Overview of the Mars Pathfinder mission and assessment of landing site predictions

Initial results of the meteorological data from the first 325 sols of the Tianwen-1 mission

As the Zhurong rover landed on the surface of Mars in 2021, it began a months-long collection of Mars data. Equipped with highly sensitive sensors, Zhurong is capable of being a meteorological station at the surface of Mars. The Mars Climate Station, one of the onboard sensors with high sensitivity, helps the Tianwen-1 lander to collect meteorological data at the Martian surface, via which the air temperature, atmospheric pressure, wind speed and direction are measured. In this paper, we present results of surface pressure, air temperature and wind data from the Mars Climate Station at Zhurong's landing site. The data is collected in 176 solar days out of the entire rover's mission time, 325 solar days. We use a trigonometric function to fit the relationship between the solar longitude (Ls) and the pressure, after which we compare the results with those of Viking I. Our analysis of the temperature shows that seasonal evolution is similar to the patterns concluded in previous Mars missions at different landing sites. We discover that wind speed appears the maximum in early summer near Zhurong's landing site, and analyze the occurrence of dust storms by combining the data of wind and temperature. Our results provide some evidence of the seasonal changes in meteorological pattern at Tianwen-1's landing site, south of Utopia Planitia. With the mission ongoing further, more results are expected in the future.

Observation based climatology Martian atmospheric waves perturbation Datasets

The Martian atmospheric waves perturbation Datasets (MAWPD) version 2.0 is the first observation-based climatology dataset of Martian atmospheric waves. It contains climatology-gridded temperature, gravity waves, and tides spanning the whole Martian year. MAWPD uses the Data INterpolating Empirical Orthogonal Functions method (DINEOF) reconstruction method for data assimilation with the observational data from the Mars Global Surveyor (MGS), Mars Reconnaissance Orbiter (MRO), Mars Atmosphere and Volatile EvolutioN (MAVEN), Mars Pathfinder (MP), Mars Phoenix Lander (MPL), Mars Exploration Rover (MER) and Mars Express (MEX) temperature retrievals. The dataset includes gridded fields of temperature (Level 1 data) as well as the physical quantities of GWs (Level 2 data, amplitude, and potential energies), SPWs and tides (Level 2 data, amplitude, and phase). The MAWPD, based entirely on multiple reliable observations, provides climatological background atmospheric information of temperature and wave disturbances on Mars. The dataset is not only useful for observation-based scientific studies concerning Martian atmospheric waves, e.g., circulation, dust storms, and wave excitation mechanism, but also for cross-validating with model-based datasets or model results.

Evidence of an oceanic impact and megatsunami sedimentation in Chryse Planitia, Mars

In 1976, NASA's Viking 1 Lander (V1L) was the first spacecraft to operate successfully on the Martian surface. The V1L landed near the terminus of an enormous catastrophic flood channel, Maja Valles. However, instead of the expected megaflood record, its cameras imaged a boulder-strewn surface of elusive origin. We identified a 110-km-diameter impact crater (Pohl) ~ 900 km northeast of the landing site, stratigraphically positioned (a) above catastrophic flood-eroded surfaces formed ~ 3.4 Ga during a period of northern plains oceanic inundation and (b) below the younger of two previously hypothesized megatsunami deposits. These stratigraphic relationships suggest that a marine impact likely formed the crater. Our simulated impact-generated megatsunami run-ups closely match the mapped older megatsunami deposit's margins and predict fronts reaching the V1L site. The site's location along a highland-facing lobe aligned to erosional grooves supports a megatsunami origin. Our mapping also shows that Pohl's knobby rim regionally represents a broader history of megatsunami modification involving circum-oceanic glaciation and sedimentary extrusions extending beyond the recorded megatsunami emplacement in Chryse Planitia. Our findings allow that rocks and soil salts at the landing site are of marine origin, inviting the scientific reconsideration of information gathered from the first in-situ measurements on Mars.

Kinematic design of a novel Multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration

Multi-legged robots with rigid-flexible coupling grippers have appealing applications to asteroid exploration with the microgravity. However, these robots usually have significantly complicated structures, which leads to a great challenge for the kinematic design.This paper proposes the kinematic design method for a novel multi-legged robot with the microspine gripper. First, the structure of the multi-legged asteroid exploration robot and the microspine gripper are demonstrated. Second, four performance evaluation indices, which are used to evaluate the stiffness, velocity, motion / force transfer efficiency and gripper attachment efficiency of the robot, are derived from the kinematic model. Non-dimensional design spaces of parameters to be optimized are drawn, and performance atlases are presented in design spaces. Third, the stiffness model of the microspine is derived. In addition, the constraint condition of the restoring spring is established, and the stiffness of restoring springs are optimized using the genetic algorithm. Several experiments are conducted to verify the stiffness model of the microspine. Finally, the prototype is developed and the experimental results validates the kinematic design method.

Deposits from giant floods in Gale crater and their implications for the climate of early Mars

This study reports in-situ sedimentologic evidence of giant floods in Gale crater, Mars, during the Noachian Period. Features indicative of floods are a series of symmetrical, 10 m-high gravel ridges that occur in the Hummocky Plains Unit (HPU). Their regular spacing, internal sedimentary structures, and bedload transport of fragments as large as 20 cm suggest that these ridges are antidunes: a type of sedimentary structure that forms under very strong flows. Their 150 m wavelength indicates that the north-flowing water that deposited them was at least 24 m deep and had a minimum velocity of 10 m/s. Floods waned rapidly, eroding antidune crests, and re-deposited removed sediments as patches on the up-flow limbs and trough areas between these ridges forming the Striated Unit (SU). Each patch of the SU is 50-200 m wide and long and consists of 5-10 m of south-dipping layers. The strike and dip of the SU layers mimic the attitude of the flank of the antidune on which they were deposited. The most likely mechanism that generated flood waters of this magnitude on a planet whose present-day average temperature is - 60 °C was the sudden heat produced by a large impact. The event vaporized frozen reservoirs of water and injected large amounts of CO2 and CH4 from their solid phases into the atmosphere. It temporarily interrupted a cold and dry climate and generated a warm and wet period. Torrential rainfall occurred planetwide some of which entered Gale crater and combined with water roaring down from Mt. Sharp to cause gigantic flash floods that deposited the SU and the HPU on Aeolis Palus. The warm and wet climate persisted even after the flooding ended, but its duration cannot be determined by our study.

Location and Setting of the Mars InSight Lander, Instruments, and Landing Site

Knowing precisely where a spacecraft lands on Mars is important for understanding the regional and local context, setting, and the offset between the inertial and cartographic frames. For the InSight spacecraft, the payload of geophysical and environmental sensors also particularly benefits from knowing exactly where the instruments are located. A ~30 cm/pixel image acquired from orbit after landing clearly resolves the lander and the large circular solar panels. This image was carefully georeferenced to a hierarchically generated and coregistered set of decreasing resolution orthoimages and digital elevation models to the established positive east, planetocentric coordinate system. The lander is located at 4.502384°N, 135.623447°E at an elevation of -2,613.426 m with respect to the geoid in Elysium Planitia. Instrument locations (and the magnetometer orientation) are derived by transforming from Instrument Deployment Arm, spacecraft mechanical, and site frames into the cartographic frame. A viewshed created from 1.5 m above the lander and the high-resolution orbital digital elevation model shows the lander is on a shallow regional slope down to the east that reveals crater rims on the east horizon ~400 m and 2.4 km away. A slope up to the north limits the horizon to about 50 m away where three rocks and an eolian bedform are visible on the rim of a degraded crater rim. Azimuths to rocks and craters identified in both surface panoramas and high-resolution orbital images reveal that north in the site frame and the cartographic frame are the same (within 1°).

A multidisciplinary design tool for robotic systems involved in sampling operations on planetary bodies

The analysis of robotic systems (e.g. landers and rovers) involved in sampling operations on planetary bodies is crucial to ensure mission success, since those operations generate forces that could affect the stability of the robotic system. This paper presents MISTRAL (MultIdisciplinary deSign Tool for Robotic sAmpLing), a novel tool conceived for trade space exploration during early conceptual and preliminary design phases, where a rapid and broad evaluation is required for a very high number of configurations and boundary conditions. The tool rapidly determines the preliminary design envelope of a sampling apparatus to guarantee the stability condition of the whole robotic system. The tool implements a three-dimensional analytical model capable to reproduce several scenarios, being able to accept various input parameters, including the physical and geometrical characteristics of the robotic system, the properties related to the environment and the characteristics related to the sampling system. This feature can be exploited to infer multidisciplinary high-level requirements concerning several other elements of the investigated system, such as robotic arms and footpads. The presented research focuses on the application of MISTRAL to landers. The structure of the tool and the analysis model are presented. Results from the application of the tool to real mission data from NASA's Phoenix Mars lander are included. Moreover, the tool was adopted for the definition of the high-level requirements of the lander for a potential future mission to the surface of Saturn's moon Enceladus, currently under investigation at NASA Jet Propulsion Laboratory. This case study was included to demonstrate the tool's capabilities. MISTRAL represents a comprehensive, versatile, and powerful tool providing guidelines for cognizant decisions in the early and most crucial stages of the design of robotic systems involved in sampling operations on planetary bodies.

Water on Mars—A Literature Review

To assess Mars’ potential for both harboring life and providing useable resources for future human exploration, it is of paramount importance to comprehend the water situation on the planet. Therefore, studies have been conducted to determine any evidence of past or present water existence on Mars. While the presence of abundant water on Mars very early in its history is widely accepted, on its modern form, only a fraction of this water can be found, as either ice or locked into the structure of Mars’ plentiful water-rich materials. Water on the planet is evaluated through various evidence such as rocks and minerals, Martian achondrites, low volume transient briny outflows (e.g., dune flows, reactivated gullies, slope streaks, etc.), diurnal shallow soil moisture (e.g., measurements by Curiosity and Phoenix Lander), geomorphic representation (possibly from lakes and river valleys), and groundwater, along with further evidence obtained by probe and rover discoveries. One of the most significant lines of evidence is for an ancient streambed in Gale Crater, implying ancient amounts of “vigorous” water on Mars. Long ago, hospitable conditions for microbial life existed on the surface of Mars, as it was likely periodically wet. However, its current dry surface makes it almost impossible as an appropriate environment for living organisms; therefore, scientists have recognized the planet’s subsurface environments as the best potential locations for exploring life on Mars. As a result, modern research has aimed towards discovering underground water, leading to the discovery of a large amount of underground ice in 2016 by NASA, and a subglacial lake in 2018 by Italian scientists. Nevertheless, the presence of life in Mars’ history is still an open question. In this unifying context, the current review summarizes results from a wide variety of studies and reports related to the history of water on Mars, as well as any related discussions on the possibility of living organism existence on the planet.

The 1997 Mars Pathfinder Spacecraft Landing Site: Spillover Deposits from an Early Mars Inland Sea

The Martian outflow channels comprise some of the largest known channels in the Solar System. Remote-sensing investigations indicate that cataclysmic floods likely excavated the channels ~3.4 Ga. Previous studies show that, in the southern circum-Chryse region, their flooding pathways include hundreds of kilometers of channel floors with upward gradients. However, the impact of the reversed channel-floor topography on the cataclysmic floods remains uncertain. Here, we show that these channel floors occur within a vast basin, which separates the downstream reaches of numerous outflow channels from the northern plains. Consequently, floods propagating through these channels must have ponded, producing an inland sea, before reaching the northern plains as enormous spillover discharges. The resulting paleohydrological reconstruction reinterprets the 1997 Pathfinder landing site as part of a marine spillway, which connected the inland sea to a hypothesized northern plains ocean. Our flood simulation shows that the presence of the sea would have permitted the propagation of low-depth floods beyond the areas of reversed channel-floor topography. These results explain the formation at the landing site of possible fluvial features indicative of flow depths at least an order of magnitude lower than those apparent from the analyses of orbital remote-sensing observations.

Fluvial geomorphology on Earth-like planetary surfaces: A review

Morphological evidence for ancient channelized flows (fluvial and fluvial-like landforms) exists on the surfaces of all of the inner planets and on some of the satellites of the Solar System. In some cases, the relevant fluid flows are related to a planetary evolution that involves the global cycling of a volatile component (water for Earth and Mars; methane for Saturn's moon Titan). In other cases, as on Mercury, Venus, Earth's moon, and Jupiter's moon Io, the flows were of highly fluid lava. The discovery, in 1972, of what are now known to be fluvial channels and valleys on Mars sparked a major controversy over the role of water in shaping the surface of that planet. The recognition of the fluvial character of these features has opened unresolved fundamental questions about the geological history of water on Mars, including the presence of an ancient ocean and the operation of a hydrological cycle during the earliest phases of planetary history. Other fundamental questions posed by fluvial and fluvial-like features on planetary bodies include the possible erosive action of large-scale outpourings of very fluid lavas, such as those that may have produced the remarkable canali forms on Venus; the ability of exotic fluids, such as methane, to create fluvial-like landforms, as observed on Saturn's moon, Titan; and the nature of sedimentation and erosion under different conditions of planetary surface gravity. Planetary fluvial geomorphology also illustrates fundamental epistemological and methodological issues, including the role of analogy in geomorphological/geological inquiry.

Survival of Bacillus subtilis endospores on ultraviolet-irradiated rover wheels and Mars regolith under simulated Martian conditions

Endospores of Bacillus subtilis HA101 were applied to a simulated Mars Exploration Rover (MER) wheel and exposed to Mars-normal UV irradiation for 1, 3, or 6 h. The experiment was designed to simulate a contaminated rover wheel sitting on its landing platform before rolling off onto the martian terrain, as was encountered during the Spirit and Opportunity missions. When exposed to 1 h of Mars UV, a reduction of 81% of viable endospores was observed compared to the non-UV irradiated controls. When exposed for 3 or 6 h, reductions of 94.6% and 96.6%, respectively, were observed compared to controls. In a second experiment, the contaminated rover wheel was rolled over a bed of heat-sterilized Mars analog soil; then the analog soil was exposed to full martian conditions of UV irradiation, low pressure (6.9 mbar), low temperature (-10°C), and an anaerobic CO(2) martian atmosphere for 24 h to determine whether endospores of B. subtilis on the contaminated rover wheel could be transferred to the surface of the analog soil and survive martian conditions. The experiment simulated conditions in which a rover wheel might come into contact with martian regolith immediately after landing, such as is designed for the upcoming Mars Science Laboratory (MSL) rover. The contaminated rover wheel transferred viable endospores of B. subtilis to the Mars analog soil, as demonstrated by 31.7% of samples showing positive growth. However, when contaminated soil samples were exposed to full martian conditions for 24 h, only 16.7% of samples exhibited positive growth-a 50% reduction in the number of soil samples positive for the transferred viable endospores.

An integrated view of the chemistry and mineralogy of martian soils

The mineralogical and elemental compositions of the martian soil are indicators of chemical and physical weathering processes. Using data from the Mars Exploration Rovers, we show that bright dust deposits on opposite sides of the planet are part of a global unit and not dominated by the composition of local rocks. Dark soil deposits at both sites have similar basaltic mineralogies, and could reflect either a global component or the general similarity in the compositions of the rocks from which they were derived. Increased levels of bromine are consistent with mobilization of soluble salts by thin films of liquid water, but the presence of olivine in analysed soil samples indicates that the extent of aqueous alteration of soils has been limited. Nickel abundances are enhanced at the immediate surface and indicate that the upper few millimetres of soil could contain up to one per cent meteoritic material.

Survival of endospores of Bacillus subtilis on spacecraft surfaces under simulated martian environments: implications for the forward contamination of Mars

Experiments were conducted in a Mars simulation chamber (MSC) to characterize the survival of endospores of Bacillus subtilis under high UV irradiation and simulated martian conditions. The MSC was used to create Mars surface environments in which pressure (8.5 mb), temperature (-80, -40, -10, or +23 degrees C), gas composition (Earth-normal N2/O2 mix, pure N2, pure CO2, or a Mars gas mix), and UV-VIS-NIR fluence rates (200-1200 nm) were maintained within tight limits. The Mars gas mix was composed of CO2 (95.3%), N2 (2.7%), Ar (1.7%), O2 (0.2%), and water vapor (0.03%). Experiments were conducted to measure the effects of pressure, gas composition, and temperature alone or in combination with Mars-normal UV-VIS-NIR light environments. Endospores of B. subtilis, were deposited on aluminum coupons as monolayers in which the average density applied to coupons was 2.47 x 10(6) bacteria per sample. Populations of B. subtilis placed on aluminum coupons and subjected to an Earth-normal temperature (23 degrees C), pressure (1013 mb), and gas mix (normal N2/O2 ratio) but illuminated with a Mars-normal UV-VIS-NIR spectrum were reduced by over 99.9% after 30 sec exposure to Mars-normal UV fluence rates. However, it required at least 15 min of Mars-normal UV exposure to reduce bacterial populations on aluminum coupons to non-recoverable levels. These results were duplicated when bacteria were exposed to Mars-normal environments of temperature (-10 degrees C), pressure (8.5 mb), gas composition (pure CO2), and UV fluence rates. In other experiments, results indicated that the gas composition of the atmosphere and the temperature of the bacterial monolayers at the time of Mars UV exposure had no effects on the survival of bacterial endospores. But Mars-normal pressures (8.5 mb) were found to reduce survival by approximately 20-35% compared to Earth-normal pressures (1013 mb). The primary implications of these results are (a) that greater than 99.9% of bacterial populations on sun-exposed surfaces of spacecraft are likely to be inactivated within a few tens of seconds to a few minutes on the surface of Mars, and (b) that within a single Mars day under clear-sky conditions bacterial populations on sun-exposed surfaces of spacecraft will be sterilized. Furthermore, these results suggest that the high UV fluence rates on the martian surface can be an important resource in minimizing the forward contamination of Mars.

Evidence for recent groundwater seepage and surface runoff on Mars

Relatively young landforms on Mars, seen in high-resolution images acquired by the Mars Global Surveyor Mars Orbiter Camera since March 1999, suggest the presence of sources of liquid water at shallow depths beneath the martian surface. Found at middle and high martian latitudes (particularly in the southern hemisphere), gullies within the walls of a very small number of impact craters, south polar pits, and two of the larger martian valleys display geomorphic features that can be explained by processes associated with groundwater seepage and surface runoff. The relative youth of the landforms is indicated by the superposition of the gullies on otherwise geologically young surfaces and by the absence of superimposed landforms or cross-cutting features, including impact craters, small polygons, and eolian dunes. The limited size and geographic distribution of the features argue for constrained source reservoirs.

Possible ancient oceans on Mars: evidence from Mars Orbiter Laser Altimeter data

High-resolution altimetric data define the detailed topography of the northern lowlands of Mars, and a range of data is consistent with the hypothesis that a lowland-encircling geologic contact represents the ancient shoreline of a large standing body of water present in middle Mars history. The contact altitude is close to an equipotential line, the topography is smoother at all scales below the contact than above it, the volume enclosed by this contact is within the range of estimates of available water on Mars, and a series of extensive terraces parallel the contact in many places.

Radiation: microbial evolution, ecology, and relevance to mars missions

Ultraviolet (UV) radiation has been an important environmental parameter during the evolution of life on Earth, both in its role as a mutagen and as a selective agent. This was probably especially true during the time from 3.8 to 2.5 billion years ago, when atmospheric ozone levels were less than 1% of present levels. Early Mars may not have had an "ozone shield" either, and it never developed a significant one. Even though Mars is farther away from the Sun than the Earth, a substantial surficial UV flux is present on Mars today. But organisms respond to dose rate, and on Mars, like on Earth, organisms would be exposed to diurnal variations in UV flux. Here we present data on the effect of diurnal patterns of UV flux on microbial ecosystems in nature, with an emphasis on photosynthesis and DNA synthesis effects. These results indicate that diurnal patterns of metabolism occur in nature with a dip in photosynthesis and DNA synthesis in the afternoon, in part regulated by UV flux. Thus, diurnal patterns must be studied in order to understand the effect of UV radiation in nature. The results of this work are significant to the success of human missions to Mars for several reasons. For example, human missions must include photosynthetic organisms for food production and likely oxygen production. An evolutionary approach suggests which organisms might be best suited for high UV fluxes. The diurnal aspect of these studies is critical. Terraforming is a potential goal of Mars exploration, and it will require studies of the effect of Martian UV fluxes, including their diurnal changes, on terrestrial organisms. Such studies may suggest that diurnal changes in UV only require mitigation at some times of day or year.

Exploring for a record of ancient Martian life

The immediate task facing exopaleontology is to define a strategy to explore Mars for a fossil record during the decade-long exploration program that lies ahead. Consideration of the quality of paleontological information preserved under different geological conditions is important if we are to develop a strategy with broad applicability. The preservation of microbial fossils is strongly influenced by the physical, chemical, and biological factors of the environment which, acting together, determine the types of information that will be captured and retained in the rock record. In detrital sedimentary systems, preservation is favored by rapid burial in fine-grained, clay-rich sediments. In chemical sedimentary systems, preservation is enhanced by rapid entombment in fine-grained chemical precipitates. For long-term preservation, host rocks must be composed of stable minerals that are resistant to chemical weathering and that form an impermeable matrix and closed chemical system to protect biosignatures from alteration during subsequent diagenesis or metamorphism. In this context, host rocks composed of highly ordered, chemically stable mineral phases, like silica (e.g., cherts) or phosphate (e.g., phosphorites), are especially favored. Such lithologies tend to have very long crustal residence times and, along with carbonates and shales, are the most common host rocks for the Precambrian microfossil record on Earth. Although we make the defensible assumption that Mars was more like the Earth early in its history, clearly, the geological and historical differences between the two planets are many. Such differences must be carefully considered when adapting an Earth-based strategy to Mars.

Collisionally processed rocks on mars

The Pathfinder landing site on Mars has boulders that may be cratered (Stimpy), split (Chimp), fragmented (Book End and Flat Top), or otherwise partly destroyed (Yogi and Frog) by collisional processes. Atmospheric-entry calculations show that centimeter-sized projectiles survive passage through the martian atmosphere and encounter the surface of Mars at velocities of a few kilometers per second. Craters less than 1 meter in diameter may contribute to the evolution of the martian surface and its soils.

The influence of UV radiation on protistan evolution

Ultraviolet radiation has provided an evolutionary challenge to life on Earth. Recent increases in surficial ultraviolet B fluxes have focused attention on the role of UV radiation in protistan ecology, cancer, and DNA damage. Exploiting this new wealth of data, I examine the possibility that ultraviolet radiation may have played a significant role in the evolution of the first eukaryotes, that is, protists. Protists probably arose well before the formation of a significant ozone shield, and thus were probably subjected to substantial ultraviolet A, ultraviolet B, and ultraviolet C fluxes early in their evolution. Evolution consists of the generation of heritable variations and the subsequent selection of these variants. Ultraviolet radiation has played a role both as a mutagen and as a selective agent. In its role as a mutagen, it may have been crucial in the origin of sex and as a driver of molecular evolution. As a selective agent, its influence has been broad. Discussed in this paper are the influence of ultraviolet radiation on biogeography, photosynthesis, and desiccation resistance.