MAHLI on Mars: lessons learned operating a geoscience camera on a landed  payload robotic arm

Yingst, R. A.; Edgett, K. S.; Kennedy, M. R.; Krezoski, Gillian; McBride, M. J.; Minitti, M. E.; Ravine, M. A.; Williams, R. M. E.

doi:10.5194/gi-5-205-2016

Cited by 29 publications

(37 citation statements)

References 23 publications

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“…For this study, we make use of publicly released focus merged images (Sols 46 to 1511) at the highest available resolution from the Planetary Data System (PDS) Imaging Node (http://pds-geosciences.wustl.edu/missions/msl/). Range and scale were determined by motor count provided with the image (Edgett et al, 2015;Yingst et al, 2016).…”

Section: Image Analysis Methodsmentioning

confidence: 99%

Dusty Rocks in Gale Crater: Assessing Areal Coverage and Separating Dust and Rock Contributions in APXS Analyses

et al. 2018

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A thin, patchy layer of airfall dust covers rock surfaces examined by the Mars Science Lab rover Curiosity and complicates interpretation of textures in Mars Hand Lens Imager images and compositions determined by Alpha Particle X-ray Spectrometer (APXS). Using three image processing methods, we estimate dust coverages for Mars Hand Lens Imager images of APXS targets to Sol 1512. Dust coverages of as is rock targets range from 6% to 77% (±5% to 10% estimated error). Targets brushed by the Dust Removal Tool range to lower coverages than as is targets, but quality depends on surface type; brushed mudstones have the narrowest range and lowest coverages (11-25%), while sandstones vary, ranging to higher coverages (12-58%). Groups of rocks with similar compositions (APXS classes) can have strong correlations between dust coverage and SO 3 /Cl (up to r = 0.985). Dust can also strongly affect the lightest elements measured (Na to Ca). By comparing paired as is and Dust Removal Tool analyses, using the determined dust coverages, and finding a best fit dust thickness (generally~10 μm), we model relative contributions of the dust and bedrock to extrapolate dust-free compositions for homogeneous APXS classes. The dust is basaltic with high S and Cl. Dust-free rocks have higher SiO 2 and Na 2 O (up to 6.5 wt% and 0.5 wt% higher, respectively) and lower SO 3 and CaO (up to 5.5 wt% and 1.3 wt% lower, respectively) than dusty equivalents. Dust most influences compositions that are very different from average Mars, including the alkali-rich, MgO-poor Jake M class.

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Section: Image Analysis Methodsmentioning

confidence: 99%

Dusty Rocks in Gale Crater: Assessing Areal Coverage and Separating Dust and Rock Contributions in APXS Analyses

et al. 2018

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“…MAHLI is capable of acquiring images with a maximum high resolution of~14 μm per pixel (Edgett et al, 2012), which enables the distinction of silt-sized grains from very fine sand. The highest spatial resolution images acquired under typical usage conditions are in the 16 to 32 μm per pixel range (Yingst et al, 2016). MAHLI images were used to study grain size, stratification, and small-scale sedimentary structures across VRR .…”

Section: Instruments and Datamentioning

confidence: 99%

A Lacustrine Paleoenvironment Recorded at Vera RubinRidge, Gale Crater: Overview of the Sedimentology and Stratigraphy Observed by the Mars ScienceLaboratory Curiosity Rover

et al. 2020

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For ~500 Martian solar days (sols), the Mars Science Laboratory team explored Vera Rubin ridge (VRR), a topographic feature on the northwest slope of Aeolis Mons. Here we review the sedimentary facies and stratigraphy observed during sols 1,800–2,300, covering more than 100 m of stratigraphic thickness. Curiosity's traverse includes two transects across the ridge, which enables investigation of lateral variability over a distance of ~300 m. Three informally named stratigraphic members of the Murray formation are described: Blunts Point, Pettegrove Point, and Jura, with the latter two exposed on VRR. The Blunts Point member, exposed just below the ridge, is characterized by a recessive, fine‐grained facies that exhibits extensive planar lamination and is crosscut by abundant curvi‐planar veins. The Pettegrove Point member is more resistant, fine‐grained, thinly planar laminated, and contains a higher abundance of diagenetic concretions. Conformable above the Pettegrove Point member is the Jura member, which is also fine‐grained and parallel stratified, but is marked by a distinct step in topography, which coincides with localized meter‐scale inclined strata, a thinly and thickly laminated facies, and occasional crystal molds. All members record low‐energy lacustrine deposition, consistent with prior observations of the Murray formation. Uncommon outcrops of low‐angle stratification suggest possible subaqueous currents, and steeply inclined beds may be the result of slumping. Collectively, the rocks exposed at VRR provide additional evidence for a long‐lived lacustrine environment (in excess of 106 years via comparison to terrestrial records of sedimentation), which extends our understanding of the duration of habitable conditions in Gale crater.

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“…The majority of APXS observations are accompanied by MAHLI images acquired from a 6.9-cm working distance, providing a standard resolution of approximately 31 μm/pixel. [3][4][5] Remote robotic X-ray spectroscopy on the surface of Mars has little or no sample preparation, leading to non-ideal sample geometry and heterogeneity within samples due to of the nature of robotic spacecraft operations. This results in targeted samples that are often a mixture of several distinct compositions such as a millimeter-wide or centimeter-wide vein (mineralized fracture fill) cutting across a dust-covered bedrock target.…”

Section: Introductionmentioning

confidence: 99%

Modeling and mitigation of sample relief effects applied to chemistry measurements by the Mars Science Laboratory Alpha Particle X-ray Spectrometer

et al. 2017

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The Alpha Particle X-ray Spectrometer (APXS) onboard the Mars rover Curiosity conducts high-precision in situ chemical measurements of rocks and regolith. Target surfaces are not always flat and thus can pose issues for interpretations that assume such. Here, we investigate when variable target relief is an important effect to consider for APXS targets. We provide operational recommendations on how to most efficiently study targets of significant changes in surface relief with the rover-arm-mounted APXS and Mars Hand Lens Imager camera. Additionally, we deconvolve the chemistry of heterogeneous targets of significant vertical relief encountered along Curiosity's traverse, providing the chemical composition of visible endmembers in the process. Specifically, presented here are the deconvolved endmember compositions of two recent targets. The first is a manganese-rich, calcium-rich, and zinc-rich dark-toned vein at Garden City that is chemically and visually unique compared with the intermixed light-toned Ca-sulfate-dominated vein. The other target is a weathered Mg-sulfate-rich nodule that is unique compared with a previously encountered nodule that had significant nickel enrichment. The distinctly different chemistry both at Garden City and with the Mg-sulfate-rich nodules along the traverse provides further evidence for either multiple fluid events or an evolving fluid on the surface of ancient Mars.

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MAHLI on Mars: lessons learned operating a geoscience camera on a landed payload robotic arm

Cited by 29 publications

References 23 publications

Dusty Rocks in Gale Crater: Assessing Areal Coverage and Separating Dust and Rock Contributions in APXS Analyses

Dusty Rocks in Gale Crater: Assessing Areal Coverage and Separating Dust and Rock Contributions in APXS Analyses

A Lacustrine Paleoenvironment Recorded at Vera RubinRidge, Gale Crater: Overview of the Sedimentology and Stratigraphy Observed by the Mars ScienceLaboratory Curiosity Rover

Modeling and mitigation of sample relief effects applied to chemistry measurements by the Mars Science Laboratory Alpha Particle X-ray Spectrometer

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