Claire E. Newman

Growth and form of the mound in Gale Crater, Mars: Slope wind enhanced erosion and transport

Ancient sediments provide archives of climate and habitability on Mars. Gale Crater, the landing site for the Mars Science Laboratory (MSL), hosts a 5-km-high sedimentary mound (Mount Sharp/Aeolis Mons). Hypotheses for mound formation include evaporitic, lacustrine, fluviodeltaic, and aeolian processes, but the origin and original extent of Gale’s mound is unknown. Here we show new measurements of sedimentary strata within the mound that indicate ∼3° outward dips oriented radially away from the mound center, inconsistent with the first three hypotheses. Moreover, although mounds are widely considered to be erosional remnants of a once crater-filling unit, we find that the Gale mound’s current form is close to its maximal extent. Instead we propose that the mound’s structure, stratigraphy, and current shape can be explained by growth in place near the center of the crater mediated by wind-topography feedbacks. Our model shows how sediment can initially accrete near the crater center far from crater-wall katabatic winds, until the increasing relief of the resulting mound generates mound-flank slope winds strong enough to erode the mound. The slope wind enhanced erosion and transport (SWEET) hypothesis indicates mound formation dominantly by aeolian deposition with limited organic carbon preservation potential, and a relatively limited role for lacustrine and fluvial activity. Morphodynamic feedbacks between wind and topography are widely applicable to a range of sedimentary and ice mounds across the Martian surface, and possibly other planets.

Preliminary interpretation of the REMS pressure data from the first 100 sols of the MSL mission

We provide a preliminary interpretation of the Rover Environmental Monitoring Station (REMS) pressure data from the first 100 Martian solar days (sols) of the Mars Science Laboratory mission. The pressure sensor is performing well and has revealed the existence of phenomena undetected by previous missions that include possible gravity waves excited by evening downslope flows, relatively dust-free convective vortices analogous in structure to dust devils, and signatures indicative of the circulation induced by Gale Crater and its central mound. Other more familiar phenomena are also present including the thermal tides, generated by daily insolation variations, and the CO2 cycle, driven by the condensation and sublimation of CO2 in the polar regions. The amplitude of the thermal tides is several times larger than those seen by other landers primarily because Curiosity is located where eastward and westward tidal modes constructively interfere and also because the crater circulation amplifies the tides to some extent. During the first 100 sols tidal amplitudes generally decline, which we attribute to the waning influence of the Kelvin wave. Toward the end of the 100 sol period, tidal amplitudes abruptly increased in response to a nearby regional dust storm that did not expand to global scales. Tidal phases changed abruptly during the onset of this storm suggesting a change in the interaction between eastward and westward modes. When compared to Viking Lander 2 data, the REMS daily average pressures show no evidence yet for the 1–20 Pa increase expected from the possible loss of CO2 from the south polar residual cap.

Curiosity's rover environmental monitoring station: Overview of the first 100 sols

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.

Mars Science Laboratory relative humidity observations: Initial results

The Mars Science Laboratory (MSL) made a successful landing at Gale crater early August 2012. MSL has an environmental instrument package called the Rover Environmental Monitoring Station (REMS) as a part of its scientific payload. REMS comprises instrumentation for the observation of atmospheric pressure, temperature of the air, ground temperature, wind speed and direction, relative humidity (REMS-H), and UV measurements. We concentrate on describing the REMS-H measurement performance and initial observations during the first 100 MSL sols as well as constraining the REMS-H results by comparing them with earlier observations and modeling results. The REMS-H device is based on polymeric capacitive humidity sensors developed by Vaisala Inc., and it makes use of transducer electronics section placed in the vicinity of the three humidity sensor heads. The humidity device is mounted on the REMS boom providing ventilation with the ambient atmosphere through a filter protecting the device from airborne dust. The final relative humidity results appear to be convincing and are aligned with earlier indirect observations of the total atmospheric precipitable water content. The water mixing ratio in the atmospheric surface layer appears to vary between 30 and 75 ppm. When assuming uniform mixing, the precipitable water content of the atmosphere is ranging from a few to six precipitable micrometers. Key Points Atmospheric water mixing ratio at Gale crater varies from 30 to 140 ppm MSL relative humidity observation provides good data Highest detected relative humidity reading during first MSL 100 sols is RH75%

The rock abrasion record at Gale Crater: Mars Science Laboratory results from Bradbury Landing to Rocknest

Ventifacts, rocks abraded by wind-borne particles, are found in Gale Crater, Mars. In the eastward drive from “Bradbury Landing” to “Rocknest,” they account for about half of the float and outcrop seen by Curiositys cameras. Many are faceted and exhibit abrasion textures found at a range of scales, from submillimeter lineations to centimeter-scale facets, scallops, flutes, and grooves. The drive path geometry in the first 100 sols of the mission emphasized the identification of abrasion facets and textures formed by westerly flow. This upwind direction is inconsistent with predictions based on models and the orientation of regional dunes, suggesting that these ventifact features formed from very rare high-speed winds. The absence of active sand and evidence for deflation in the area indicates that most of the ventifacts are fossil features experiencing little abrasion today.

Martian aeolian activity at the Bagnold Dunes, Gale Crater: The view from the surface and orbit

The first in situ investigation of an active dune field on another planetary surface occurred in 2015-2016 when the MSL Curiosity rover investigated the Bagnold Dunes on Mars. HIRISE images show clear seasonal variations that are in good agreement with atmospheric model predictions of intra-annual sand flux and migration directions that together indicate that the campaign occurred during a period of low wind activity. Curiosity surface images show that limited changes nevertheless occurred, with movement of large grains, particularly on freshly exposed surfaces, two occurrences of secondary grain flow on the slip face of Namib Dune, and a slump on a freshly exposed surface of a large ripple. These changes are seen at sol-to-sol time scales. Grains on a rippled sand deposit and unconsolidated dump piles show limited movement of large grains over a few hours during which mean friction speeds are estimated at 0.3 - 0.4 m s-1. Overall, the correlation between changes and peak REMS winds is moderate, with high wind events associated with changes in some cases, but not in others, suggesting that other factors are also at work. The distribution of REMS 1 Hz wind speeds show a tail up to the 20 m s-1, showing that even higher speed winds occur. Non-aeolian triggering mechanisms are also possible. The low activity period at the dunes documented by Curiosity provides clues to processes that dominated in the Martian past under conditions of lower obliquity.

Convective vortices and dust devils at the MSL landing site: Annual variability

Two hundred fifty-two transient drops in atmospheric pressure, likely caused by passing convective vortices, were detected by the Rover Environmental Monitoring Station instrument during the first Martian year of the Mars Science Laboratory (MSL) landed mission. These events resembled the vortex signatures detected by the previous Mars landers Pathfinder and Phoenix; however, the MSL observations contained fewer pressure drops greater than 1.5 Pa and none greater than 3.0 Pa. Apparently, these vortices were generally not lifting dust as only one probable dust devil has been observed visually by MSL. The obvious explanation for this is the smaller number of strong vortices with large central pressure drops since according to Arvidson et al. [2014] ample dust seems to be present on the surface. The annual variation in the number of detected convective vortices followed approximately the variation in Dust Devil Activity (DDA) predicted by the MarsWRF numerical climate model. This result does not prove, however, that the amount of dust lifted by dust devils would depend linearly on DDA, as is assumed in several numerical models of the Martian atmosphere, since dust devils are only the most intense fraction of all convective vortices on Mars, and the amount of dust that can be lifted by a dust devil depends on its central pressure drop. Sol-to-sol variations in the number of vortices were usually small. However, on 1 Martian solar day a sudden increase in vortex activity, related to a dust storm front, was detected.

Probabilistic motion planning of balloons in strong, uncertain wind fields

This paper introduces a new algorithm for probabilistic motion planning in arbitrary, uncertain vector fields, with emphasis on high-level planning for Montgolfieré balloons in the atmosphere of Titan. The goal of the algorithm is to determine what altitude—and what horizontal actuation, if any is available on the vehicle—to use to reach a goal location in the fastest expected time. The winds can vary greatly at different altitudes and are strong relative to any feasible horizontal actuation, so the incorporation of the winds is critical for guidance plans. This paper focuses on how to integrate the uncertainty of the wind field into the wind model and how to reach a goal location through the uncertain wind field, using a Markov decision process (MDP). The resulting probabilistic solutions enable more robust guidance plans and more thorough analysis of potential paths than existing methods.

Decomposition algorithm for global reachability analysis on a time-varying graph with an application to planetary exploration

Hot air (Montgolfiere) balloons represent a promising vehicle system for possible future exploration of planets and moons with thick atmospheres such as Venus and Titan. To go to a desired location, this vehicle can primarily use the horizontal wind that varies with altitude, with a small help of its own actuation. A main challenge is how to plan such trajectory in a highly nonlinear and time-varying wind field. This paper poses this trajectory planning as a graph search on the space-time grid and addresses its computational aspects. When capturing various time scales involved in the wind field over the duration of long exploration mission, the size of the graph becomes excessively large. We show that the adjacency matrix of the graph is block-triangular, and by exploiting this structure, we decompose the large planning problem into several smaller subproblems, whose memory requirement stays almost constant as the problem size grows. The approach is demonstrated on a global reachability analysis of a possible Titan mission scenario.

Global reachability and path planning for planetary exploration with montgolfiere balloons

Aerial vehicles are appealing systems for possible future exploration of planets and moons such as Venus and Titan, because they combine extensive coverage with high-resolution data collection and in-situ science capabilities. Recent studies have proposed the use of a montgolfiere balloon, which controls its altitude by changing the heating rate or venting gas from the balloon, but has no actuation capability in the horizontal plane. A montgolfiere can use the variation in wind with altitude to guide itself to a desired location. This paper considers the problems of determining the altitude profile that the montgolfiere should follow in order to reach its target most quickly. We provide a new method that solves this path planning problem for all possible target locations, thereby providing a reachability analysis for the entire globe. The key idea is to perform a principled simplification and decoupling of the dynamics of the montgolfiere. We then discretize the search space, converting the planning problem into a graph search problem, and use Dijkstras algorithm to calculate the minimum-time path from the start location to every possible location in the graph. We demonstrate the approach on a possible Titan mission scenario.