Mars Volatiles and Climate Surveyor Robotic Arm

Bonitz, R.G.; Slostad, Jeffrey; Bon, B.; Braun, D. F.; Brill, R.; Buck, C.; Fleischner, Richard; Haldeman, Albert; Herman, J. A.; Hetzel, Mark; Noon, D.; Pixler, Greg; Schenker, Paul S.; Ton, Thieu; Tucker, Curtis; Zimmerman, Wayne; Paige, D. A.

doi:10.1029/1999je001140

Cited by 12 publications

(11 citation statements)

References 7 publications

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“…The instrument payload is optimized for achieving these goals as well as the parallel objectives of characterizing the expected periglacial landforms and monitoring the high‐latitude atmospheric dynamics. Of special note is the 4‐degree‐of‐freedom, 2.35‐m‐long robotic arm (RA) that is designed to dig up to 50 cm into the substrate [ Bonitz et al , 2001] and deliver samples of trenched materials to the Thermal and Evolved Gas Analyzer (TEGA) [ Boynton et al , 2001] and the Mars Environmental Characterization Analyzer (MECA) [ Kounaves et al , 2003]. Together, these instruments will determine the mineral and volatile constituents, pH, microscopic structure, and conductivity of the retrieved soil and volatile samples [ Boynton et al , 2001; Kounaves et al , 2003].…”

Section: Introductionmentioning

confidence: 99%

“…Together, these instruments will determine the mineral and volatile constituents, pH, microscopic structure, and conductivity of the retrieved soil and volatile samples [ Boynton et al , 2001; Kounaves et al , 2003]. The RA is also outfitted with the Robotic Arm Camera (RAC) to monitor the trench site(s) and samples within the scoop with high‐resolution, full‐color images [ Bonitz et al , 2001] and a Thermal and Electrical Conductivity Probe (TECP) [ Zent et al , 2008] to determine soil and ice properties and to measure atmospheric relative humidity. At the same time, the Surface Stereo Imager (SSI) will acquire stereo views of the landing site, surrounding terrain, and trenching operations [ Smith et al , 2001].…”

Section: Introductionmentioning

confidence: 99%

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Geomorphologic and mineralogic characterization of the northern plains of Mars at the Phoenix Mission candidate landing sites

Seelos

Arvidson²,

Cull³

et al. 2008

J. Geophys. Res.

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[1] A suite of remote sensing data is used to evaluate both geomorphology and mineralogy of the candidate landing sites for the 2007 Phoenix Mission. Three candidate landing site boxes are situated in the northern plains of Mars on the distal flank of Alba Patera in the region from 67°N to 72°N and from $230°E to 260°E. Geomorphology is mapped at subkilometer spatial scales using Thermal Emission Imaging System (THEMIS) visible and Mars Orbiter Laser Altimeter (MOLA) topographic data, supplemented by images from the High-Resolution Imaging Science Experiment (HiRISE) and Context Imager (CTX). Mineralogy and spectral properties are examined using Compact Reconnaissance Imaging Spectrometer for Mars (CRISM) visible and near-infrared multispectral mapping and targeted hyperspectral data at $200 and $20 m/pixel, respectively. Geomorphic mapping supports the idea that terrains along the boundary between the Amazonian Scandia region and Vastitas Borealis marginal geologic units have undergone extensive modification. Intercrater plains are disrupted to form mesas and interlocking blocks, while irregular depressions and knobby terrain are consistent with erosion/subsidence and local deposition. Despite the varied morphology, the present-day surface is nearly homogeneous with spectral signatures dominated by nanophase iron oxides and basaltic sand and rocks, similar to that of the Gusev crater plains at the Mars Exploration Rover (MER) landing site. The compilation of geomorphic and spectral information for the candidate Phoenix landing sites provides a framework for the mission's in situ observations to be extrapolated to the northern plains as a whole.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Geomorphologic and mineralogic characterization of the northern plains of Mars at the Phoenix Mission candidate landing sites

Seelos

Arvidson²,

Cull³

et al. 2008

J. Geophys. Res.

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“…When the RA encounters conditions that impeded its motion during digging (a rock in the soil, encountering the icy soil table, etc. ), the software engages a built-in accommodation algorithm, similar to the one reported in [7] to compensate for this condition by adjusting the scoop trajectory and, if necessary, dumping the scoop contents and re-executing the digging motion.…”

Section: Algorithms and Softwarementioning

confidence: 99%

The Phoenix Mars Lander Robotic Arm

Bonitz

Shiraishi

Robinson

et al. 2009

2009 IEEE Aerospace Conference

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“…Along with the calibration and qualification testing, additional digging tests were performed in the test bed and in the field. The Phoenix RA design is largely inherited from the Mars Volatiles and Climate Surveyor (MVACS) RA on the Mars Polar Lander [ Bonitz et al , 2001]. The MVACS RA digging capability was demonstrated in field testing in Death Valley in January 2000.…”

Section: Development Testing and Calibrationmentioning

confidence: 99%

“…The Phoenix RA design is largely inherited from the Mars Volatiles and Climate Surveyor (MVACS) RA on the Mars Polar Lander [Bonitz et al, 2001]. The MVACS RA digging capability was demonstrated in field testing in Death Valley in January 2000.…”

Section: Isadmentioning

confidence: 99%

NASA Mars 2007 Phoenix Lander Robotic Arm and Icy Soil Acquisition Device

et al. 2008

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The primary purpose of the Mars 2007 Phoenix Lander Robotic Arm (RA) and associated Icy Soil Acquisition Device (ISAD) is to acquire samples of Martian dry and icy soil (DIS) by digging, scraping, and rasping, and delivering them to the Thermal Evolved Gas Analyzer and the Microscopy, Electrochemistry, and Conductivity Analyzer. The RA will also position (1) the Thermal and Electrical Conductivity Probe (TECP) in the DIS; (2) the TECP at various heights above the surface for relative humidity measurements, and (3) the Robotic Arm Camera to take images of the surface, trench, DIS samples within the ISAD scoop, magnetic targets, and other objects of scientific interest within its workspace. The RA/ISAD will also be used to generate DIS piles for monitoring; conduct DIS scraping, penetration, rasping, and chopping experiments; perform compaction tests; and conduct trench cave‐in experiments. Data from the soil mechanics experiments will yield information on Martian DIS properties such as angle of repose, cohesion, bearing strength, and grain size distribution.

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Mars Volatiles and Climate Surveyor Robotic Arm

Abstract: Abstract. The primary purpose of the Mars Volatiles And Climate Surveyor (MVACS) Robotic

Cited by 12 publications

References 7 publications

Geomorphologic and mineralogic characterization of the northern plains of Mars at the Phoenix Mission candidate landing sites

Geomorphologic and mineralogic characterization of the northern plains of Mars at the Phoenix Mission candidate landing sites

The Phoenix Mars Lander Robotic Arm

NASA Mars 2007 Phoenix Lander Robotic Arm and Icy Soil Acquisition Device

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