We describe the parameters that drive the design and modeling of the Rover Environmental Monitoring Station (REMS) Ground Temperature Sensor (GTS), an instrument aboard NASA's Mars Science ...Laboratory, and report preliminary test results. REMS GTS is a lightweight, low-power, and low cost pyrometer for measuring the Martian surface kinematic temperature. The sensor's main feature is its innovative design, based on a simple mechanical structure with no moving parts. It includes an in-flight calibration system that permits sensor recalibration when sensor sensitivity has been degraded by deposition of dust over the optics. This paper provides the first results of a GTS engineering model working in a Martian-like, extreme environment.
In the first 100 Martian solar days (sols) of the Mars Science Laboratory mission, the Rover Environmental Monitoring Station (REMS) measured the seasonally evolving diurnal cycles of ultraviolet ...radiation, atmospheric pressure, air temperature, ground temperature, relative humidity, and wind within Gale Crater on Mars. As an introduction to several REMS‐based articles in this issue, we provide an overview of the design and performance of the REMS sensors and discuss our approach to mitigating some of the difficulties we encountered following landing, including the loss of one of the two wind sensors. We discuss the REMS data set in the context of other Mars Science Laboratory instruments and observations and describe how an enhanced observing strategy greatly increased the amount of REMS data returned in the first 100 sols, providing complete coverage of the diurnal cycle every 4 to 6 sols. Finally, we provide a brief overview of key science results from the first 100 sols. We found Gale to be very dry, never reaching saturation relative humidities, subject to larger diurnal surface pressure variations than seen by any previous lander on Mars, air temperatures consistent with model predictions and abundant short timescale variability, and surface temperatures responsive to changes in surface properties and suggestive of subsurface layering.
Key Points
Introduction to the REMS results on MSL missionOveriview of the sensor informationOverview of operational constraints
We describe preliminary results from the first 100 sols of ground temperature measurements along the Mars Science Laboratory's traverse from Bradbury Landing to Rocknest in Gale. The ground ...temperature data show long‐term increases in mean temperature that are consistent with seasonal evolution. Deviations from expected temperature trends within the diurnal cycle are observed and may be attributed to rover and environmental effects. Fits to measured diurnal temperature amplitudes using a thermal model suggest that the observed surfaces have thermal inertias in the range of 265–375 J m−2 K−1 s−1/2, which are within the range of values determined from orbital measurements and are consistent with the inertias predicted from the observed particle sizes on the uppermost surface near the rover. Ground temperatures at Gale Crater appear to warm earlier and cool later than predicted by the model, suggesting that there are multiple unaccounted for physical conditions or processes in our models. Where the Mars Science Laboratory (MSL) descent engines removed a mobile layer of dust and fine sediments from over rockier material, the diurnal temperature profile is closer to that expected for a homogeneous surface, suggesting that the mobile materials on the uppermost surface may be partially responsible for the mismatch between observed temperatures and those predicted for materials having a single thermal inertia. Models of local stratigraphy also implicate thermophysical heterogeneity at the uppermost surface as a potential contributor to the observed diurnal temperature cycle.
Key Points
Diurnal ground temperatures vary with location
Diurnal temperature curves are not well matched by a homogeneous thermal model
GTS data are consistent with a varied stratigraphy and thermophysical properties
This paper proposes a new simplified thermal model for pyrometers, which takes into account both their internal and external physical structure and operation. The model is experimentally tested on ...the REMS GTS, an instrument for measuring ground temperature, which is part of the payload of the NASA MSL mission to Mars. The proposed model is based on an energy balance equation that represents the heat fluxes exchanged between sensor elements through radiation, conduction and convection. Despite being mathematically more complex than the more commonly used model, the proposed model makes it possible to design a methodology to compensate the effects of sensor spatial thermal gradients. The paper includes a practical methodology for identifying model constants, which is part of the GTS instrument calibration plan and uses a differential approach to avoid setup errors. Experimental results of the model identification methodology and a target temperature measurement performance after identification has been made are reported. Results demonstrate the good behaviour of the model, with errors below 0.15
°C in target temperature estimates.
This paper analyses the spatial and temporal temperature stabilisation requirements of unchopped thermopile IR pyrometers under different temperature conditions and measurement wavelengths. Each ...thermopile output signal is affected differently and independently by the appearance of undesired spatial and temporal gradients in a thermopile case structure. Expressions for the ratios of thermopile sensitivity to spatial and temporal gradients versus a change in scene temperature are derived from a simplified static and dynamic thermopile thermal model that takes into account the internal structure and operation of the sensor. The ratios depend on the thermopile and the target absolute temperature, as well as the physical and optical properties of the thermopile. This knowledge may help in selecting the appropriate detector, optimising the design of pyrometer thermal control systems, or in establishing strategies to compensate for the associated uncertainty.
The quality measurement of the reconstructed signal in an electrocardiogram (ECG) compression scheme must be obtained by objective means being the percentage root-mean-square difference (PRD) the ...most widely used. However, this parameter is dependent on the dc level so that confusion can be stated in the evaluation of ECG compressors. In this communication, it will be shown that if the performance of an ECG coder is evaluated only in terms of quality, considering exclusively the PRD parameter, incorrect conclusions can be inferred. The objective of this work is to propose the joint use of several parameters, as simulations will show, effectiveness and performance of the ECG coder are evaluated with more precision, and the way of inferring conclusions from the obtained results is more reliable.
The Rover Environmental Monitoring Station (REMS) is one of NASA/MSL's instruments, which has been designed for measuring ambient pressure, humidity, wind speed and direction, UV radiation, and air ...and ground temperature (GT). The GT-sensor is dedicated to measure the real temperature of the Martian surface, integrating the IR energy coming from the ground. The existing IR spectral data of Martian dust, rocks and sediments allow for comparing the Martian spectra with the spectra of different terrestrial minerals and lithologies, and those of their alteration and weathering products. The FTIR reflectance of a set of selected astrobiologically significant minerals (including oxides, oxi/hydroxides, sulfates, chlorides, opal and clays) and basalt (as the main and most widespread volcanic Martian rock) was measured, considering different mixing amounts, and covering the specific working wavelength range of the REMS' GT-sensor. The results obtained show important percentage increases or decreases of reflectance in the entire wavelength range (e.g. basalt-hematite vs. basalt-magnetite) and specific variations limited to some spectral bands (e.g. basalt-smectite vs. basalt-jasper). The basalt reflectance percentage increases or decreases, even up to 100%, depending on the mixing of the different minerals. This unequivocally confirms the need for considering the chemical-mineralogical assemblages (and their textures) for any investigation and interpretation of Mars surface environment. Some complementary applications of this research on our planet, either in relation to the specific performances and characteristics of the GT-sensor autonomous recalibration system, or those oriented to carrying out similar studies on different types of terrestrial environmental settings, are also described.
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