NASA’s Mars Science Laboratory mission, with its Curiosity rover, has been exploring Gale crater (5.4° S, 137.8° E) since 2012 with the goal of assessing the potential of Mars to support life. The ...mission has compiled compelling evidence that the crater basin accumulated sediment transported by marginal rivers into lakes that likely persisted for millions of years approximately 3.6 Ga ago in the early Hesperian. Geochemical and mineralogical assessments indicate that environmental conditions within this timeframe would have been suitable for sustaining life, if it ever were present. Fluids simultaneously circulated in the subsurface and likely existed through the dry phases of lake bed exposure and aeolian deposition, conceivably creating a continuously habitable subsurface environment that persisted to less than 3 Ga in the early Amazonian. A diversity of organic molecules has been preserved, though degraded, with evidence for more complex precursors. Solid samples show highly variable isotopic abundances of sulfur, chlorine, and carbon. In situ studies of modern wind-driven sediment transport and multiple large and active aeolian deposits have led to advances in understanding bedform development and the initiation of saltation. Investigation of the modern atmosphere and environment has improved constraints on the timing and magnitude of atmospheric loss, revealed the presence of methane and the crater’s influence on local meteorology, and provided measurements of high-energy radiation at Mars’ surface in preparation for future crewed missions. Rover systems and science instruments remain capable of addressing all key scientific objectives. Emphases on advance planning, flexibility, operations support work, and team culture have allowed the mission team to maintain a high level of productivity in spite of declining rover power and funding.
•Thermal inertia and albedo are derived from ground temperature measurements along the Curiosity rover's traverse.•Diffuse water ice clouds or hazes can significantly influence ground temperatures in ...the southern fall and winter.•The shape of the diurnal ground temperature curve is used to isolate the bedrock thermal inertia from other materials within the sensor footprint.•Thermal inertias of sedimentary rock may be significantly higher than apparent in data sets with sparse local time coverage.
The REMS instrument onboard the Mars Science Laboratory rover, Curiosity, has measured ground temperature nearly continuously at hourly intervals for two Mars years. Coverage of the entire diurnal cycle at 1Hz is available every few martian days. We compare these measurements with predictions of surface-atmosphere thermal models to derive the apparent thermal inertia and thermally derived albedo along the rover's traverse after accounting for the radiative effects of atmospheric water ice during fall and winter, as is necessary to match the measured seasonal trend. The REMS measurements can distinguish between active sand, other loose materials, mudstone, and sandstone based on their thermophysical properties. However, the apparent thermal inertias of bedrock-dominated surfaces (∼350–550Jm−2K−1s−½) are lower than expected. We use rover imagery and the detailed shape of the diurnal ground temperature curve to explore whether lateral or vertical heterogeneity in the surface materials within the sensor footprint might explain the low inertias. We find that the bedrock component of the surface can have a thermal inertia as high as 650–1700Jm−2K−1s−½ for mudstone sites and ∼700Jm−2K−1s−½ for sandstone sites in models runs that include lateral and vertical mixing. Although the results of our forward modeling approach may be non-unique, they demonstrate the potential to extract information about lateral and vertical variations in thermophysical properties from temporally resolved measurements of ground temperature.
The Diviner Lunar Radiometer Experiment onboard the Lunar Reconnaissance Orbiter has measured solar reflectance and mid‐infrared radiance globally, over four diurnal cycles, at unprecedented spatial ...and temporal resolution. These data are used to infer the radiative and bulk thermophysical properties of the near‐surface regolith layer at all longitudes around the equator. Normal albedos are estimated from solar reflectance measurements. Normal spectral emissivities relative to the 8‐μm Christiansen Feature are computed from brightness temperatures and used along with albedos as inputs to a numerical thermal model. Model fits to daytime temperatures require that the albedo increase with solar incidence angle. Measured nighttime cooling is remarkably similar across longitude and major geologic units, consistent with the scarcity of rock exposures and with the widespread presence of a near‐surface layer whose physical structure and thermal response are determined by pulverization through micrometeoroid impacts. Nighttime temperatures are best fit using a graded regolith model, with a ∼40% increase in bulk density and an eightfold increase in thermal conductivity (adjusted for temperature) occurring within several centimeters of the surface.
Key Points
LRO Diviner reveals radiative and thermophysical properties of the lunar surface
Lunar daytime temperatures require albedo dependence on solar incidence angle
Lunar nighttime temperatures require graded structure in upper cm of regolith
Surface temperatures derived from thermal infrared measurements provide a means of understanding the physical properties of the lunar surface. The contrasting thermophysical properties between rocks ...and regolith fines cause multiple temperatures to be present within the field of view of nighttime multispectral data returned from the Lunar Reconnaissance Orbiter (LRO) Diviner Radiometer between 60°N/S latitudes. Regolith temperatures are influenced by the presence of rocks in addition to factors such as the thermophysical properties of the regolith fines, latitude and local slopes, and radiative heating from adjacent crater walls. Preliminary comparisons of derived rock concentrations with LRO Camera images show both qualitative and quantitative agreement. Although comparisons of derived rock concentrations with circular polarization ratio radar data sets display general similarities, there are clear differences between the two data sets in the relative magnitude and areal extent of rocky signatures. Several surface units can be distinguished based on their regolith temperature and rock concentration values and distributions including maria and highlands surfaces, rocky impact craters, rilles, and wrinkle ridges, dark mantled deposits, and isolated cold surfaces. Rock concentrations are correlated with crater age and rocks are only preserved on the youngest surfaces or where steep slopes occur and mass wasting prevents mantling with fines. The presence of rocky surfaces excavated by young impacts allows for the estimation of minimum regolith thickness from the size of the impact. The derived rock concentrations confirm the presence of thicker regolith cover in the highlands and in locations of radar‐dark haloes.
Key Points
Global rock concentration and regolith fines temperature maps have been produced
Most lunar surfaces except steep slopes have low rock concentrations
Global thermophysical units have been identified
Clay minerals provide indicators of the evolution of aqueous conditions and possible habitats for life on ancient Mars. Analyses by the Mars Science Laboratory rover Curiosity show that ~3.5-billion ...year (Ga) fluvio-lacustrine mudstones in Gale crater contain up to ~28 weight % (wt %) clay minerals. We demonstrate that the species of clay minerals deduced from x-ray diffraction and evolved gas analysis show a strong paleoenvironmental dependency. While perennial lake mudstones are characterized by Fe-saponite, we find that stratigraphic intervals associated with episodic lake drying contain Al-rich, Fe
-bearing dioctahedral smectite, with minor (3 wt %) quantities of ferripyrophyllite, interpreted as wind-blown detritus, found in candidate aeolian deposits. Our results suggest that dioctahedral smectite formed via near-surface chemical weathering driven by fluctuations in lake level and atmospheric infiltration, a process leading to the redistribution of nutrients and potentially influencing the cycling of gases that help regulate climate.
Scheduled to land in August of 2012, the Mars Science Laboratory (MSL) Mission was initiated to explore the habitability of Mars. This includes both modern environments as well as ancient ...environments recorded by the stratigraphic rock record preserved at the Gale crater landing site. The
Curiosity
rover has a designed lifetime of at least one Mars year (∼23 months), and drive capability of at least 20 km.
Curiosity
’s science payload was specifically assembled to assess habitability and includes a gas chromatograph-mass spectrometer and gas analyzer that will search for organic carbon in rocks, regolith fines, and the atmosphere (SAM instrument); an x-ray diffractometer that will determine mineralogical diversity (CheMin instrument); focusable cameras that can image landscapes and rock/regolith textures in natural color (MAHLI, MARDI, and Mastcam instruments); an alpha-particle x-ray spectrometer for
in situ
determination of rock and soil chemistry (APXS instrument); a laser-induced breakdown spectrometer to remotely sense the chemical composition of rocks and minerals (ChemCam instrument); an active neutron spectrometer designed to search for water in rocks/regolith (DAN instrument); a weather station to measure modern-day environmental variables (REMS instrument); and a sensor designed for continuous monitoring of background solar and cosmic radiation (RAD instrument). The various payload elements will work together to detect and study potential sampling targets with remote and
in situ
measurements; to acquire samples of rock, soil, and atmosphere and analyze them in onboard analytical instruments; and to observe the environment around the rover.
The 155-km diameter Gale crater was chosen as
Curiosity’s
field site based on several attributes: an interior mountain of ancient flat-lying strata extending almost 5 km above the elevation of the landing site; the lower few hundred meters of the mountain show a progression with relative age from clay-bearing to sulfate-bearing strata, separated by an unconformity from overlying likely anhydrous strata; the landing ellipse is characterized by a mixture of alluvial fan and high thermal inertia/high albedo stratified deposits; and a number of stratigraphically/geomorphically distinct fluvial features. Samples of the crater wall and rim rock, and more recent to currently active surface materials also may be studied. Gale has a well-defined regional context and strong evidence for a progression through multiple potentially habitable environments. These environments are represented by a stratigraphic record of extraordinary extent, and insure preservation of a rich record of the environmental history of early Mars. The interior mountain of Gale Crater has been informally designated at Mount Sharp, in honor of the pioneering planetary scientist Robert Sharp.
The major subsystems of the MSL Project consist of a single rover (with science payload), a Multi-Mission Radioisotope Thermoelectric Generator, an Earth-Mars cruise stage, an entry, descent, and landing system, a launch vehicle, and the mission operations and ground data systems. The primary communication path for downlink is relay through the Mars Reconnaissance Orbiter. The primary path for uplink to the rover is Direct-from-Earth. The secondary paths for downlink are Direct-to-Earth and relay through the Mars Odyssey orbiter.
Curiosity
is a scaled version of the 6-wheel drive, 4-wheel steering, rocker bogie system from the Mars Exploration Rovers (MER)
Spirit
and
Opportunity
and the Mars Pathfinder
Sojourner
. Like
Spirit
and
Opportunity
,
Curiosity
offers three primary modes of navigation: blind-drive, visual odometry, and visual odometry with hazard avoidance. Creation of terrain maps based on HiRISE (High Resolution Imaging Science Experiment) and other remote sensing data were used to conduct simulated driving with
Curiosity
in these various modes, and allowed selection of the Gale crater landing site which requires climbing the base of a mountain to achieve its primary science goals.
The Sample Acquisition, Processing, and Handling (SA/SPaH) subsystem is responsible for the acquisition of rock and soil samples from the Martian surface and the processing of these samples into fine particles that are then distributed to the analytical science instruments. The SA/SPaH subsystem is also responsible for the placement of the two contact instruments (APXS, MAHLI) on rock and soil targets. SA/SPaH consists of a robotic arm and turret-mounted devices on the end of the arm, which include a drill, brush, soil scoop, sample processing device, and the mechanical and electrical interfaces to the two contact science instruments. SA/SPaH also includes drill bit boxes, the organic check material, and an observation tray, which are all mounted on the front of the rover, and inlet cover mechanisms that are placed over the SAM and CheMin solid sample inlet tubes on the rover top deck.
•Simulations of the meteorology of Gale crater with the Mars regional atmospheric modeling system compare favorably to the data recorded by the rover environmental monitoring station aboard the Mars ...Science Laboratory Curiosity Rover.•Simulations are conducted for periods covering Ls 0, 90, 180 and 270.•The model may be used to provide context for the observations and to elucidate the physics behind the variations of the observed meteorological parameters.
Air temperature, ground temperature, pressure, and wind speed and direction data obtained from the Rover Environmental Monitoring Station onboard the Mars Science Laboratory rover Curiosity are compared to data from the Mars Regional Atmospheric Modeling System. A full diurnal cycle at four different seasons (Ls 0, 90, 180 and 270) is investigated at the rover location within Gale crater, Mars. Model results are shown to be in good agreement with observations when considering the uncertainties in the observational data set. The good agreement provides justification for utilizing the model results to investigate the broader meteorological environment of the Gale crater region, which is described in the second, companion paper.
We used infrared data from the Lunar Reconnaissance Orbiter (LRO) Diviner Lunar Radiometer Experiment to globally map thermophysical properties of the Moon's regolith fines layer. Thermal ...conductivity varies from 7.4 × 10−4 W m−1 K−1 at the surface to 3.4 × 10−3 W m−1 K−1 at depths of ~1 m, given density values of 1,100 kg m−3 at the surface to 1,800 kg m−3 at 1 m depth. On average, the scale height of these profiles is ~7 cm, corresponding to a thermal inertia of 55 ± 2 J m−2 K−1 s−1/2 at 273 K, relevant to the diurnally active near‐surface layer, ~4–7 cm. The temperature dependence of thermal conductivity and heat capacity leads to an ~2 times diurnal variation in thermal inertia at the equator. On global scales, the regolith fines are remarkably uniform, implying rapid homogenization by impact gardening of this layer on timescales <1 Gyr. Regional‐ and local‐scale variations show prominent impact features <1 Gyr old, including higher thermal inertia (> 100 J m−2 K−1 s−1/2) in the interiors and ejecta of Copernican‐aged impact craters and lower thermal inertia (< 50 J m−2 K−1 s−1/2) within the lunar cold spots identified by Bandfield et al. (2014). Observed trends in ejecta thermal inertia provide a potential tool for age dating craters of previously unknown age, complementary to the approach suggested by Ghent et al. (2014). Several anomalous regions are identified in the global 128 pixels per degree maps presented here, including a high‐thermal inertia deposit near the antipode of Tycho crater.
Plain Language Summary
We measured the Moon's temperature cycles with the Lunar Reconnaissance Orbiter's Diviner instrument to make the first global maps of important physical properties of the dusty surface layer. These maps reveal a rich new view of the last billion years of impact processes and volcanism on the Moon. Impacts by meteorites cause the breakdown of rocks and accumulation of regolith—the granular surface materials. Our results show that regolith formation is a rapid process, which homogenizes and redistributes fine particles over large distances. These new observations provide a wealth of data for future study and also suggest a new technique for determining the ages of craters on the Moon and other planetary surfaces, using temperatures to infer the depth of accumulated regolith.
Key Points
We present global maps of regolith thermophysical properties
The Moon's upper ~4–7 cm of regolith has a globally averaged thermal inertia of ~55 J m−2 K−1 s−1/2 at a reference temperature of 273 K
The upper lunar regolith is remarkably uniform, with the upper ~10 cm homogenized on >1 Gyr timescales
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