Matthew P. Golombek

Mars Orbiter Laser Altimeter: Experiment summary after the first year of global mapping of Mars

The Mars Orbiter Laser Altimeter (MOLA), an instrument on the Mars Global Surveyor spacecraft, has measured the topography, surface roughness, and 1.064-μm reflectivity of Mars and the heights of volatile and dust clouds. This paper discusses the function of the MOLA instrument and the acquisition, processing, and correction of observations to produce global data sets. The altimeter measurements have been converted to both gridded and spherical harmonic models for the topography and shape of Mars that have vertical and radial accuracies of ~1 m with respect to the planets center of mass. The current global topographic grid has a resolution of 1/64° in latitude × 1/32° in longitude (1 × 2 km^2 at the equator). Reconstruction of the locations of incident laser pulses on the Martian surface appears to be at the 100-m spatial accuracy level and results in 2 orders of magnitude improvement in the global geodetic grid of Mars. Global maps of optical pulse width indicative of 100-m-scale surface roughness and 1.064-μm reflectivity with an accuracy of 5% have also been obtained.

Primary centers and secondary concentrations of tectonic activity through time in the western hemisphere of Mars

Five main stages of radial and concentric structures formed around Tharsis from the Noachian through the Amazonian as determined by geologic mapping of 24,452 structures within the stratigraphic framework of Mars and by testing their radial and concentric orientations. Tectonic activity peaked in the Noachian (stage 1) around the largest center, Claritas, an elongate center extending more than 20° in latitude and defined by about half of the total grabens which are concentrated in the Syria Planum, Thaumasia, and Tempe Terra regions. During the Late Noachian and Early Hesperian (stage 2), extensional structures formed along the length of present-day Valles Marineris and in Thaumasia (with a secondary concentration near Warrego Vallis) radial to a region just to the south of the central margin of Valles Marineris. Early Hesperian (stage 3) radial grabens in Pavonis, Syria, Ulysses, and Tempe Terra and somewhat concentric wrinkle ridges in Lunae and Solis Plana and in Thaumasia, Sirenum, Memnonia, and Amazonis are centered northwest of Syria with secondary centers at Thaumasia, Tempe Terra, Ulysses Fossae, and western Valles Marineris. Late Hesperian/Early Amazonian (stage 4) structures around Alba Patera, the northeast trending alignment of Tharsis Montes, and Olympus Mons appears centered on Alba Patera. Stage 5 structures (Middle-Late Amazonian) represent the last pulse of Tharsis-related activity and are found around the large shield volcanoes and are centered near Pavonis Mons. Tectonic activity around Tharsis began in the Noachian and generally decreased through geologic time to the Amazonian. Statistically significant radial distributions of structures formed during each stage, centered at different locations within the higher elevations of Tharsis. Secondary centers of radial structures during many of the stages appear related to previously identified local magmatic centers that formed at different times and locations throughout Tharsis.

Reconciliation of stress and structural histories of the Tharsis region of Mars

We present a new compilation of the structural and stratigraphic evolution of the Tharsis region of Mars that incorporates recent advances in understanding its stratigraphy, and we introduce a lithospheric deformation model that can account for the observations. The first period in the formation of Tharsis occurred in Late Noachian/Early Hesperian time with the deposition of volcanic plains materials throughout the surrounding highlands (e.g., Lunae Planum) and on the Tharsis rise (which includes the giant volcanoes and surrounding, elevated lava fields). Extensive radial normal faulting occurred on the rise, locally extending outward at Valles Marineris and Tempe Terra, and concentric wrinkle ridges formed along the edge of the rise. This regional deformation appears to have been modulated by a global compressional stress field due to rapid planetary cooling and contraction. The second period occurred during the Late Hesperian/Amazonian with Tharsis volcanism centered on the rise and radial extensional deformation that extended from the center of the rise for thousands of kilometers. We propose a model in which the lithosphere beneath Tharsis consists of a thin elastic crustal cap on the rise that is mechanically detached from the strong upper mantle by a volcanically thickened, hot, weak lower crust. These layers merge into a single cooler, strong lithospheric layer around the edges of the rise. This model is capable of generating large extensional hoop stresses throughout much of the western hemisphere, in agreement with observations. The tectonic interpretation of the stresses predicted by this model requires the reconciliation of extensional strain within narrow grabens and compressional strain within wrinkle ridges with (1) processes in the deeper lithosphere, (2) the sparsity of strike-slip faults, and (3) other global or locally important stress fields. Stresses predicted by global models affect the entire thickness of the lithosphere, and they can be reconciled with narrow, closely spaced grabens that accommodate large amounts of extensional strain in the upper few kilometers of the lithosphere if the grabens are underlain and kinematically linked with dikes or other tension cracks, such as hydrofractures. Deeper levels of the lithosphere can accommodate this strain by elastic expansion if grabens are spaced far apart (many tens to hundreds of kilometers). Mechanical considerations suggest that deformation on faults beneath wrinkle ridges could extend through a significant thickness of the brittle crust. A number of factors, including stresses generated by the addition of overburden, intrusion of dikes, weakness of geologic materials under extension, and the laterally constrained nature of a single lithospheric plate, may have inhibited the formation of strike-slip faults on Mars. Stresses generated from the removal of overburden could have augmented planetwide wrinkle ridge formation during the Late Noachian/Early Hesperian and in Kasei Valles and western Chryse Planitia during the Early Amazonian. The nonuniform distribution of tectonic features around Tharsis can be understood in terms of the concentration of regional stresses and strain near weaker volcanotectonic centers.

Overview of the Mars Pathfinder Mission: Launch through landing, surface operations, data sets, and science results

Mars Pathfinder successfully landed at Ares Vallis on July 4, 1997, deployed and navigated a small rover about 100 m clockwise around the lander, and collected data from three science instruments and ten technology experiments. The mission operated for three months and returned 2.3 Gbits of data, including over 16,500 lander and 550 rover images, 16 chemical analyses of rocks and soil, and 8.5 million individual temperature, pressure and wind measurements. Path-finder is the best known location on Mars, having been clearly identified with respect to other features on the surface by correlating five prominent horizon features and two small craters in lander images with those in high-resolution orbiter images and in inertial space from two-way ranging and Doppler tracking. Tracking of the lander has fixed the spin pole of Mars, determined the precession rate since Viking 20 years ago, and indicates a polar moment of inertia, which constrains a central metallic core to be between 1300 and ∼2000 km in radius. Dark rocks appear to be high in silica and geochemically similar to anorogenic andesites; lighter rocks are richer in sulfur and lower in silica, consistent with being coated with various amounts of dust. Rover and lander images show rocks with a variety of morphologies, fabrics and textures, suggesting a variety of rock types are present. Rounded pebbles and cobbles on the surface as well as rounded bumps and pits on some rocks indicate these rocks may be conglomerates (although other explanations are also possible), which almost definitely require liquid water to form and a warmer and wetter past. Air-borne dust is composed of composite silicate particles with a small fraction of a highly magnetic mineral, interpreted to be most likely maghemite; explanations suggest iron was dissolved from crustal materials during an active hydrologic cycle with maghemite freeze dried onto silicate dust grains. Remote sensing data at a scale of a kilometer or greater and an Earth analog correctly predicted a rocky plain safe for landing and roving with a variety of rocks deposited by catstrophic floods, which are relatively dust free. The surface appears to have changed little since it formed billions of years ago, with the exception that eolian activity may have deflated the surface by ∼3–7 cm, sculpted wind tails, collected sand into dunes, and eroded ventifacts (fluted and grooved rocks). Pathfinder found a dusty lower atmosphere, early morning water ice clouds, and morning near-surface air temperatures that changed abruptly with time and height. Small scale vortices, interpreted to be dust devils, were observed repeatedly in the afternoon by the meteorology instruments and have been imaged.

Planet-wide sand motion on Mars

Prior to Mars Reconnaissance Orbiter data, images of Mars showed no direct evidence for dune and ripple motion. This was consistent with climate models and lander measurements indicating that winds of sufficient intensity to mobilize sand were rare in the low-density atmosphere. We show that many sand ripples and dunes across Mars exhibit movement of as much as a few meters per year, demonstrating that Martian sand migrates under current conditions in diverse areas of the planet. Most motion is probably driven by wind gusts that are not resolved in global circulation models. A past climate with a thicker atmosphere is only required to move large ripples that contain coarse grains.

Assessment of Mars Exploration Rover landing site predictions.

Comprehensive analyses of remote sensing data during the three-year effort to select the Mars Exploration Rover landing sites at Gusev crater and at Meridiani Planum correctly predicted the atmospheric density profile during entry and descent and the safe and trafficable surfaces explored by the two rovers. The Gusev crater site was correctly predicted to be a low-relief surface that was less rocky than the Viking landing sites but comparably dusty. A dark, low-albedo, flat plain composed of basaltic sand and haematite with very few rocks was expected and found at Meridiani Planum. These results argue that future efforts to select safe landing sites based on existing and acquired remote sensing data will be successful. In contrast, geological interpretations of the sites based on remote sensing data were less certain and less successful, which emphasizes the inherent ambiguities in understanding surface geology from remotely sensed data and the uncertainty in predicting exactly what materials will be available for study at a landing site.

Rock size-frequency distributions on Mars and implications for Mars Exploration Rover landing safety and operations

The cumulative fractional area covered by rocks versus diameter measured at the Pathfinder site was predicted by a rock distribution model that follows simple exponential functions that approach the total measured rock abundance (19%), with a steep decrease in rocks with increasing diameter. The distribution of rocks >1.5 m diameter visible in rare boulder fields also follows this steep decrease with increasing diameter. The effective thermal inertia of rock populations calculated from a simple empirical model of the effective inertia of rocks versus diameter shows that most natural rock populations have cumulative effective thermal inertias of 1700-2100 J m -2 s -0,5 K -1 and are consistent with the model rock distributions applied to total rock abundance estimates. The Mars Exploration Rover (MER) airbags have been successfully tested against extreme rock distributions with a higher percentage of potentially hazardous triangular buried rocks than observed at the Pathfinder and Viking landing sites. The probability of the lander impacting a >1 m diameter rock in the first 2 bounces is 1.5 m and >2 m diameter, respectively. Finally, the model rock size-frequency distributions indicate that rocks >0.1 m and >0.3 m in diameter, large enough to place contact sensor instruments against and abrade, respectively, should be plentiful within a single sols drive at the Meridiani and Gusev landing sites.

Results of the Imager for Mars Pathfinder windsock experiment

The Imager for Mars Pathfinder (IMP) windsock experiment measured wind speeds at three heights within 1.2 m of the Martian surface during Pathfinder landed operations. These wind data allowed direct measurement of near-surface wind profiles on Mars for the first time, including determination of aerodynamic roughness length and wind friction speeds. Winds were light during periods of windsock imaging, but data from the strongest breezes indicate aerodynamic roughness length of 3 cm at the landing site, with wind friction speeds reaching 1 m/s. Maximum wind friction speeds were about half of the threshold-of-motion friction speeds predicted for loose, fine-grained materials on smooth Martian terrain and about one third of the threshold-of-motion friction speeds predicted for the same size particles over terrain with aerodynamic roughness of 3 cm. Consistent with this, and suggesting that low wind speeds prevailed when the windsock array was not imaged and/or no particles were available for aeolian transport, no wind-related changes to the surface during mission operations have been recognized. The aerodynamic roughness length reported here implies that proposed deflation of fine particles around the landing site, or activation of duneforms seen by IMP and Sojourner, would require wind speeds >28 m/s at the Pathfinder top windsock height (or >31 m/s at the equivalent Viking wind sensor height of 1.6 m) and wind speeds >45 m/s above 10 m. These wind speeds would cause rock abrasion if a supply of durable particles were available for saltation. Previous analyses indicate that the Pathfinder landing site probably is rockier and rougher than many other plains units on Mars, so aerodynamic roughness length elsewhere probably is less than the 3-cm value reported for the Pathfinder site.

Initial Results of Rover Localization and Topographic Mapping for the 2003 Mars Exploration Rover Mission

This paper presents the initial results of lander and rover localization and topographic mapping of the MER 2003 mission (by Sol 225 for Spirit and Sol 206 for Opportunity). The Spirit rover has traversed a distance of 3.2 km (actual distance traveled instead of odometry) and Opportunity at 1.2 km. We localized the landers in the Gusev Crater and on the Meridiani Planum using two-way Doppler radio positioning technology and cartographic triangulations through landmarks visible in both orbital and ground images. Additional high-resolution orbital images were taken to verify the determined lander positions. Visual odometry and bundleadjustment technologies were applied to overcome wheel slippages, azimuthal angle drift and other navigation errors (as large as 21 percent). We generated timely topographic products including 68 orthophoto maps and 3D Digital Terrain Models, eight horizontal rover traverse maps, vertical traverse profiles up to Sol 214 for Spirit and Sol 62 for

A Prediction of Mars Seismicity from Surface Faulting

The shallow seismicity of Mars has been estimated by measurement of the total slip on faults visible on the surface of the planet throughout geologic time. Seismicity was calibrated with estimates based on surface structures on the moon and measured lunar seismicity that includes the entire seismogenic lithosphere. Results indicate that Mars is seismically active today, with a sufficient number of detectable marsquakes to allow seismic investigations of its interior.