P. L. Whelley

Atmospheric Imaging Results from the Mars Exploration Rovers: Spirit and Opportunity

A visible atmospheric optical depth of 0.9 was measured by the Spirit rover at Gusev crater and by the Opportunity rover at Meridiani Planum. Optical depth decreased by about 0.6 to 0.7% per sol through both 90-sol primary missions. The vertical distribution of atmospheric dust at Gusev crater was consistent with uniform mixing, with a measured scale height of 11.56 ± 0.62 kilometers. The dusts cross section weighted mean radius was 1.47 ± 0.21 micrometers (μm) at Gusev and 1.52 ± 0.18 μ at Meridiani. Comparison of visible optical depths with 9-μ optical depths shows a visible-to-infrared optical depth ratio of 2.0 ± 0.2 for comparison with previous monitoring of infrared optical depths.

Evidence from Opportunity's microscopic imager for water on Meridiani Planum

The Microscopic Imager on the Opportunity rover analyzed textures of soils and rocks at Meridiani Planum at a scale of 31 micrometers per pixel. The uppermost millimeter of some soils is weakly cemented, whereas other soils show little evidence of cohesion. Rock outcrops are laminated on a millimeter scale; image mosaics of cross-stratification suggest that some sediments were deposited by flowing water. Vugs in some outcrop faces are probably molds formed by dissolution of relatively soluble minerals during diagenesis. Microscopic images support the hypothesis that hematite-rich spherules observed in outcrops and soils also formed diagenetically as concretions.

Mars: Dust devil track survey in Argyre Planitia and Hellas Basin

Dust devils and dust devil tracks have been frequently observed in Viking Orbiter and Mars Orbiter Camera (MOC) images, but the parameters that control their distribution have been poorly constrained. Here we investigate the abundance of dust devil tracks in two large study areas, Argyre Planitia and Hellas Basin, using a survey of over 3000 MOC narrow-angle (NA) images. We report the effect of season, elevation, and surface properties on track distribution using measurements of dust devil track density (the number of dust devil tracks per square kilometer). In both areas, dust devil tracks occur predominantly in summer and are rarely observed in winter. The lifetime of dust devil tracks is inferred to be short (i.e., less than a few months). There is no unambiguous correlation of abundance with elevation; rather the spatial distribution follows albedo patterns, suggesting that dust availability controls the abundance of dust devil tracks. We estimate the total dust lifting potential of dust devils using the average dust devil track density for Argyre and Hellas and conclude that, unless the average dust devil track is greater than 20 m wide, longer than 2 km, and more than 40 mm deep, they cannot account for the estimated global sedimentation rate. In addition, by comparing 2 Mars years of observations, we find no evidence of an increase in dust devil track density prior to the global dust storm that occurred in June 2001. We conclude that dust devils did not trigger this storm.

The frequency of explosive volcanic eruptions in Southeast Asia.

There are ~750 active and potentially active volcanoes in Southeast Asia. Ash from eruptions of volcanic explosivity index 3 (VEI 3) and smaller pose mostly local hazards while eruptions of VEI ≥ 4 could disrupt trade, travel, and daily life in large parts of the region. We classify Southeast Asian volcanoes into five groups, using their morphology and, where known, their eruptive history and degassing style. Because the eruptive histories of most volcanoes in Southeast Asia are poorly constrained, we assume that volcanoes with similar morphologies have had similar eruption histories. Eruption histories of well-studied examples of each morphologic class serve as proxy histories for understudied volcanoes in the class. From known and proxy eruptive histories, we estimate that decadal probabilities of VEI 4–8 eruptions in Southeast Asia are nearly 1.0, ~0.6, ~0.15, ~0.012, and ~0.001, respectively.

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

Automatic detection of dust devils and clouds on Mars

The acquisition of science data in space applications is shifting from teleoperated data collection to an automated onboard analysis, resulting in improved data quality, as well as improved usage of limited resources such as onboard memory, CPU, and communications bandwidth. Science instruments onboard a modern deep-space spacecraft can acquire much more data that can be downloaded to Earth, given the limited communication bandwidth. Onboard data analysis offers a means of compressing the huge amounts of data collected and downloading only the most valuable subset of the collected data. In this paper, we describe algorithms for detecting dust devils and clouds onboard Mars rovers, and summarize the results. These algorithms achieve the accuracy required by planetary scientists, as well as the runtime, CPU, memory, and bandwidth constraints set by the engineering mission parameters. The detectors have been uploaded to the Mars Exploration Rovers, and currently are operational. These detectors are the first onboard science analysis processes on Mars.

Mars Exploration Rover Geologic traverse by the Spirit rover in the Plains of Gusev Crater, Mars

The Spirit rover completed a 2.5 km traverse across gently sloping plains on the floor of Gusev crater from its location on the outer rim of Bonneville crater to the lower slopes of the Columbia Hills, Mars. Using the Athena suite of instruments in a transect approach, a systematic series of overlapping panoramic mosaics, remote sensing observations, surface analyses, and trenching operations documented the lateral variations in landforms, geologic materials, and chemistry of the surface throughout the traverse, demonstrating the ability to apply the techniques of field geology by remote rover operations. Textures and shapes of rocks within the plains are consistent with derivation from impact excavation and mixing of the upper few meters of basaltic lavas. The contact between surrounding plains and crater ejecta is generally abrupt and marked by increases in clast abundance and decimeter-scale steps in relief. Basaltic materials of the plains overlie less indurated and more altered rock types at a time-stratigraphic contact between the plains and Columbia Hills that occurs over a distance of one to two meters. This implies that regional geologic contacts are well preserved and that Earth-like field geologic mapping will be possible on Mars despite eons of overturn by small impacts.

Autonomous Detection of Dust Devils and Clouds on Mars

Acquisition of science in space applications is shifting from teleoperated gathering to an automated on-board analysis with improvements in the use of memory, CPU, bandwidth and data quality. In this paper, we describe algorithms to autonomously detect dust devils and clouds from a rover and summarize the results. The algorithms meet high hit-to-miss ratios and satisfy strict resource constraints. Both detectors have been uploaded to the Mars exploration rovers (MER). These are the first autonomous science processes in the rovers.