitude and 8.0°W to 8.0°E longitude) using visible and near-infrared hyperspectral data, merged with high spatial resolution images into a Geographic Information System. Fe/Mg-rich phyllosilicates, as well as several types of sulfates are identified within the kilometer of sedimentary deposits constituting the etched terrains and the overlying hematite-rich plains. The mineralogical stratigraphy of the etched terrains is characterized by a sulfate-rich unit, enriched in Fe/Mg-rich clays in its uppermost part. This clay-rich horizon is capped by another sulfate-rich unit, of different composition, associated with hematite detections and constituting the material of the hematite plains unit. The clay-bearing unit, which directly underlies the hematite plains, may be exposed in the rim of Endeavour Crater and could correspond to the material that is currently being analyzed by Opportunity. Diverse landforms including karsts and pan features are observed at the surface of the hydrated etched terrains and indicate past surface water and potential groundwater aquifers. Our analysis reveals that both surficial water and groundwater processes are required to explain the diversity of morphologies and mineralogies observed in the area. Although orbital detections are consistent with the hematite and sulfate detections made in situ by Opportunity in the hematite plains, they also show the presence of a clay-rich horizon at depth, overlying another, thicker, possibly chemically distinct, sulfate-rich unit within the etched terrains. Therefore we conclude that the very acidic conditions that prevailed during the formation of the topmost sulfate-rich unit, as observed in Meridiani Planum and in the hematite plains by the rover Opportunity, are not representative of the entire history of the etched terrains. In contrast, most hydrated minerals in Meridiani Planum likely formed at more neutral pH, at the beginning of the Hesperian. The overall sulfate/clay/sulfate sequence is similar to the one observed in Gale Crater, the landing site of the Mars Science Laboratory rover.

Onboard centralized frame tree database for intelligent space operations of the Mars Science Laboratory Rover.

Planetary surface science operations performed by robotic space systems frequently require pointing cameras at various objects and moving a robotic arm end effector tool toward specific targets. Earlier NASA Mars Exploration Rovers did not have the ability to compute actual coordinates for given object coordinate frame names and had to be provided with explicit coordinates. Since it sometimes takes hours to more than a day to get final approval of certain calculated coordinates for command uplink via the Earth-based mission operations procedures, a highly desired enhancement for future rovers was to have the onboard automated capability to compute the coordinates for a given frame name. The Mars Science Laboratory (MSL) rover mission is the first to have a centralized coordinate transform database to maintain the knowledge of spatial relations. This onboard intelligence significantly simplifies communication and control between Earth-based human mission operators and the robotic rover on Mars by supporting higher level abstraction of commands using object and target names instead of coordinates. More specifically, the spatial relations of many object frames are represented hierarchically in a tree data structure, called the frame tree. Individual frame transforms are populated by their respective modules that have specific knowledge of the frames. Through this onboard centralized frame tree database, client modules can query transforms between any two frames and support spacecraft commands that use any frames maintained in the frame tree. Various operational examples in the MSL mission that have greatly benefitted from this onboard centralized frame tree database are presented.

Ferrian saponite from the Santa Monica Mountains (California, U.S.A., Earth): Characterization as an analog for clay minerals on Mars with application to Yellowknife Bay in Gale Crater

Ferrian saponite from the eastern Santa Monica Mountain, near Griffith Park (Los Angeles, California), was investigated as a mineralogical analog to smectites discovered on Mars by the CheMin X-ray diffraction instrument onboard the Mars Science Laboratory (MSL) rover. The martian clay minerals occur in sediment of basaltic composition and have 02 l diffraction bands peaking at 4.59 A, consistent with tri-octahedral smectites. The Griffith saponite occurs in basalts as pseudomorphs after olivine and mesostasis glass and as fillings of vesicles and cracks and has 02 l diffraction bands at that same position. We obtained chemical compositions (by electron microprobe), X-ray diffraction patterns with a lab version of the CheMin instrument, Mossbauer spectra, and visible and near-IR reflectance (VNIR) spectra on several samples from that locality. The Griffith saponite is magnesian, Mg/(Mg+∑Fe) = 65–70%, lacks tetrahedral Fe 3+ and octahedral Al 3+ , and has Fe 3+ /∑Fe from 64 to 93%. Its chemical composition is consistent with a fully tri-octahedral smectite, but the abundance of Fe 3+ gives a nominal excess charge of +1 to +2 per formula unit. The excess charge is likely compensated by substitution of O 2− for OH − , causing distortion of octahedral sites as inferred from Mossbauer spectra. We hypothesize that the Griffith saponite was initially deposited with all its iron as Fe 2+ and was oxidized later. X-ray diffraction shows a sharp 001 peak at 15 A, 00 l peaks, and a 02 l diffraction band at the same position (4.59 A) and shape as those of the martian samples, indicating that the martian saponite is not fully oxidized. VNIR spectra of the Griffith saponite show distinct absorptions at 1.40, 1.90, 2.30–2.32, and 2.40 μm, arising from H 2 O and hydroxyl groups in various settings. The position of the ~2.31 μm spectral feature varies systematically with the redox state of the octahedrally coordinated Fe. This correlation may permit surface oxidation state to be inferred (in some cases) from VNIR spectra of Mars obtained from orbit, and, in any case, ferrian saponite is a viable assignment for spectral detections in the range 2.30–2.32 μm.

Observational evidence of a suppressed planetary boundary layer in northern Gale Crater, Mars as seen by the Navcam instrument onboard the Mars Science Laboratory rover

The Navigation Cameras (Navcam) of the Mars Science Laboratory rover, Curiosity, have been used to examine two aspects of the planetary boundary layer: vertical dust distribution and dust devil frequency. The vertical distribution of dust may be obtained by using observations of the distant crater rim to derive a line-of-sight optical depth within Gale Crater and comparing this optical depth to column optical depths obtained using Mastcam observations of the solar disc. The line of sight method consistently produces lower extinctions within the crater compared to the bulk atmosphere. This suggests a relatively stable atmosphere in which dust may settle out leaving the air within the crater clearer than air above and explains the correlation in observed column opacity between the floor of Gale Crater and the higher elevation Meridiani Planum. In the case of dust devils, despite an extensive campaign only one optically thick vortex (τ=1.5±0.5×10−3) was observed compared to 149 pressure events >0.5Pa observed in REMS pressure data. Correcting for temporal coverage by REMS and geographic coverage by Navcam still suggests 104 vortices should have been viewable, suggesting that most vortices are dustless. Additionally, the most intense pressure excursions observed on other landing sites (pressure drop >2.5Pa) are lacking from the observations by the REMS instrument. Taken together, these observations are consistent with pre-landing circulation modeling of the crater showing a suppressed, shallow boundary layer. They are further consistent with geological observations of dust that suggests the northern portion of the crater is a sink for dust in the current era.

Future Mars Rovers: The Next Places to Direct Our Curiosity

When the $2.5 billion dollar Mars Science Laboratory (MSL) rover Curiosity was designed and built, its landing site was not known in advance. Rather, a series of open‐invitation workshops was convened to solicit input from the scientific community to help evaluate potential sites.

Organic cleanliness of the Mars Science Laboratory sample transfer chain.

One of the primary science goals of the Mars Science Laboratory (MSL) Rover, Curiosity, is the detection of organics in Mars rock and regolith. To achieve this, the Curiosity rover includes a robotic sampling system that acquires rock and regolith samples and delivers it to the Sample Analysis at Mars (SAM) instrument on board the rover. In order to provide confidence that any significant organics detection result was Martian and not terrestrial in origin, a requirement was levied on the flight system (i.e., all sources minus the SAM instrument) to impart no more than 36 parts per billion (ppb by weight) of total reduced carbon terrestrial contamination to any sample transferred to the SAM instrument. This very clean level was achieved by a combination of a rigorous contamination control program on the project, and then using the first collected samples for a "dilution cleaning" campaign of the sample chain prior to delivering a sample to the SAM instrument. Direct cleanliness assays of the sample-contacting and other Flight System surfaces during pre-launch processing were used as inputs to determine the number of dilution cleaning samples needed once on Mars, to enable delivery of suitably clean samples to the SAM experiment. Taking into account contaminant redistribution during launch thorough landing of the MSL on Mars, the amount of residue present on the sampling hardware prior to the time of first dilution cleaning sample acquisition was estimated to be 60 ng/cm(2) on exposed outer surfaces of the sampling hardware and 20 ng/cm(2) on internal sample contacting surfaces; residues consisting mainly of aliphatic hydrocarbons and esters. After three dilution cleaning samples, estimated in-sample contamination level for the first regolith sample delivered to the SAM instrument at the Gale Crater "Rocknest" site was bounded at ≤10 ppb total organic carbon. A Project decision to forego ejecting the dilution cleaning sample and instead transfer the first drill-acquired sample at the "John Klein" site to SAM resulted in an estimated level of terrestrial contamination of ≤430 ppb. The estimated terrestrial contamination for portions from the second drill-acquired sample, at Cumberland, was ≤69 ppb; the estimate for a future, third, drilled sample is ≤38 ppb. These levels are comparable in magnitude to the SAM instrument blanks at the nanomole level (as chlorohydrocarbon).

The ChemCam Remote Micro-Imager at Gale crater: Review of the first year of operations on Mars

The Mars Science Laboratory rover, “Curiosity” landed near the base of a 5km-high mound of layered material in Gale crater. Mounted on the rover mast, the ChemCam instrument is designed to remotely determine the composition of soils and rocks located a few meters from the rover, using a Laser-Induced Breakdown Spectrometer (LIBS) coupled to a Remote Micro-Imager (RMI). We provide an overview of the diverse imaging investigations that were carried out by ChemCam’s RMI during the first year of operation on Mars. 1182 individual panchromatic RMI images were acquired from Sol 10 to Sol 360 to document the ChemCam LIBS measurements and to characterize soils, rocks and rover hardware. We show several types of derived imaging products, including mosaics of images taken before and after laser shots, difference images to enhance the most subtle laser pits, merges with color Mastcam-100 images, micro-topography using the Z-stack technique, and time lapse movies. The very high spatial resolution of RMI is able to resolve rock textures at sub-mm scales, which provides clues regarding the origin (igneous versus sedimentary) of rocks, and to reveal information about their diagenetic and weathering evolution. In addition to its scientific value over the range accessible by LIBS (1–7m), we also show that RMI can also serve as a powerful long distance reconnaissance tool to characterize the landscape at distances up to several kilometers from the rover.

Diurnal variations of energetic particle radiation at the surface of Mars as observed by the Mars Science Laboratory Radiation Assessment Detector

AbstractThe Radiation Assessment Detector onboard the Mars Science Laboratory rover Curiosity is detecting the energetic particle radiation at the surface of Mars. Data collected over the first 350 Martian days of the nominal surface mission show a pronounced diurnal cycle in both the total dose rate and the neutral particle count rate. The diurnal variations detected by the Radiation Assessment Detector were neither anticipated nor previously considered in the literature. These cyclic variations in dose rate and count rate are shown to be the result of changes in atmospheric column mass driven by the atmospheric thermal tide that is characterized through pressure measurements obtained by the Rover Environmental Monitoring Station, also onboard the rover. In addition to bulk changes in the radiation environment, changes in atmospheric shielding forced by the thermal tide are shown to disproportionately affect heavy ions compared to H and He nuclei.

MSL-APXS titanium observation tray measurements: Laboratory experiments and results for the Rocknest fines at theCuriosityfield site in Gale Crater, Mars

The Mars Science Laboratory (MSL) rover, Curiosity, has a titanium science observation tray (o-tray), upon which portions from drilled and scooped Martian samples can be delivered for analyses by the Alpha-Particle X-ray Spectrometer (APXS). The standard APXS calibration approach to derive elemental concentrations cannot be applied to samples on the o-tray because they (1) have a nonuniform three-dimensional distribution within the APXS field of view and (2) are thin ( 90 µm). To develop techniques for interpreting MSL-APXS o-tray measurements, we conducted laboratory measurements of thin particulate basalt samples on Ti metal with the Flight Equivalent APXS Unit. The experiments demonstrate that, relative to an “infinitely thick” sample, increasing areal coverage of particulates on a Ti metal substrate results in a proportional decrease in the Ti signal and increase in the sample signal. Count rates for heavier elements (Mn and Fe) drop with decreasing sample thickness because the mean thickness is smaller than the APXS information depth. Similar effects were seen in the MSL-APXS o-tray measurement of Rocknest fines on Martian solar day 95, an aliquot of material delivered to Sample Analysis at Mars and Chemistry and Mineralogy. The thin layer effect caused a drop in Mn and Fe signals, which cannot be quantitatively compared to the in situ Rocknest target “Portage” because sample thickness was unknown. Otherwise, Rocknest fines on the o-tray had no significant compositional differences from Portage, except for slight increases in S and Cl.