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Mars Spirit Test Rover Sinks into Prepared Soil

mars-spirit-rover-test

(Above) Rover team members Colette Lohr (left) and Kim Lichtenberg (center) eye the wheels digging into the soil and Paolo Bellutta enters the next driving command.

After several days of preparing a sloped area of soft, fine soil to simulate Spirit’s current sandtrap on Mars, the rover team drove a test rover into the material on June 30, 2009. The test rover became embedded in the soil, as planned. The rover team will use this setup at NASA’s Jet Propulsion Laboratory, Pasadena, Calif., during the next few weeks to test possible extraction moves Spirit might use on Mars.

The team plans to make a few adjustments to more closely match Spirit’s situation, such as placing a rock beneath the test rover, and then intended to begin assessing possible maneuvers for Spirit to use getting free from Troy.


Mars Rover Yielding New Clues While Trapped in Place

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NASA’s Mars rover Spirit, lodged in Martian soil that is causing traction trouble, is taking advantage of the situation by learning more about the Red Planet’s environmental history.

In April, Spirit entered an area composed of three or more layers of soil with differing pastel hues hiding beneath a darker sand blanket. Scientists dubbed the site “Troy.” Spirit’s rotating wheels dug themselves more than hub deep at the site. The rover team has spent weeks studying Spirit’s situation and preparing a simulation of this Martian driving dilemma to test escape maneuvers using an engineering test rover at NASA’s Jet Propulsion Laboratory in Pasadena, Calif.

A rock seen beneath Spirit in images from the camera on the end of the rover’s arm may be touching Spirit’s belly. Scientists believe it appears to be a loose rock not bearing the rover’s weight. While Spirit awaits extraction instructions, the rover is keeping busy examining Troy, which is next to a low plateau called Home Plate, approximately 3.2 kilometers (2 miles) southeast of where Spirit landed in January 2004.

“By serendipity, Troy is one of the most interesting places Spirit has been,” said Ray Arvidson of Washington University in St. Louis. Arvidson is deputy principal investigator for the science payloads on Spirit and its twin rover, Opportunity. “We are able here to study each layer, each different color of the interesting soils exposed by the wheels.”

One of the rover’s wheels tore into the site, exposing colored sandy materials and a miniature cliff of cemented sands. Some disturbed material cascaded down, evidence of the looseness that will be a challenge for getting Spirit out. But at the edge of the disturbed patch, the soil is cohesive enough to hold its shape as a steep cross-section.

Spirit has been using tools on its robotic arm to examine tan, yellow, white and dark-red sandy soil at Troy. Stretched-color images from the panoramic camera show the tints best.

“The layers have basaltic sand, sulfate-rich sand and areas with the addition of silica-rich materials, possibly sorted by wind and cemented by the action of thin films of water. We’re still at a stage of multiple working hypotheses,” said Arvidson. “This may be evidence of much more recent processes than the formation of Home Plate…or is Home Plate being slowly stripped back by wind, and we happened to stir up a deposit from billions of years ago before the wind got to it?”

Team members from NASA’s Johnson Space Center in Houston feel initial readings suggest that iron is mostly present in an oxidized form as ferric sulfate and that some of the differences in tints at Troy observed by the panoramic camera may come from differences in the hydration states of iron sulfates.

While extraction plans for the rover are developed and tested during the coming weeks, the team plans to have Spirit further analyze the soil from different depths. This research benefits from having time and power. In April and May, winds blew away most of the dust that had accumulated on Spirit’s solar panels.

“The exceptional amount of power available from cleaning of Spirit’s solar arrays by the wind enables full use of all of the rover’s science instruments,” said Richard Moddis of the Johnson team. “If your rover is going to get bogged down, it’s nice to have it be at a location so scientifically interesting.”

The rover team has developed a soil mix for testing purposes that has physical properties similar to those of the soil under Spirit at Troy. This soil recipe combines diatomaceous earth, powdered clay and play sand. A crew is shaping a few tons of that mix this week into contours matching Troy’s. The test rover will be commanded through various combinations of maneuvers during the next few weeks to validate the safest way to proceed on Mars.

Spirit’s right-front wheel has been immobile for more than three years, magnifying the challenge. While acknowledging a possibility that Spirit might not be able to leave Troy, the rover team remains optimistic. Diagnostic tests on Spirit in early June provided encouragement that the left-middle wheel remains useable despite an earlier stall.

“With the improved power situation, we have the time to explore all the possibilities to get Spirit out,” said JPL’s John Callas, project manager for Spirit and Opportunity. “We are optimistic. The last time Spirit spun its wheels, it was still making progress. The ground testing will help us avoid doing things that could make Spirit’s situation worse.”


Lunar Orbit is Divine for NASA Instrument

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Diviner, an instrument that will make the first maps of the temperature on the surface of the lunar polar regions, entered the moon’s orbit this morning (June 23) aboard NASA’s Lunar Reconnaissance Orbiter.

The instrument, a nine-channel radiometer built and project-managed by JPL, will measure very cold temperatures, and, for the first time, characterize the entire thermal environment of the moon. Diviner will also produce a map showing the composition of the moon, and a map showing how rocky the moon is.

In addition to creating a comprehensive atlas of the moon’s features with detailed information about surface and subsurface temperatures, Diviner will identify cold traps and potential ice deposits, as well as landing hazards such as rough terrain or rocks to be avoided by future manned missions to the moon.

JPL designed, built and manages the Diviner instrument for NASA’s Exploration Science Mission Directorate, Washington. UCLA is the home institution of Diviner’s principal investigator, David Paige. NASA’s Goddard Spaceflight Center, Greenbelt, Md., manages the Lunar Reconnaissance Orbiter. LRO is also a  NASA mission with international participation from the Institute for Space Research in Moscow.


Mars Odyssey Alters Orbit to Study Warmer Ground

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NASA’s long-lived Mars Odyssey spacecraft has completed an eight-month adjustment of its orbit, positioning itself to look down at the day side of the planet in mid-afternoon instead of late afternoon.

This change gains sensitivity for infrared mapping of Martian minerals by the orbiter’s Thermal Emission Imaging System camera. Orbit design for Odyssey’s first seven years of observing Mars used a compromise between what worked best for the infrared mapping and for another onboard instrument.

“The orbiter is now overhead at about 3:45 in the afternoon instead of 5 p.m., so the ground is warmer and there is more thermal energy for the camera’s infrared sensors to detect,” said Jeffrey Plaut of NASA’s Jet Propulsion Laboratory, Pasadena, Calif., project scientist for Mars Odyssey.

Some important mineral discoveries by Odyssey stem from mapping done during six months early in the mission when the orbit geometry provided mid-afternoon overpasses. One key example: finding salt deposits apparently left behind when large bodies of water evaporated.

“The new orbit means we can now get the type of high-quality data for the rest of Mars that we got for 10 or 20 percent of the planet during those early six months,” said Philip Christensen of Arizona State University, Tempe, principal investigator for the Thermal Emission Imaging System.

Here’s the trade-off: The orbital shift to mid-afternoon will stop the use of one of three instruments in Odyssey’s Gamma Ray Spectrometer suite. The new orientation will soon result in overheating a critical component of the suite’s gamma ray detector. The suite’s neutron spectrometer and high-energy neutron detector are expected to keep operating. The Gamma Ray Spectrometer provided a dramatic 2002 discovery of water-ice near the Martian surface in large areas. The gamma ray detector has also mapped global distribution of many elements, such as iron, silicon and potassium.

Last year, before the start of a third two-year extension of the Odyssey mission, a panel of planetary scientists assembled by NASA recommended the orbit adjustment to maximize science benefits from the spacecraft in coming years.

Odyssey’s orbit is synchronized with the sun. Picture Mars rotating beneath the polar-orbiting spacecraft with the sun off to one side. The orbiter passes from near the north pole to near the south pole over the day-lit side of Mars. At each point on the Mars surface that turns beneath Odyssey, the solar time of day when the southbound spacecraft passes over is the same. During the five years prior to October 2008, that local solar time was about 5 p.m. whenever Odyssey was overhead. (Likewise, the local time was about 5 a.m. under the track of the spacecraft during the south-to-north leg of each orbit, on the night side of Mars.)

On Sept. 30, 2008, Odyssey fired thrusters for six minutes, putting the orbiter into a “drift” pattern of gradually changing the time-of-day of its overpasses during the next several months. On June 9, Odyssey’s operations team at JPL and at Denver-based Lockheed Martin Space Systems commanded the spacecraft to fire the thrusters again. This five-and-a-half-minute burn ended the drift pattern and locked the spacecraft into the mid-afternoon overpass time. “The maneuver went exactly as planned,” said JPL’s Gaylon McSmith, Odyssey mission manager.

In another operational change motivated by science benefits, Odyssey has begun in recent weeks making observations other then straight downward-looking. This more-flexible targeting allows imaging of some latitudes near the poles that are never directly underneath the orbiter, and allows faster filling-in of gaps not covered by previous imaging.

“We are using the spacecraft in a new way,” McSmith said.

In addition to extending its own scientific investigations, the Odyssey mission continues to serve as the radio relay for almost all data from NASA’s Mars Exploration Rovers, Spirit and Opportunity. Odyssey’s new orbital geometry helps prepare the mission to be a relay asset for NASA’s Mars Science Laboratory mission, scheduled to put the rover Curiosity on Mars in 2012.

Mars Odyssey, launched in 2001, is managed by JPL, a division of the California Institute of Technology, Pasadena, for NASA’s Science Mission Directorate, Washington. Lockheed Martin Space Systems is the prime contractor for the project. Investigators at Arizona State University operate the Thermal Emission Imaging System. Investigators at the University of Arizona, Tucson, head operation of the Gamma Ray Spectrometer. Additional science partners are located at the Russian Aviation and Space Agency, which provided the high-energy neutron detector, and at Los Alamos National Laboratories, New Mexico, which provided the neutron spectrometer.


Mars Rover Gets Strong-Armed

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(Above) Engineers from NASA Jet Propulsion Laboratory and Alliance Spacesystems are testing the range of motion of the Mars Science Laboratory rover’s robotic arm joints.

NASA’s Mars Science Laboratory rover will sport the biggest, toughest robotic arm the red planet’s ever seen! This super-limb must lift 34 kilograms (almost 75 pounds) of instruments to reach out and test martian rocks and soil, which may hold clues about whether Mars could have supported life.

Longer than most people are tall, the arm also provides heavy-duty support for the sampling drill. The drill requires a lot of “muscle” to hold it still on the rock. But, the arm isn’t all brawn – it must delicately deposit the precious drill samples inside the rover for further testing.


Mars Global Surveyor

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Mars Global Surveyor operated longer at Mars than any other spacecraft in history, and for more than four times as long as the prime mission originally planned. The spacecraft returned detailed information that has overhauled understanding about Mars.

Launched on November 7, 1996, the spacecraft entered orbit on September 12, 1997. After a year and a half trimming its orbit from a looping ellipse to a circular track around the planet, the spacecraft began its prime mapping mission in March 1999.

Among key science findings, the spacecraft took pictures of gullies and debris flow features that suggest there may be current sources of liquid water, similar to an aquifer, at or near the surface of the planet. It identified deposits of water-related minerals leading to selection of a Mars rover landing site. Magnetometer readings showed that the planet’s magnetic field is not globally generated in the planet’s core, but is localized in particular areas of the crust. Temperature data and closeup images of the Martian moon Phobos showed its surface is composed of powdery material at least 1 meter (3 feet) thick, caused by millions of years of meteoroid impacts. Data from the spacecraft’s laser altimeter gave scientists their first 3-D views of Mars’ north polar ice cap.

Mars Global Surveyor last communicated with Earth on Nov. 2, 2006. Within 11 hours, depleted batteries likely left the spacecraft unable to control its orientation. The battery failure appears to have been caused by a complex sequence of events involving the onboard computer memory and ground commands.


Mars Orbiter Resumes Science Observations

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NASA’s Mars Reconnaissance Orbiter is examining Mars again with its scientific instruments after successfully transitioning out of a precautionary standby mode triggered by an unexpected June 3 rebooting of its computer.

Engineers brought the spacecraft out of the standby mode on June 6. Cameras and other scientific instruments resumed operation June 9.

The Mars Reconnaissance Orbiter reached Mars in 2006 and has returned more data about the planet than all other Mars missions combined.

The June 3 rebooting resembled a Feb. 23 event on the spacecraft. Engineers are re-investigating possible root causes for both events. The new investigation includes reconsidering the likelihood of erroneous voltage readings resulting from cosmic rays or solar particles hitting an electronic component.


Mars Orbiter Enters Safe Mode

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NASA’s Mars Reconnaissance Orbiter is in safe mode and in communications with Earth after an unexpected rebooting of its computer Wednesday evening, June 3.

The spontaneous reboot resembles a Feb. 23 event on the spacecraft. Engineers concluded the most likely cause for that event was a cosmic ray or solar particle hitting electronics and causing an erroneous voltage reading.

Jim Erickson, Mars Reconnaissance Orbiter project manager at NASA’s Jet Propulsion Laboratory, Pasadena, Calif., said, “The spacecraft is sending down high-rate engineering data, power positive, batteries fully charged, sun pointed and thermally safe. The flight team is cautiously bringing the orbiter back to normal operations. We should be resuming our exploration of Mars by next week.”

The reboot occurred at approximately 6:10 p.m. PDT (9:10 p.m. EDT) on June 3. This is the sixth time since the spacecraft began its primary science phase in November 2006 that it has entered safe mode, which is its programmed precaution when it senses a condition for which it does not know a more specific response.


SPACE ART: Mars Sample Return

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In this concept, a spacecraft would carry two or more miniature rovers to Mars, where the vehicles would rove independently, collecting soil and rock samples which would then be returned to the mothership. The sample return spacecraft would be able to blast off the surface of Mars, as seen here, carrying the soil samples, and rendezvous with an orbiter circling Mars.

The sample return spacecraft would carry a mechanical funnel or other mechanical appendage in which the soil samples could be transferred in space to the orbiter. The orbiter would then return the samples to Earth.

Painting by Pat Rawlings for NASA.


Send Your Name to Mars

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You can now submit your name to be sent to Mars. All submitted names will be included on a microchip on the Mars Science Laboratory rover heading to Mars in 2011. To get your name on the Red Planet go to http://mars.jpl.nasa.gov/msl/participate/sendyourname


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