MSL Sol 100 Mission Update - SAM Operations continue |
November 16, 2012
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Curiosity has reached the 100th Sol of its long Surface Mission after landing on the red planet back on August 6, 2012. Recently, the rover has been continuing operations at the Rocknest site where initial regolith sampling took place and the two Laboratory Instruments, SAM and CheMin, completed commissioning. Curiosity is slowly gearing up to start driving again and head further into Glenelg, an area where three different surface features intersect.
After performing the fifth Scoop sampling operation on Sol 93, Curiosity spent the rest of the Sol performing sample processing and distribution to SAM and CheMin. Overnight, SAM performed analysis of the sample. The next Sol was dedicated to CheMin operations. Sol 94 also featured MAHLI operations to take close-up images of the sample inlets to see whether any material did not make it through the sieves protecting the inlets only allowing particles of the correct size to enter the Laboratory Instruments. On Sol 95, the first SAM data acquired during solid sample analysis were downlinked to the ground and scientists examined the data carefully, concluding that SAM was operating as expected without any problems. |
Photo: NASA/JPL/Caltech/MSSS
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"We received good data from this first solid sample," said SAM Principal Investigator Paul Mahaffy of the Goddard Space Flight Center. "We have a lot of data analysis to do, and we are planning to get additional samples of Rocknest material to add confidence about what we learn." On Sol 95, SAM started another pre-conditioning run to prepare the system for a second run. In addition, the Sol featured complex robotics as Curiosity's robotic arm was commanded to drop sample material on the vehicle's observation tray for analysis with APXS - the Alpha Particle X-Ray Spectrometer.
Photo: NASA/JPL/Caltech/MSSS
Photo: NASA/JPL/Caltech/MSSS
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The observation tray was imaged with the MastCams and MAHLI to assess the amount of material on the tray to prepare for APXS integrations and put readings into context.
Analyzing the soil with APXS will allow scientists to compare the results of most of MSL's instruments as the Rocknest Soil has now been analyzed with SAM, CheMin, ChemCam and APXS with MAHLI providing ultra-close-up images. Getting data from all these instruments on identical or similar samples allows teams to perform cross-calibrations and characterize instrument performance. On Sol 96, SAM received its next sample from the fifth scoop. Analyzing the sample had to be postponed due to power limitations as the MMRTG was not providing enough power to do the regular ChemCam decontamination heating and a SAM analysis. SAM draws the majority of power available for instrument operation each Sol and teams are carefully budgeting power to make sure Curiosity maintains certain limits. Because of that, the SAM operation was deferred and Curiosity had some quiet time while the rover's batteries were charged for upcoming SAM procedures. Sol 98 featured science operations as well as surveys of the rover deck especially the sample inlets via MastCam and MAHLI images. For the long term plan, there have essentially been no changes except that events are expected to move to the right as Curiosity and its team have taken things slowly and carefully, having a longer stop at Rocknest to increase science return. The current plan calls for a few more days at Rocknest to complete analysis at the site. When operations are complete, Curiosity will start driving again to head deeper into the Glenelg area. Teams will be looking out for rocks that could present potential drilling targets to get this first-time activity out of the way before the end of the year. Initially, Curiosity was planned to start its journey to Mount Sharp late in 2012, but after this extended period at Rocknest and planned operations at Glenelg, it is expected that MSL will start the trip to Mount Sharp in early 2013. Visit the MSL Science Reports Site for continuing coverage of scientific findings of Curiosity's instruments. |
REMS Data confirms the Presence of Dust Devils inside Gale Crater: Science Reports
MSL RAD looks at long & short-term Radiation-Dose Variations on Mars: Science Reports
MSL RAD looks at long & short-term Radiation-Dose Variations on Mars: Science Reports
MSL acquires 5th Scoop Sample & prepares for SAM Analysis |
November 10, 2012
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Photo: NASA/JPL/Caltech/MSSS
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Curiosity remained at the Rocknest target over the past 10 Sols to complete more operations related to scoop sampling, contact science as well as remote sensing.
Sol 90 marked a milestone for the Mars Science Laboratory Mission, not on Mars, but on Earth as the MSL Mission Team switched back from Mars Time to Earth Time. In addition, many of the mission's instrument scientists are returning to their home institutions after staying at NASA's Jet Propulsion Laboratory for the first three months of the surface mission. A day on Mars, called Sol, is 40 minutes longer than a day on Earth. Staying on Mars time was important to completing initial mission operations such as instrument and systems commissioning in a short time frame with daily Sol planning being in progress over night, Mars Time, so that Curiosity could receive its daily tasks each morning. Working together at JPL also allowed the teams to practice operations and to get to know the procedures important to this particular mission. Over the course of the weeks spent on Mars time, the planning team reduced the planning time for each Sol from 16 to less than 12 hours, so that operations could be completed with personnel working regular hours. With teams back on Earth time and at their home institutions, the MSL mission enters its next phase. |
"The phase that we're completing, working together at one location, has been incredibly valuable for team-building and getting to know each other under the pressure of daily timelines," said Mars Science Laboratory Deputy Project Scientist Joy Crisp. "We have reached the point where we can continue working together well without needing to have people living away from their homes."
Teams supporting the mission will be using multiple teleconference lines, phone conferences and online chat applications to continuously stay in contact and plan rover and instrument activities. The planning team is now usually starting to plan two sols in advance to keep the rover busy on Mars, but it is expected that there will be days on which the nominal plan is not ready in time. These Sols will not be a complete loss, though, as teams still have the opportunity of planning short-term operations such as simple imaging and using the Environmental Instruments.
Teams supporting the mission will be using multiple teleconference lines, phone conferences and online chat applications to continuously stay in contact and plan rover and instrument activities. The planning team is now usually starting to plan two sols in advance to keep the rover busy on Mars, but it is expected that there will be days on which the nominal plan is not ready in time. These Sols will not be a complete loss, though, as teams still have the opportunity of planning short-term operations such as simple imaging and using the Environmental Instruments.
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On Mars, Curiosity had a few relatively quiet Sols as teams were putting the Rover through preparations for its fifth Scoop Sampling Operation. For that, Curiosity used its MastCams and the MAHLI Imager to obtain images of the CheMin and SAM dust covers to make sure both inlets are ready to receive a processed scoop sample.
On Sol 85, ChemCam had another busy day as it used its Laser-Induced Breakdown Spectrometer (LIBS) and Remote Micro-Imager (RMI) to conduct laser-induced spectroscopy in spots located in the scoop sites to analyze the composition of the cemented soil directly at the surface and material located beneath the uppermost layer. MAHLI was used on Sol 86 to take images of a rock located near the Rover. Imagery acquisition was completed using the Focus Stacking feature of the camera. MAHLI was also used to take sky images with and without its dust cover in place to assess the condition of the system. Sol 87 featured calibration image acquisition by the MastCams that were also used to look at the sun and various targets in the rover's vicinity. On Sol 88, Curiosity used its robotic arm to conduct contact science on the scuff site and scoop locations using MAHLI. On Sol 89, the two sites were examined by APXS and MAHLI. The Alpha Particle X-Ray Spectrometer completed an integration inside the scuff mark that was left earlier after Curiosity had just arrived at Rocknest. Additionally, the SAM Instrument (Sample Analysis at Mars) underwent a dry run of a solid sample analysis sequence, testing out its mechanical systems that went through the process of retrieving and handling one of the instrument's sample cups. On Sol 89, the CheMin instrument dumped the second sample that was analyzed by the instrument after it had finished analyzing the regolith. The 90th Sol of Curiosity's surface mission featured SAM/CheMin inlet cover imaging, MAHLI imaging of the rock that was observed on Sol 86, Nav&HazCam imagery and a busy operation involving ChemCam that was used to perform active spectroscopy in a number of spots on a nearby target rock, leaving behind a raster of laser spots. Sol 91 was dedicated to SAM preconditioning. SAM Operations require a large portion of the daily power that rover has available for science instrument operations, so that when SAM is used, there is not a lot of room for science aside from the regular REMS, DAN and RAD background measurements. Sol 92 was a combination of a restricted sol and a runout sol as the were some issues with the command uplink, so that Curiosity had a fairly quiet day and only took a few black-and-white images and continued environmental monitoring. Sol 93 was the day of the fifth Scoop Sampling Operation. Curiosity scooped up some soil using its clamshell-shaped scoop that is about 4.5 by 7 centimeters and can sample to a depth of 3.5 centimeters. The sample was taken close to the other scooping sites to make sure the composition of the first few samples is similar. After sample acquisition, the processing run using the CHIMRA (Collection and Handling for interior Martian Rock Analysis) got underway. Once sample processing is complete, CHIMRA will be used to distribute two equal portions of the sample to CheMin and SAM that will then complete analysis of the sample. Due to power constrains, the operation will take several Sols. |
Photo: NASA/JPL/Caltech/MSSS
Photo: NASA/JPL/Caltech/MSSS
Photo: NASA/JPL/Caltech/LANL
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Sol 93 - Scoop #5
Gallery
Photo: NASA/JPL/Caltech
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Photo: NASA/JPL/Caltech
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Curiosity Self-Portrait (MAHLI, Sol 84)
Photo: NASA/JPL/Caltech/MSSS
Curiosity checks out its Surroundings with MAHLI
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October 31, 2012
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NASA’s Curiosity Rover has continued operations at the Rocknest target inside Gale Crater where it has been completing soil sampling operations for several weeks after arriving back on Sol 55.
On Sol 81, MSL completed the third CHIMRA decontamination operation using the fourth regolith sample taken from Rocknest. The chambers of the CHIMRA system were scrubbed by the Martian Material to remove any residual contaminants. This marked the completion of CHIMRA cleaning. Also on Sol 81, the SAM instrument was used to acquire another atmospheric sample for analysis by the instrument’s spectrometers. In addition, MSL used its Mast Cameras to take images of the turret and its instruments including the sampling systems while MAHLI was used to image the Sample Inlets on the Rover Deck.
Sol 82 was a busy day for the Mars Hand Lens Imager that was used to take stereo images of two rocks near the left front wheel of the rover to assess whether they can be analyzed with the APXS instrument (Alpha Particle X-Ray Spectrometer) and gather data for potential APXS positioning. In addition, MAHLI took images of the scoop trenches. Also on Sol 82, ChemCam was used for a number of analysis of rocks and soil in the rover's vicinity.
On Sol 81, MSL completed the third CHIMRA decontamination operation using the fourth regolith sample taken from Rocknest. The chambers of the CHIMRA system were scrubbed by the Martian Material to remove any residual contaminants. This marked the completion of CHIMRA cleaning. Also on Sol 81, the SAM instrument was used to acquire another atmospheric sample for analysis by the instrument’s spectrometers. In addition, MSL used its Mast Cameras to take images of the turret and its instruments including the sampling systems while MAHLI was used to image the Sample Inlets on the Rover Deck.
Sol 82 was a busy day for the Mars Hand Lens Imager that was used to take stereo images of two rocks near the left front wheel of the rover to assess whether they can be analyzed with the APXS instrument (Alpha Particle X-Ray Spectrometer) and gather data for potential APXS positioning. In addition, MAHLI took images of the scoop trenches. Also on Sol 82, ChemCam was used for a number of analysis of rocks and soil in the rover's vicinity.
Sol 82 MAHLI Targets
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Et-Then
Photo: NASA/JPL/Caltech/MSSS
This MAHLI Image shows a Rock that was informally named ‘Et-Then’ after an island in Great Slave Lake, Northwest Territories, Canada. MAHLI imaged the rock from a distance of about 40 centimeters, the image covers an area of 24 by 18 centimeters. MAHLI was commanded to take several images of this target to prepare for an APXS integration on the rock.
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Burwash
This image of a target called ‘Burwash’ utilized MAHLI’s Focus Stacking feature. The photo shows a layer of dust deposited on the rock with coarser visible grains that represent wind-blown dust. MAHLI was 11.5 centimeters from the Rock when taking 8 images for focus-merging. The photo covers and area of 7.6 by 5.7 centimeters.
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Sol 83 was dedicated to SAM and CheMin preparations for the delivery of a sample to both instruments from the next scoop sample that will be acquired by Curiosity. The sol after that was another busy imaging day for MAHLI that was used to acquire images of nearby rocks and to take a Rover self-portrait.
Meanwhile, NASA has announced a Teleconference about Curiosity's studies of the Martian atmosphere. The telecon will take place on Friday at 18:00 UTC. Anticipation has been building up since the Sample Analysis on Mars Instrument has started atmospheric analysis, but teams have not commented on any findings yet as scientists were taking a careful and methodical approach, performing several SAM atmospheric analyses over the course of the landed mission. SAM is expected to quantitatively and qualitatively detect trace amounts of atmospheric substances such as Methane. SAM can detect chemicals with concentrations in the parts-per-billion range.
MSL Sol 82 Photo Gallery: Click Here
MSL's CheMin Instrument delivers first Mineralogy Data: CheMin Science Reports
Curiosity works with fourth Rocknest Soil Sample
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October 25, 2012
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Photo: NASA/JPL/Caltech
Sol 71 Afternoon Image
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With the third Sampling Operation completed last week, the Mars Science Laboratory Curiosity Rover has acquired its fourth Regolith Sample from the Rocknest Target.
On Sol 71, a new record for the Surface Mission was set: ChemCam performed 810 laser shots and acquired data for each of them that was then sent back to Earth. On Sol 72, ChemCam was used to perform Laser-Induced Breakdown Spectroscopy on the bright particle that was recently found in one of the scooping trenches and caused teams to discard the second sample taken from Rocknest. CheMin returned its first data set on Sol 72 after the first sample was delivered to the instrument on Sol 71. The data has shown that the instrument and its systems were performing as expected which was very good news to scientists and instrument operators. On Sol 73, Curiosity performed more sample processing operations with CHIMRA for cleaning and decontamination purposes before the fourth Scoop Sample was acquired by the Rover on Sol 74. In addition, MSL took MAHLI images of Rocknest and its sample inlets, obtained MastCam Mosaic Images as well as active ChemCam observations of a patch of nearby soil. The ChemCam observations were performed to detect water frost potentially forming on the surface during the night. This is done by comparing the amount of Hydrogen detected by LIBS when the soil is cold in the morning and warm in the afternoon, Mars Time. |
Sol 75 was also busy for Curiosity. The fourth sample was processed by CHIMRA to scrub its interior surfaces. A portion of the sample was delivered to the Observation Tray for visual analysis. This was done on Sol 76 along with MastCam operations to acquire images of the Sun, the observation tray and a rock formation located close to the Rover. ChemCam was used to analyse that rock formation and the instrument’s Remote-Micro Imager was used to image the ChemCam observation target on the rover.
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CheMin received its next sample on Sol 77 when a small portion of the fourth sample was distributed to the instrument after processing by CHIMRA. “The material from the fourth scoop is also being used to scrub internal surfaces of the rover's sample-processing mechanisms in preparation for delivery of a sample from a later scoop to the Sample Analysis at Mars (SAM) instrument,” NASA said in a Curiosity Status Report.
Sol 78 featured more MastCam Operations to acquire more images of the material on the observation tray to help assessments of movement of the material on the tray due to vibrations from sample-delivery and sample-processing activities of mechanisms on the rover's robotic arm. In addition, the SAM instrument was used to analyze another atmospheric sample. The other environmental instruments, REMS (Rover Environmental Monitoring Station), DAN (Dynamic Albedo of Neutrons) and RAD (Radiation Assessment Detector) have been active on a regular basis over the past week to continue nominal science operations. |
Photo: NASA/JPL/Caltech/MSSS
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Curiosity delivers first Sample to CheMin Instrument for Analysis
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October 18, 2012
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After successfully acquiring its third Scoop Sample, the Mars Science Laboratory Rover began sample processing on Sol 70. This third sample of Martian regolith was processed and split. A portion of the sample was distributed to the Observation Tray for upcoming contact science with MAHLI and APXS.
When being dropped onto the tray, winds streaked the material, so that the different components of the sample can be seen. The sample consists of fine, bright material that be seen in the middle of the observation tray and some coarse grains that appear darker and are located to the left. Images of the observation tray were assessed to perform a final visual analysis to ensure that this particular sample was safe to put into CheMin. Sample processing continued on Sol 70 to prepare for the first distribution of a sample to one of the Laboratory Instruments. On Sol 71, a small portion of the scoop sample was delivered to the CheMin Instrument (Chemistry and Mineralogy). The Sol 72 morning downlink has confirmed that sample delivery to CheMin was successful. |
Photo: NASA/JPL/Caltech/MSSS
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CheMin is a definitive mineralogy instrument that analyzes the minerals that are present in rocks and soil samples that are delivered to the instrument by the Sample Acquisition, Sample Processing and Handling (SA/SPaH) system. It can identify and quantify minerals accurately and in a time efficient manner. By determining mineral properties, CheMin will provide information on the involvement of water in the formation, deposition or alteration of rocks and soil sediments. Data from this instrument will also contribute to finding potential mineral biosignatures, energy sources for life or indications of past habitable environments that are recorded in sediments and rocks.
Photo: NASA/JPL/Caltech
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"We are crossing a significant threshold for this mission by using CheMin on its first sample," said Curiosity's project scientist, John Grotzinger of the California Institute of Technology in Pasadena. "This instrument gives us a more definitive mineral-identifying method than ever before used on Mars: X-ray diffraction. Confidently identifying minerals is important because minerals record the environmental conditions under which they form." CheMin analysis of the sample will take several Sols.
Operations continued despite the unavailability of the Mars Reconnaissance Orbiter that went into safe mode before the Sol 69 command uplink. The spacecraft was recovered successfully and systems & instrument power-ups were underway on Thursday to restore data relay capability. MRO data relay is expected to be available for Sol 72 and MRO science operations will resume on Friday. The first sample that will be delivered to the other Laboratory Instrument, SAM – Sample Analysis at Mars, will come after more cleaning and decontamination operations involving the sampling system. In addition, SAM is still in the process of being prepared for examining solid samples - being put through tests of its heaters. To learn more about CheMin and SAM, visit the appropriate sections of our detailed MSL instruments overview. |
MSL Processing the third Scoop Sample
Credit: NASA/JPL/CAltech/MSSS/Spaceflight101
MSL commanded to take 3rd Scoop Sample, MRO enters Safe Mode
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October 16, 2012
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Mars Science Laboratory Scoop Sampling procedures are continuing at the Rocknest target inside Gale Crater.
As expected, Curiosity started processing the scoop sample acquired on Sol 66, but on Sol 67, the rover was commanded to intentionally discard the sample because of concerns about particles of bright material seen in the hole dug by MSL’s scoop. Initially, teams were not sure whether the objects were rover parts or particles of Martian origin – and to make sure no spacecraft material entered the vehicle’s sample processing systems, the sample was discarded. Spacecraft material entering CHIMRA would be counterproductive since the sole purpose of the first two scoop samples were to decontaminate and scrub the interior of the sample handling system to remove any leftover contaminants from Curiosity’s stay on Earth.
As expected, Curiosity started processing the scoop sample acquired on Sol 66, but on Sol 67, the rover was commanded to intentionally discard the sample because of concerns about particles of bright material seen in the hole dug by MSL’s scoop. Initially, teams were not sure whether the objects were rover parts or particles of Martian origin – and to make sure no spacecraft material entered the vehicle’s sample processing systems, the sample was discarded. Spacecraft material entering CHIMRA would be counterproductive since the sole purpose of the first two scoop samples were to decontaminate and scrub the interior of the sample handling system to remove any leftover contaminants from Curiosity’s stay on Earth.
MAHLI Images of the 'New Bright Object'
Photo: NASA/JPL/Caltech/MSSS
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Photo: NASA/JPL/Caltech/MSSS
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Photo: NASA/JPL/Caltech/MSSS
Sol 66 Scooping
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Teams assessed the material and additional imagery was taken of the Rocknest site taken by MastCam and MAHLI. The team found other bright particles in the area and scientists came to the conclusion that these bright objects are native Martian material because some were found embedded in clods of Martian soil. MAHLI was used to take images of potential sampling sites within the robotic arm’s reach but at a distance to the previous sampling area, to make sure Curiosity will not scoop any material that is not showing any contamination. On Sol 69, Curiosity received commands to perform the third scoop sampling operation.
Just as Sol 69 planning was in progress, the Mars Reconnaissance Orbiter, Curiosity’s prime data relay spacecraft, went into Safe Mode. MRO has been returning the bulk of MSL telemetry, science data and imagery back to Earth as it is the most capable of the Mars Orbiters in terms of data relay. Mars Odyssey can also be used to relay MSL data, but data rates are much lower and ODY does not have the adaptive data rate feature that MRO has, that allows MSL and MRO to adjust data rates based on the geometry of the communication pass. |
MRO has been in safe mode before and teams are assessing the situation. Onboard computers are constantly monitoring vehicle parameters to assess the condition of the spacecraft, and when off-nominal parameters are detected, the spacecraft automatically initiates its safe mode – stopping instrument operation and pointing its High-Gain Antenna to Earth to await commands from teams on the ground. Details on the problem the vehicle detected have not been published yet. Should it be an issue of known nature, MRO should be back up and running within days, but in case of a larger problem, teams could require more time to complete assessments and develop troubleshooting procedures.
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With MRO unavailable, MSL’s operations on Mars could be impacted due to the lower data volume that can be sent back to Earth, requiring teams to prioritize tasks and data that is being downlinked – relying on thumbnail images to assess MSL operations.
Thumbnails taken on Sol 69 indicate that scooping took place. Sample processing will be performed by MSL over the next several Sols and this third scoop sample will be spilt and, after assessments by engineers on the ground, distributed to the MSL Observation Tray for MAHLI and APXS assessments, while the other portion of the sample is being distributed to the CheMin instrument for its first analysis. Over the past several Sols, operations of numerous MSL Instruments continued as planned. These instruments included ChemCam, REMS, DAN and RAD. ChemCam completed more instrument characterization operations that included measuring its calibration target, taking Remote-Micro Imager photos and completing the normal decontamination heater operation – a regular maintenance activity. Possible impacts of the MRO safe mode issue on Rover and instrument operations are not clear at this time. |
Image: NASA/JPL
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Rinse and Repeat - MSL Scoop Sampling continues |
October 13, 2012
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Imagery: NASA/JPL/Caltech/MSSS
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Mars Science Laboratory Scoop Sampling operations have resumed at the Rocknest target after concerns associated with the mysterious piece of debris were cleared.
When Scoop Sampling was in progress on Sol 61 of the surface mission, teams found a bright, shiny object near the turret of the rover and decided to stop sample processing to assess the object and make sure that Curiosity was not damaged. For visual assessments, the MastCams and the Remote-Micro Imager of ChemCam were used to take close-up images that have shown that the object was small in size and appeared to be a piece of plastic. Turret and arm operations were on hold for two Sols before teams were able to give the green light to resume operations after the fragment was examined. "With rover arm activities on hold, the team has assessed the object as likely to be some type of plastic wrapper material, such as a tube used around a wire, possibly having fallen onto the rover from the Mars Science Laboratory spacecraft's descent stage during the landing in August," NASA said in a MSL news release. |
Photo: NASA/JPL/Caltech
Curiosity's Turret
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With Curiosity good to go again, Scoop Sample processing inside CHIMRA (Collection and Handling for In-Situ Martian Rock Analysis) resumed on Sol 64. CHIMRA is a very complex system that is in charge of sample processing and distribution, featuring a number of chambers, labyrinths, transfer tubes, sieves and other components to process soil samples. In addition to gravity and arm/turret movements, CHIMRA can use vibration at 70-80Hz to process and portion the samples. (More information about the MSL Sampling System can be found here.)
The first sample was put through the numerous chambers and sieves of CHIMRA. "Yestersol (Sol 64), we used Curiosity's first perfectly scooped sample for cleaning the interior surfaces of our 150-micron sample-processing chambers. It's our version of a Martian carwash," said Chris Roumeliotis, lead turret rover planner at NASA's Jet Propulsion Laboratory.
The operation was executed as planned.
The first sample was put through the numerous chambers and sieves of CHIMRA. "Yestersol (Sol 64), we used Curiosity's first perfectly scooped sample for cleaning the interior surfaces of our 150-micron sample-processing chambers. It's our version of a Martian carwash," said Chris Roumeliotis, lead turret rover planner at NASA's Jet Propulsion Laboratory.
The operation was executed as planned.
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The image to the right shows Curiosity's Scoop with larger soil particles that were too big to filter through the 150-micron sieve. After the sieving operation, the larger particles were returned to the scoop to allow the MastCams to take a close look at the material to assess the system's performance.
The image below shows the sieved material with particle sizes of less than 150 microns. The view looks into the portion box of CHIMRA with the 150-micron sieve on the left and the portion box to the right. The image also shows that the interior of CHIMRA is extremely well coated which indicates that the first decontamination cycle perfectly did what it was supposed to do - scrub a total surface area of about 600 cm², removing potential contaminants that were left from Curiosity's stay on Earth. After processing was complete, the sample was discarded (video at the top). "That first sample was perfect, just the right particle-size distribution," said JPL's Luther Beegle, Curiosity sampling-system scientist. "We had a lot of steps to be sure it was safe to go through with the scooping and cleaning." Seeing a good sample portion exiting the system was very important since SAM and CheMin, MSL's two Laboratory Instruments, need a certain amount of materials to make good analyses. |
Photo: NASA/JPL/Caltech/MSSS
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Photo: NASA/JPL/Caltech/MSSS
MAHLI Image of the 'Benign Plastic'
Photo: NSA/JPL/Caltech/MSSS
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Also on Sol 64, Curiosity snapped lots of images with its MastCameras to generate a panorama of its surroundings.
Sol 65 was another imaging day for the Rover - the robotic arm was used to move MAHLI in position to acquire close-up images of the benign plastic found on Sol 61 to once and for all figure out its identity and make sure it is not a component that is of any importance to Curiosity and its system. The images clearly show that the fragment is indeed just plastic. In addition, the turret used its vibration features to shake out remnants of the first scoopful. Also on Sol 65, MastCam images of the turret, its instruments and the scoop as well as CHIMRA components were taken to provide teams with imagery to visually assess the condition of the systems post-sampling. All checked out well and Curiosity was commanded to acquire its next scoop sample on Sol 66. |
Sol 66 - Second Scoop Sampling
Photo: NASA/JPL/Caltech
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Photo: NASA/JPL/Caltech
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Photo: NASA/JPL/Caltech
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The sample was taken very close to the sampling site of the first scoop sample to make sure the individual sample material that is used to clean and scrub CHIMRA is identical. With the second sample inside the system, Curiosity can get started with processing the material on Sol 67 - pending reviews by teams. MAHLI was used on Sol 66 to take images of the scooping site showing the cavity left by the rover's scoop.
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The second sample will also go through the processing procedure to serve cleaning and scrubbing purposes. Eventually, MSL will get to the third sample taken from Rocknest. This sample will go through the acquisition and processing operation and it will then be split. One portion is distributed to the MSL Observation Tray for examination by MAHLI and APXS, while the other portion is distributed to CheMin - the Chemistry and Mineralogy Instrument for initial analysis.
To recap, there are three objectives for MSL's operations at Rocknest: 1) Confirming that the material meets the requirements for initial scooping - this was completed by Sol 61. 2) Use the Sand to clean the Sample Processing Hardware - a two- to three-week task that is currently in progress. 3) Distribute samples to the SAM and CheMin Instruments for analysis. This third objective will be met by taking a fourth sample, processing it with CHIMRA and distributing it to SAM and CheMin for analysis. Photo (Right): MAHLI Image of the sampling site Photo Gallery: MSL Sol 64/65 |
Photo: NASA/JPL/Caltech/MSSS
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Rocknest Panorama (Sol 59/60)
Photo: NASA/JPL/Caltech
Jake Matijevic Rock holds big Surprise for MSL Investigators: ChemCam Science Reports
Sampling on Hold after mysterious Object was found near MSL
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October 9, 2012
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Photo: NASA/JPL/Caltech
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Curiosity’s first Scoop Sampling run at the Rocknest Target inside Gale Crater has been put on hold after a possible component of the Rover was discovered on the surface near the vehicle. Teams have started assessments to identify the component and ensure that MSL is not damaged.
The fragment was found on MastCam imagery taken on MSL Sol 61 when Scoop sampling was in progress. “Instead of arm activities during the 62nd Martian day, or sol, of the mission, Curiosity is acquiring additional imaging of the object to aid the team in identifying the object and assessing possible impact, if any, to sampling activities.“ NASA said in a statement. Images of the object were taken by the MastCams on Sol 61 and the Remote-Micro Imager of the ChemCam instrument was used to image the object on Sol 62. Teams are now working to identify the bright, shiny object that was found. From the appearance of it, the fragment does not look like any important component. The fragment is likely a piece of Kapton Tape or other plastic insulation material that was used all over the rover which would not have an impact on the mission. The object is a little less than one centimeter in length and is irregularly shaped which would not apply to a mechanical component. |
Once the object is identified and the Robotic Arm of the Rover is cleared to operate again, Scoop Sample Processing will continue and it is likely that the Mars Hand Lens Imager would be used to take more close-up images of the object. It is expected that this delay will be only a few Sols in duration and teams are confident that they will be back on track after analysis is complete.
RMI Images of the object
Photo: NASA/JPL/Caltech/LANL
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Photo: NASA/JPL/Caltech/LANL
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Curiosity acquires first Solid Soil Sample
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October 8, 2012
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Photo: NASA/JPL/Caltech
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Photo: NASA/JPL/Caltech
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The Mars Science Laboratory Rover has successfully acquired its first Scoop Sample on Mars on Sol 61 of the landed mission. Curiosity used its Collection and Handling for In-Situ Martian Rock Analysis (CHIMRA) device and the system’s scoop to take a sample of Martian Regolith present at the Rocknest Target. Prior to this first scooping operation, the Mars Hand Lens Imager and Alpha Particle X-Ray Spectrometer instruments were used to assess the Rocknest target, making sure the samples met the requirements for cleaning of CHIMRA. Also, MAHLI took images of Curiosity’s wheels to make sure all were on the ground and the Rover was in a stable position before the operation was started.
Curiosity scooped up some soil using its clamshell-shaped scoop that is about 4.5 by 7 centimeters and can sample to a depth of 3.5 centimeters. After picking up some regolith, the scoop was vibrated to discard any overfill and to allow scientists to assess the physical characteristics of the material as the vibrating procedure was captured in high-definition video by the rover’s MastCams.
Curiosity scooped up some soil using its clamshell-shaped scoop that is about 4.5 by 7 centimeters and can sample to a depth of 3.5 centimeters. After picking up some regolith, the scoop was vibrated to discard any overfill and to allow scientists to assess the physical characteristics of the material as the vibrating procedure was captured in high-definition video by the rover’s MastCams.
Photo: NASA/JPL/Caltech/MSSS
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The first two scoop samples will be processed inside CHIMRA and serve cleaning purposes, scrubbing the internal surfaces of the system to remove substances and minor contaminants that are left from Curiosity's stay on Earth. The samples are then discarded and the process is repeated. The third sample taken from Rocknest will go through the acquisition and processing operation and it will then be split. One portion is distributed to the MSL Observation Tray for examination by MAHLI and APXS, while the other portion is distributed to CheMin - the Chemistry and Mineralogy Instrument for initial analysis.
A fourth sample will finally be the first sample to be distributed to both, SAM and CHIMRA. For more about the MSL Sampling System and the current operation at Rocknest, visit the previous mission update below and the MSL Sampling System Overview. |
Photo: NASA/JPL/Caltech/MSSS
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MSL - First Sample Processing
Curiosity set to begin first Scoop Sampling Operation |
October 4, 2012
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After making a number of drives and performing another Contact Science Session, the Curiosity Rover has begun the next longer break on its way to the Glenelg Area inside Gale Crater. This stop at a target called 'Rocknest' will last several weeks and feature the first Scoop Sampling operation and first solid sample examination by the two Laboratory Instruments of the MSL Rover.
Current MSL Road Map
Map: NASA/JPL/Caltech/University of Arizona
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On Sol 52 of the surface mission, the Mars Science Laboratory Rover completed a 37.3-meter drive eastward toward Glenelg using visual odometry to assess wheel slippage and dynamically adjust its driving distance to make up for distance lost by slippage. This drive brought Curiosity close to an outcrop that was of interest to scientists and the decision to approach it on Sol 53 was made. After making this small 2.1-meter bump on Sol 53, the 54th Martian Day MSL spent on the surface was dedicated to a fairly busy contact science session using the two turret-mounted instruments, APXS and MAHLI, to examine a rock called "Bathurst Inlet." MAHLI was also used to take close-up images of another target, called "Cowles" that was within the arm's reach. To the right you can see an animated view produced with NavCam images taken on Sol 54.
Bathurst Inlet is a dark gray rock. MAHLI was used to take a context image and a number of ultra-close-up shots of the target using its adjustable focus feature. MAHLI was unable to resolve the crystals in the target, meaning that the grains or crystals, if any are contained in the rock at all, must be smaller than about 80 microns in size. The MAHLI context image (below, left) was taken with MAHLI at a distance of 27 centimeters to the acquiring an image showing about 16 by 12 centimeters of the target. This image has a resolution of about 105 microns per pixel. The ultra-close-up image (below, right) was acquired when the MAHLI Lens was just 4 centimeters from the target with the view covering only 3.3 by 2.5 centimeters. |
Frames: NASA/JPL/Caltech
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The resolution of this frame is 21 microns per pixel. Some wind-blown dust particles have accumulated on the surface of the rock.
The target area was also imaged with the MastCams and the ChemCam instrument was used as well.
The target area was also imaged with the MastCams and the ChemCam instrument was used as well.
MAHLI: Bathurst Inlet - Context & Close-Up
Photo: NASA/JPL/Caltech/MSSS
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Photo: NASA/JPL/Caltech/MSSS
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On Sol 55, Curiosity drove 23.5 meters to its next target, Rocknest which is a patch of wind-deposited soil about 2.5 by 5 meters in size. On Sol 56, Curiosity made a short drive of 6 meters to reach its desired position and orientation for the longer stop at the Rocknest Target which will most likely be the first Scooping Target for MSL. Over the course of Sols 52 to 57, the Radiation Assessment Detector (RAD), the Dynamic Albedo of Neutrons (DAN) instrument, and the Rover Environmental Monitoring Station (REMS) were used as part of nominal mission operations, completing periodic measurements along the route to Glenelg.
As of Sol 56, Curiosity had traveled 484 meters and was located about 400 meters from its landing site, Bradbury Landing. On Sol 57, Curiosity used one of its wheels to scuff the soil at Rocknest to expose fresh material and give scientists the opportunity to visually assess the material and its consistency as they want to have fine sand for initial scooping. Visual assessments concluded that Rocknest contains normal Martian Sand, but teams will take more data with MAHLI and APXS on Sol 58 to make sure they understand the structure of the material and how it behaves before starting sampling operations. "We now have reached an important phase that will get the first solid samples into the analytical instruments in about two weeks," said Mission Manager Michael Watkins of NASA's Jet Propulsion Laboratory. "Curiosity has been so well-behaved that we have made great progress during the first two months of the mission." |
Photo: NASA/JPL/Caltech
MSL Sol 57 Scuff
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The first scoop samples acquisition is planned for this weekend, pending final approval after Rocknest material assessments are complete. Curiosity will scoop up some soil using its clamshell-shaped scoop that is about 4.5 by 7 centimeters and can sample to a depth of 3.5 centimeters, to acquire some material and deliver it to CHIMRA - Collection and Handling for interior Martian Rock Analysis - a very complex system that is in charge of sample processing and distribution, featuring a number of chambers, labyrinths, transfer tubes, sieves and other components to process soil samples. In addition to gravity and arm/turret movements, CHIMRA can use vibration at 70-80Hz to process and portion the samples. (For a detailed overview of the MSL Sampling System, refer to the dedicated page.)
MSL Turret & CHIMRA Design
Image: NASA/JPL/Caltech
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Image: NASA/JPL/Caltech
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The first scoop samples will be processed inside CHIMRA and serve cleaning purposes, scrubbing the internal surfaces of the system to remove substances and minor contaminants that are left from Curiosity's stay on Earth. The sample is then discarded and the process is repeated a second time.
"It is standard to run a split of your sample through first and dump it out, to clean out any residue from a previous sample," said JPL's Joel Hurowitz, a sampling system scientist on the Curiosity team. "We want to be sure the first sample we analyze is unambiguously Martian, so we take these steps to remove any residual material from Earth that might be on the walls of our sample handling system."
"It is standard to run a split of your sample through first and dump it out, to clean out any residue from a previous sample," said JPL's Joel Hurowitz, a sampling system scientist on the Curiosity team. "We want to be sure the first sample we analyze is unambiguously Martian, so we take these steps to remove any residual material from Earth that might be on the walls of our sample handling system."
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Eventually, MSL will get to the third sample taken from Rocknest. This sample will go through the acquisition and processing operation and it will then be split. One portion is distributed to the MSL Observation Tray for examination by MAHLI and APXS, while the other portion is distributed to CheMin - the Chemistry and Mineralogy Instrument for initial analysis. These first three samples, rather their acquisition, processing and examination, will take about two to three weeks as teams will proceed with extreme caution because the sampling system and Laboratory Instruments are MSL's most complex systems and are likely the most valuable assets of the MSL Mission to fulfill its goal of assessing past and present habitability of Gale Crater.
"We're going to take a close look at the particle size distribution in the soil here to be sure it's what we want," said Daniel Limonadi of JPL, lead systems engineer for Curiosity's surface sampling and science system. "We are being very careful with this first time using the scoop on Mars." For the Rocknest Sampling, there are three objectives: 1) Confirming that the material meets the requirements for initial scooping - this will be completed by Saturday. 2) Use the Sand to clean the Sample Processing Hardware - a two- to three-week task. 3) Distribute samples to the SAM and CheMin Instruments for analysis. This third objective will be met by taking a fourth sample, processing it with CHIMRA and distributing it to SAM and CheMin for analysis. During the first sampling operation, Curiosity will acquire video of the activities to provide engineers with imagery for assessments of the system and its performance. While spending time at Rocknest, the MastCams will be used to take high-resolution images to create another full panorama. They will also be used to image nearby rocks and other targets. ChemCam will be used to examine Rocknest and diverse rocks that are in the vicinity of the Rover and the environmental instruments, DAN, RAD and REMS will also continue to take data, but most of the power available to the rover will be consumed for sampling and analysis. After completing its several-week stop, Curiosity will resume its journey to Glenelg to cover the final 176 meters to its destination. As terrain gets rough on this last portion of the way, MSL will not be able to travel in perfectly straight lines any longer. |
Photo: NASA/JPL/Caltech/MSSS
Two views of Rocknest: MastCam Panorama, Sol 52 & Sol 57 NavCam Image
Photo: NASA/JPL/Caltech
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The planned route is illustrated in the map at the top of this article.
The Mars Science Laboratory Mission Team will remain on Mars Time throughout the Rocknest sampling operation. Teams are still improving mission planning techniques and exercise communications as they will occur when the individual instrument teams return to their home institutions. As soon as Sol Planning can be accomplished in 12 hours, the team can return to Earth time as the mission can then be supported on a day-by-day basis. Currently, teams intend to stick to the original plan for staying on Mars time for the first 90 Sols of the surface mission.
Photo Gallery: Sol 58 (Robotics Sequence, MAHLI Close Up Views of Rocknest Material)
The Mars Science Laboratory Mission Team will remain on Mars Time throughout the Rocknest sampling operation. Teams are still improving mission planning techniques and exercise communications as they will occur when the individual instrument teams return to their home institutions. As soon as Sol Planning can be accomplished in 12 hours, the team can return to Earth time as the mission can then be supported on a day-by-day basis. Currently, teams intend to stick to the original plan for staying on Mars time for the first 90 Sols of the surface mission.
Photo Gallery: Sol 58 (Robotics Sequence, MAHLI Close Up Views of Rocknest Material)
Sol 55 NavCam Panorama
Photo: NASA/JPL/Caltech
MSL resumes Journey to Glenelg after first Contact Science
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September 28, 2012
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Photo: NASA/JPL/Caltech
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NASA’s Mars Science Laboratory Curiosity Rover has resumed its drive to Glenelg after spending Sols 44 through 48 conducting contact science on the Jake Matijevic Rock.
After arriving at its first Contact Science Target, Curiosity used the two turret-mounted instruments, APXS and MAHLI, as well as the ChemCam instrument to examine Jake Matijevic that is 25 centimeters tall and 40 centimeters wide giving Curiosity the opportunity to push its instruments against the rock in order to perform measurements. MAHLI was used on Sols 46 and 47 to examine the structure of the target. In addition to MAHLI imaging that was used to acquire ultra close-up images of the rock, the MastCams were used to provide additional imagery using a number of their filters. (Click here for MastCam Images of Jake Matijevic.) |
MAHLI images of Jake Matijevic
Photo: NASA/JPL/Caltech
Scientists are now busy studying the data acquired during MSL’s first contact science session. The MAHLI Image above combines photographs taken from different distances to the target. The three exposures were taken using the adjustable focus feature of MAHLI and were taken at distances of 25, 5 and 2.5 centimeters. "MAHLI reveals that the target rock has a relatively smooth, gray surface with some glinty facets reflecting sunlight and reddish dust collecting in recesses in the rock," NASA said in a statement.
Measurements made by APXS (Alpha Particle X-Ray Spectrometer) and ChemCam can be used for cross-calibration of the two instruments. Cross-calibrating the APXS and ChemCam Instruments is of major importance to scientists as the two instruments complement each other in a range of spectral areas. For some, APXS provides higher sensitivity than ChemCam while ChemCam has a better sensitivity for other elements. Getting data of the same target enables teams to cross-calibrate the instruments and learn more about the two individual instruments to increase science data return over the course of the mission and to gain a better understanding of the accuracy both instruments provide individually.
Measurements made by APXS (Alpha Particle X-Ray Spectrometer) and ChemCam can be used for cross-calibration of the two instruments. Cross-calibrating the APXS and ChemCam Instruments is of major importance to scientists as the two instruments complement each other in a range of spectral areas. For some, APXS provides higher sensitivity than ChemCam while ChemCam has a better sensitivity for other elements. Getting data of the same target enables teams to cross-calibrate the instruments and learn more about the two individual instruments to increase science data return over the course of the mission and to gain a better understanding of the accuracy both instruments provide individually.
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When Contact Science Operations were complete, MSL hit the road again to approach Glenelg. On Sol 48, Curiosity departed Jake Matijevic, making a 42-meter drive to the east. Sol 49 driving distance was 31 meters and the Sol 50 drive set a new record for MSL with 48.9 meters taking MSL closer to Glenelg. MSL’s total driving distance as of Sol 50 was 416 meters. On Sol 51, Curiosity completed a sample distribution dry-run, putting the robotic arm through a number of sequences that would be used to process and distribute solid sample material to the SAM and CheMin Instruments. Sol 52 features another drive towards the Glenelg Area.
The MSL science team is currently looking for fine-grained soil to perform the first scoop sample acquisition and processing sequence. Teams want to find wind-blown dust with small grain sizes for analysis by SAM and CheMin. Once Curiosity has found such material, it will be parked for two to three weeks to perform science with SAM and CheMin. The first sample acquisition and processing run will be performed very methodical to check the systems and confirm that all components of the SA/SPaH - Sample Acquisition, Processing, and Handling System are performing as expected. On Thursday, the MSL Science Team presented Curiosity’s first scientific findings based on MastCam Imagery acquired over the early portion of MSL’s stay inside Gale Crater, confirming that a stream of water once ran across the area inside crater. For more, visit the MastCam Science Reports Site. On Sol 42, MSL successfully captured the Transit of Mars Moon Deimos with both of its Mast Cameras, click here for a raw animation of M-34 frames. |
Photo: NASA/JPL/Caltech/MSSS
MastCam-100 Image of the slops of Mount Sharp
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Driving Images
MSL Gallery
Photo: NASA/JPL/Caltech
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Photo: NASA/JPL/Caltech
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Photo: NASA/JPL/Caltech
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MSL finds evidence of Old Streambed on Martian Surface: MastCam Science Reports
Curiosity stops Drive to Glenelg for first Contact Science Session |
September 19, 2012
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After Curiosity had finished testing its robotic arm on Sol 37, the Rover started its drive towards Glenelg traversing on Sols 38 through 43. Now, Curiosity takes a break to perform its first set of Contact Science Operation on a rock that was found along the road to Glenelg.
The drive to Glenelg was resumed on Sol 38 and Curiosity drove 32 meters on that day, followed by a 22-meter drive on Sol 39, 37 meters on Sol 40, 27 meters on Sol 41 and 32 meters on Sol 42. On that Sol, the Mission Team identified a rock of interest that was a potential target for the first Contact Science Operation and Curiosity was commanded to drive close to it for further examination. Once arriving at this new location, images of the target were acquired and teams decided that this would be the rock for the initial use of the turret-mounted instruments on a Martian Science Target. By Sol 43, Curiosity had driven a total of about 290 meters. The rock is about 25 centimeters tall and 40 centimeters wide giving Curiosity the opportunity to conduct contact science which requires the robotic arm to push its instruments against the rock. This first contact science target has been named "Jake Matijevic" in honor of Jacob Matijevic (1947-2012) who was the surface operations systems chief engineer for the Mars Science Laboratory Mission. Matijevic was also a leading engineer on all the previous rovers, making major contributions to rover technology and paving the way for the operation of rovers on Mars. |
Photo: NASA/JPL/Caltech
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This stop to perform contact science will be about three to four Sols. On Sol 44, teams will not be able to perform the short drive required to get to the target due to latency in the arrival of the UHF relay data via the Mars Orbiters, giving the team not enough time to develop the sequence. Instead, MSL will be performing operations with its arm on Sol 44 to get ready for contact science, making the short drive towards the target on Sol 45.
The Jake Matijevic Rock will be examined by the Alpha-Particle Spectrometer, APXS, that will make a several-hour integration as well as a shorter integration to determine the composition of the rock. APXS is a X-ray Spectrometer that will precisely determine the elemental composition of samples using different techniques such as Particle-Induced X-Ray Emission and X-Ray Fluorescence.
Once APXS is done, the rock will be examined by the ChemCam Instrument using Laser-Induced Breakdown Spectroscopy to determine the chemical composition of this rock.
The Jake Matijevic Rock will be examined by the Alpha-Particle Spectrometer, APXS, that will make a several-hour integration as well as a shorter integration to determine the composition of the rock. APXS is a X-ray Spectrometer that will precisely determine the elemental composition of samples using different techniques such as Particle-Induced X-Ray Emission and X-Ray Fluorescence.
Once APXS is done, the rock will be examined by the ChemCam Instrument using Laser-Induced Breakdown Spectroscopy to determine the chemical composition of this rock.
Image: NASA/JPL/MSSS
A distant look at Mount Sharp on Sol 37
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Cross-calibrating the APXS and ChemCam Instruments is of major importance to scientists as the two instruments complement each other in a range of spectral areas. For some, APXS provides higher sensitivity than ChemCam while ChemCam has a better sensitivity for other elements. Getting data of the same target enables teams to cross-calibrate the instruments and learn more about the two individual instruments to increase science data return over the course of the mission and to gain a better understanding of the accuracy both instruments provide individually. To examine the rock with ChemCam, MSL could need to back away from the rock which would add more time to the operation at this site.
In addition to these two instruments, MAHLI - the Mars Hand Lens Imager will be used to acquire close-up images of the rock to provide more instrument characterization data and test out the capabilities of MAHLI on actual Martian Samples. While making the drives on Sols 40 through 43, the DAN instrument was actively used during the drives. Each drive was paused twice to perform a DAN session. DAN is an active/passive neutron spectrometer that measures the abundance and depth distribution of materials that include Hydrogen or OH-Groups (Absorbed water, hydrated minerals, etc.) in a shallow layer of Mars’ subsurface along the path of the rover. The drives were stopped every 10 meters to allow DAN to make 2-minute measurements of hydrogen content in the sub-surface shooting Neutrons into the ground and measuring how they scatter. |
MSL Route Map
Credit: NASA/JPL/Caltech/University of Arizona
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On Sol 37, Curiosity looked up to watch the Transit of Phobos as the larger of the two Martian Moons grazed the disk of the Sun. During the transit, the two MastCams used their Neutral Density Filters to acquire images directly looking at the Sun. In total, the M34 Camera took 384 and the M-100 acquired 256 frames with only a few showing the actual event. The M-34 MastCam was operated at three frames per second while the M-100 camera obtained two images per second.
The outline of Phobos blocked about five percent of the Sun which was confirmed by the REMS instrument that detected a five percent drop in UV Radiation with its UV Sensor. These transits are important to scientists for several reasons. Aside from the pretty pictures, they provide valuable data to precisely determine the orbit of Phobos. The larger of the Martian Moons is slowly spiraling in to Mars because of tidal forces which constantly change the orbit of Phobos. Understanding this process and the forces at work can provide more information about the internal structure of the moon and how it dissipates energy. In addition, a data base stretching over several years could lead to a better understanding of the interior of Mars itself. The other Martian Moon, Deimos on the other hand, is slowly spiraling out. At some point in several million years, Phobos will either break into pieces or crash into Mars. |
Credit:. NASA/JPL/Caltech/MSSS
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On Sol 42, Curiosity attempted to image transits of both moons, taking hundreds of images to make sure the MastCams were able to capture the transit of Deimos which is harder to predict since Deimos is smaller and farther away than Phobos, appearing as a very small disk moving across the Sun. These images have not been sent to Earth yet.
To learn more about the MastCam Instrument, visit our instrument overview site and also check out more images here.
To learn more about the MastCam Instrument, visit our instrument overview site and also check out more images here.
Sol 37 Transit via M-34 (left) and M-100 (right)
Credit: NASA/JPL/Caltech/MSSS
MSL performs Robotics Checkouts, gets ready to complete CAP2 |
September 12, 2012
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Photo: NASA/JPL/Caltech/MSSS
MSL on Sol 32 (Still through the MAHLI Dust Cover)
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The Curiosity Rover has continued its Commissioning Activity Period 2 inside Gale Crater over the past several Sols making in-depth checkouts of its robotic arm, the turret-mounted instruments APXS and MAHLI, the Sampling System and the sample inlets on the Rover Deck. The CAP2 phase of the surface mission is the final Rover Commissioning Phase and Sol 37 is the final Sol of that phase before Curiosity will be a fully commissioned rover on the surface of Mars, ready for nominal science operations.
"We're getting through a big set of characterization activities that will allow us to give more decision-making authority to the science team," said Richard Cook, Mars Science Laboratory project manager at JPL. CAP2 started back on Sol 30 and since then, the Robotic Arm of the rover was put through its paces going through a range of motions as part of checkouts. The arm was placed in all of its 'teach points' which are pre-programmed positions of the arm that were established during Earth Testing and include the positions for putting sample material into the SAM and CheMin inlets that are located on the rover deck. "These activities are important to get a better understanding for how the arm functions after the long cruise to Mars and in the different temperature and gravity of Mars, compared to earlier testing on Earth," said Daniel Limonadi of NASA's Jet Propulsion Laboratory. |
In addition, the arm was placed in the appropriate positions at the Calibration Targets of the two turret-mounted instruments. "We're still learning how to use the rover. It's such a complex machine -- the learning curve is steep," said JPL's Joy Crisp, deputy project scientist for the Mars Science Laboratory Project.
Part of the Robotic Arm commissioning were checkouts of the SA/SPaH - Sample Acquisition, Processing, and Handling and the Collection and Handling for interior Martian Rock Analysis (CHIMRA) Systems of the turret and associated moving parts.
Part of the Robotic Arm commissioning were checkouts of the SA/SPaH - Sample Acquisition, Processing, and Handling and the Collection and Handling for interior Martian Rock Analysis (CHIMRA) Systems of the turret and associated moving parts.
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While these activities were underway, the Mars Hand Lens Imager - MAHLI was used to take a variety of images from the different positions, showing a number of Rover Components in great detail. MAHLI acquired its first image without its removable Dust Cover on Sol 33 of the landed mission showing an area of soil near the rover featuring small pebbles and a single larger rock. Several images were taken of this area, some with the dust cover and some when it was opened to show the difference in image quality - which was quite significant. On Sol 34, MAHLI was used to acquire a number of images showing the underside of Curiosity including its six wheels and four forward Hazard Avoidance Cameras before starting to take images of the MAHLI Calibration Target.
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Photo: NASA/JPL/Caltech/MSSS
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The Calibration Target is comprised of four components, six small plates of different colors that are used for color characterization of MAHLI, a metric bar graphic for focus characterization, a stair-step pattern for depth calibration, and a penny coin that can also be used for focus characterization. This 1909 VDB Lincoln penny was donated by MAHLI Principal Investigator Ken Edgett during MSL Construction.
"Wow, seeing these images after all the tremendous hard work that has gone into making them possible is a profoundly emotional moment," said Ken Edgett. "It is so exciting to see the camera returning beautiful, sharp images from Mars."
A close-up of the penny coin shows that some dust and sand particles have settled on the coin during landing. These are a great illustration of the resolution the Mars Hand Lens Imager actually has. A closer look at the subframe shows a small grain of sand right under Lincoln's ear and one under the first '9' of 1909. The particle under the ear is 200 and the other one is about 100 microns in size. The image has a resolution of 25microns/pixel.
"Wow, seeing these images after all the tremendous hard work that has gone into making them possible is a profoundly emotional moment," said Ken Edgett. "It is so exciting to see the camera returning beautiful, sharp images from Mars."
A close-up of the penny coin shows that some dust and sand particles have settled on the coin during landing. These are a great illustration of the resolution the Mars Hand Lens Imager actually has. A closer look at the subframe shows a small grain of sand right under Lincoln's ear and one under the first '9' of 1909. The particle under the ear is 200 and the other one is about 100 microns in size. The image has a resolution of 25microns/pixel.
MAHLI Calibration Target & Penny
Photo: NASA/JPL/MSSS
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Photo: NASA/JPL/MSSS
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The photos of the Calibration Target show that the target was coated in a thin layer of dust during the dramatic landing on Mars when Curiosity was completing the Sky Crane Phase with its Descent Stage hovering above the rover with four active Mars Landing Engines kicking up surface material. This dust coating is of some concern for color characterization with the six plates since their color is changed slightly due to the dust. This is of particular concern for the gray-scale calibration plates, but was a potential condition that was evaluated pre-flight.
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On Sol 34 of the MSL Mission, the other instrument on the turret of the Robotic Arm, the Alpha Particle X-Ray Spectrometer, completed its first integration on Mars. For that, the Robotic Arm was placed in the proper configuration for APXS to face its Calibration Target at the end of Sol 33. In the early hours (Mars Time) of Sol 34, APXS performed its first reading of the calibration target to provide the instrument team with a data set that can be used to characterize the instrument's performance on Mars.
The APXS calibration target is a piece of polished basalt of known composition that was determined when it was still on Earth. APXS also completed several integrations examining this particular sample to provide reference data for use by the team when the first measurement is completed on Mars. Ahead of the APXS checkout, MAHLI took an image of the Calibration Target showing that it was also covered by a very thin layer of Martian dust with a more significant dust deposition near the rim of the sample. APXS is a X-ray Spectrometer that will precisely determine the elemental composition of samples using different techniques such as Particle-Induced X-Ray Emission and X-Ray Fluorescence. |
Photo: NASA/JPL/MSSS
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Credit: NASA/JPL-Caltech/University of Guelph
The first results of the Sol 34 integration show that APXS has successfully identified the composition of the calibration target that lines up with measurements made during pre-flight testing. In addition, the APXS spectrum shows an Argon peak that is related to the abundance of Argon in the Martian Atmosphere (1.6%).
The Zirconium peak is related to the shielding of the APXS instrument that consists of Zirconium metal. This material was chosen because it is not an element that is planned to be measured with APXS since it is not present in rocks on Mars, so that the shielding would not interfere with actual science readings.
APXS has also detected two other elements that are not part of the Calibration Sample, Sulphur and Chlorine. These two peaks in the X-Ray Count are related to the dust on the calibration target which shows how sensitive the APS instrument is. The instrument team is very happy with the results of their first checkout on a solid sample that has shown that APXS is fully functional and able to acquire accurate readings, both during Martian night and in the daytime.
The Zirconium peak is related to the shielding of the APXS instrument that consists of Zirconium metal. This material was chosen because it is not an element that is planned to be measured with APXS since it is not present in rocks on Mars, so that the shielding would not interfere with actual science readings.
APXS has also detected two other elements that are not part of the Calibration Sample, Sulphur and Chlorine. These two peaks in the X-Ray Count are related to the dust on the calibration target which shows how sensitive the APS instrument is. The instrument team is very happy with the results of their first checkout on a solid sample that has shown that APXS is fully functional and able to acquire accurate readings, both during Martian night and in the daytime.
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On Sol 36 of the MSL Mission, the rover completed more robotics characterization. The arm was placed above the sample inlets for the SAM and CheMin instruments to ensure the positioning was correct. For that, MAHLI was used to take images of the inlets confirming that the turret was in the correct place.
Curiosity's NavCams were used to observe a test of the inlet covers that protect the solid sample inlets of the two Laboratory Instruments from contamination with atmospheric dust. The inlet covers were commanded to open and the NavCam images were used to confirm the state of the covers showing that all covers were working as expected. When taking images of the CheMin inlet, MAHLI also underwent another test of its on-board image processing algorithm which was used to merge eight frames of the target that were taken with slightly different focus configurations to provide an in-focus image product. Processing images aboard the Rover reduces required downlink data volume and increases the amount of data that can be transferred to Earth each day/sol. Late on Sol 36, the Robotic arm was pre-loaded on the organic check material in front of the rover pushing with a force of 115 Newtons to an overnight test of how the temperature cycle of Mars changes this force to enable teams to perform better planning for pre-loading during actual contact science operations. The organic check material is inside sealed compartments on the front side of the rover that can be used as calibration material for the SAM instrument. The arm was left in this configuration overnight. [For more information on MSL's Sampling System, visit our detailed overview.) On Sol 37, the CAP2 activity will wrap up with the final test of the robotic arm that will be used to touch the Observation Tray of the rover with the MAHLI contact sensors in two different positions to make sure the tray can be used for contact science on scooped or drilled samples. In addition, MSL will be attempting to capture a Transit of both Mars Moons, Phobos and Deimos, over the next several sols to capture the Moons as they pass in front of the Sun. Images of Phobos Transits are known from the Mars Exploration Rovers, but MSL and its evolved Cameras are expected to provide images of higher quality. Once Sol 37 Operations are complete, the Rover Drivers will take over again and 'Drive, drive, drive,' as MSL Mission Manager Jennifer Trosper put it. Upcoming Sols will be pure traversing Sols. MSL will continue its drive towards Glenelg until the team finds a decent sized rock for the first Contact Science Session of the mission that will take several Sols. This rock has to be large enough for the robotic arm to push onto it with the contact science instruments and the science team wants to have a fine-grained rock to make this first suite of science observations. |
Photo: NASA/JPL/MSSS
MSL Sample Inlet & Inlet Cover Checkouts
Image: NASA/JPL/Caltech
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This will involve the APXS instrument, the MAHLI instrument and the Rover's ChemCam as well as the MastCams. ChemCam and APXS are planned to complete a number of cross-calibration readings to help the instrument teams with instrument characterization since ChemCam and APXS are complementing each other in a number of areas.
When this stop is complete, MSL continues its drive to Glenelg that will likely feature one more several-week break when the first solid sample acquisition is performed by the SA/SPaH - Sample Acquisition, Processing, and Handling System and the Laboratory Instruments SAM and CheMin can perform their first sample analysis. Curiosity is expected to reach Glenelg late in 2012.
When this stop is complete, MSL continues its drive to Glenelg that will likely feature one more several-week break when the first solid sample acquisition is performed by the SA/SPaH - Sample Acquisition, Processing, and Handling System and the Laboratory Instruments SAM and CheMin can perform their first sample analysis. Curiosity is expected to reach Glenelg late in 2012.
Curiosity begins next Rover Commissioning Phase
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September 6, 2012
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The Mars Science Laboratory Mission has entered its next major surface mission phase called Commissioning Activity Period 2 on Sol 30 of the landed mission after concluding the intermission phase that was performed from Sol 17 through Sol 29. This new phase will feature extensive checkouts of the robotic arm and the turret mounted instruments.
Towards the end of the Intermission Period, Curiosity completed more driving operations with a drive on Sol 26 and Sol 29. Both of these drives were about 30 meters and featured tests of the Rover’s Navigation Capabilities especially the visual odometry feature. Following the Sol 29 drive, Curiosity was about 82 meters south-east of its landing site. Exiting this landing-zone was important to teams because this area was likely contaminated with residual Hydrazine being released by the Mars Landing Engines during the Landing Sequence back in August.
Towards the end of the Intermission Period, Curiosity completed more driving operations with a drive on Sol 26 and Sol 29. Both of these drives were about 30 meters and featured tests of the Rover’s Navigation Capabilities especially the visual odometry feature. Following the Sol 29 drive, Curiosity was about 82 meters south-east of its landing site. Exiting this landing-zone was important to teams because this area was likely contaminated with residual Hydrazine being released by the Mars Landing Engines during the Landing Sequence back in August.
MSL Route Map
Image: NASA/JPL/Caltech/University of Arizona
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In between the two drives, the rover was busy checking out its Laboratory Instruments, SAM and CheMin, both located in the Rover Body. On Sol 26, CheMin performed a two-hour empty cell test of its spectrometer to make sure all components are in good condition and in readiness to receive the first Martian soil sample. As part of an overnight activity starting on Sol 27, the SAM instrument took its first sample of the Martian Atmosphere to perform a full analysis run to serve as engineering characterization and checkout operation of the instrument.
This marked the first real ‘sniff’ Curiosity took from the Martian Atmosphere since the first test was inadvertently performed with residual air and calibration gas that was still inside the instrument. For this second activity, the SAM atmosphere inlet was positioned into the direction the Martian Wind was blowing from that day to make sure actual Martian Atmosphere entered the system. Teams are satisfied with the instrument performance and are still in the process of analyzing the data. In addition, Curiosity used its NavCams to acquire another panorama. The MastCam System was used on Sol 27 to gather scientific imagery of a formation of bedrock that was found right next to the rover, so that the MastCam-100 was able to image this area through its various science filters. ChemCam was also active during the past several Sols, but this time, the instrument was not used to laser rocks. The Remote-Micro Imager of ChemCam was used to obtain images of targets on the surface as well as the Calibration Target at the back of the Rover to provide data needed for pointing and focus characterization. |
Photo: NASA/JPL/Caltech
Curiosity's Robotic Arm & Turret
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The Remote-Micro Imager of ChemCam was used to obtain images of targets on the surface as well as the Calibration Target at the back of the Rover to provide data needed for pointing and focus characterization.
RMI is ChemCam’s camera that provides images of the instrument's targets to put them into a geomorphologic context. While RMI operations were underway, ChemCam was used in its passive mode, using the spectrometer without the laser in order to characterize the noise environment on Mars.
Following the Sol 29 drive, the MSL surface mission entered its Commissioning Activity Period 2 after having completed its Intermission that featured several drives to enable Curiosity to exit the potentially contaminated area to begin CAP2. This phase will have a duration of about 7 Sols and feature in depth-checkouts of the Robotic Arm and its Turret. These tests include instrument checkouts of the two Contact Science Instruments: MAHLI – the Mars Hand Lens Imager, and APXS – the Alpha Particle X-Ray Spectrometer.
RMI is ChemCam’s camera that provides images of the instrument's targets to put them into a geomorphologic context. While RMI operations were underway, ChemCam was used in its passive mode, using the spectrometer without the laser in order to characterize the noise environment on Mars.
Following the Sol 29 drive, the MSL surface mission entered its Commissioning Activity Period 2 after having completed its Intermission that featured several drives to enable Curiosity to exit the potentially contaminated area to begin CAP2. This phase will have a duration of about 7 Sols and feature in depth-checkouts of the Robotic Arm and its Turret. These tests include instrument checkouts of the two Contact Science Instruments: MAHLI – the Mars Hand Lens Imager, and APXS – the Alpha Particle X-Ray Spectrometer.
MSL Arm & Turret
Image: NASA/JPL/Caltech
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Image: NASA/JPL/Caltech
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Image: NASA/JPL/MSSS
MastCam Image of MAHLI
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On Sol 30, teams put the Robotic Arm through a range of motions to place it in a position to have its Turret imaged by the MastCams providing a close-up photo of the MAHLI Dust Cover. MAHLI had returned several photos from Mars so far, but the dust cover of the instrument has not been moved yet. Teams wanted to wait until images of the instrument could be acquired to make sure the dust cover can be opened without the risk of contaminating the lens which could have been a possibility considering the amount of dust that was picked up during landing.
More images of MAHLI will be acquired by the MastCams before the team will give the green light to open the dust cover for the first time. MAHLI’s dust cover can be opened and closed as commanded to provide instrument protection when the camera is not in use. Once the dust cover can be opened, MAHLI will be positioned at its Calibration Target that provides a number of targets to fulfill calibration capabilities. This target will verify color/white balance, image resolution and focus, as well as performance of the LED and UV LEDs of the instrument. MAHLI will also take images of the APXS Calibration Target which is a basaltic material of known composition. |
This sample will enable engineers to characterize the APXS spectrometer with a sample that is well known and has been analyzed back on Earth to verify instrument performance on Mars. To make sure the sample is relatively clean of any dust, MAHLI will take an image of it before APXS enters its first characterization run.
For this instrument test, APXS will be placed in position on the target and begin a two-hour integration in the morning hours on Mars. APXS is a X-ray Spectrometer that will precisely determine the elemental composition of samples using different techniques such as Particle-Induced X-Ray Emission and X-Ray Fluorescence. Also during these 7 Sols of CAP2 activities, MAHLI will take images of the underside of the Rover and provide images of the Mast and its cameras.
For this instrument test, APXS will be placed in position on the target and begin a two-hour integration in the morning hours on Mars. APXS is a X-ray Spectrometer that will precisely determine the elemental composition of samples using different techniques such as Particle-Induced X-Ray Emission and X-Ray Fluorescence. Also during these 7 Sols of CAP2 activities, MAHLI will take images of the underside of the Rover and provide images of the Mast and its cameras.
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After completing CAP2, Curiosity will hit the road again and set sail for Glenelg again, but there are one or two more potential breaks planned on the way – depending on the types of materials found along the ‘road’. With CAP2 complete, the rover and its instruments will be ready to acquire the first sample of the Martian Soil. Teams prefer to have a fine-grained scoop sample to clean the SA/SPaH - Sample Acquisition, Processing, and Handling System – as well as the two Laboratory Instruments, SAM and CheMin. Teams will keep their eyes open as driving continues to find fine-grained materials to begin the first sampling run which would also take a number of Sols since each of the Laboratory Instruments feature experiment cycles that take more than a single Sol.
Another item teams will be looking for is basaltic rocks that can be analyzed with the ChemCam and APXS Instruments to start a complex process of cross-calibration to help both instrument teams with the characterization of the two spectrometers. Curiosity’s time of arrival at Glenelg largely depends on the number and duration of these stops. Currently, Curiosity still has three quarters of the way from Bradbury Landing to Glenelg to go which will take several weeks of pure driving Sols. |
Photo: NASA/JPL/Caltech
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Meanwhile, the HiRISE Instrument of the Mars Reconnaissance Orbit has provided another set of incredible images of Curiosity and its landing hardware showing amazing detail of the Rover itself as well as its tracks on the surface of Mars. The images were acquired when Curiosity was at the Sol 26 position. [Click here for the complete HiRISE Set]
Photo: NASA/JPL/University of Arizona
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Photo: NASA/JPL/University of Arizona
Photo: NASA/JPL/University of Arizona
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Curiosity begins Drive to Glenelg & checks Navigation Systems |
September 1, 2012
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Photo: NASA/JPL/Caltech
A look at the MMRTG, Curiosity's Power Source. Rover tracks to the left.
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Curiosity has started its first longer journey on the surface of Mars, beginning the drive to its first science location, an area called Glenelg that is 400 meters east-south-east from the rover's landing site.
Following the first two drives of the mission, that were used to position Curiosity for examination of the four scour marks at the landing site, Curiosity is now in a traversing mode to cover 100 meters to leave the 'contaminated zone' that could potentially have been contaminated with Hydrazine propellant during landing. After completing operations at Bradbury Landing, the Rover drove to a total distance of just over 15 meters on Sol 22 - marking the start of its eastward journey. "This drive really begins our journey toward the first major driving destination, Glenelg, and it's nice to see some Martian soil on our wheels," said mission manager Arthur Amador of NASA's Jet Propulsion Laboratory in Pasadena, Calif. "The drive went beautifully, just as our rover planners designed it." The drive on Sol 22 also tested Curiosity's 'Go To Waypoint' feature that allows the rover to make its own driving decisions as ground commands provide it with a location that the rover has to get to. On Sol 22, that GTW Drive was a straight line which was only used to test the system. The Sol 22 drive was about 3.3 meters backwards, followed by a turn and a drive of 12 meters. At the new location, the Rover used its MastCams to acquire another 360-degree panorama that will enable teams to generate a three dimensional image of long-range features looking at the area of Mount Sharp that will be Curiosity's primary science target later in the mission. |
On Sol 24, the rover performed its next drive which was about 21 meters. During that drive, Curiosity's Autonomous Navigation System and Visual Odometry feature was tested. Later in the surface mission, Curiosity will use its high-fidelity flight software to autonomously complete long drives during which it will monitor the actual driving distance, its heading and detect any hazards along the way. Autonav capabilities were tested on Sol 24 by sending the rover to drive right over a rock of a little less than 20 centimeters. This was done intentionally to see whether the flight software detected that obstacle to determine if the rover is ready to stop driving when detecting a hazard.
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In addition to its hazard detection, Curiosity has to constantly monitor its actual driving distance. For that, the vehicle uses visual odometry. The wheels of the rover have features that leave marks in their tracks. This repeating pattern can be used by the rover to examine whether the number of wheel revolutions matches the distance that was actually covered. This is done to enable the rover to deduce whether it is slipping when driving on high slopes or across loose soil. The pattern left by the rover spells JPL (Jet Propulsion Laboratory) in Morse Code.
"The purpose of the pattern is to create features in the terrain that can be used to visually measure the precise distance between drives," said Matt Heverly, the lead rover driver for Curiosity at JPL. Keeping track of its actual position enables Curiosity to adjust its drives to respond to dynamic conditions which allows greater distance to be completed per Sol. "Visual odometry will enable Curiosity to drive more accurately even in high-slip terrains, aiding its science mission by reaching interesting targets in fewer sols, running slip checks to stop before getting too stuck, and enabling precise driving," said rover driver Mark Maimone, who led the development of the rover's autonomous driving software. |
Image: NASA/JPL/Caltech
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NavCam Panorama showing the Rover's Tracks from the Landing Site
Photo: NASA/JPL/Caltech
Making sure the flight software and autonomous driving capabilities are working as expected is the primary objective of the 400-meter drive to Glenelg. The initial traverse increments are relatively small - about 10 to 20 meters per Sol followed by analysis performed by the MSL Mobility Team to evaluate Curiosity's driving capabilities before increasing driving distances to about 40 meters per Sol which represents the edge of the horizon of the NavCams of the Rover which are used to plan the exact drives. When teams have finished testing the systems, Curiosity will be allowed to drive past that distance and be completely on its own, relying on its software to keep itself safe at all times. These functionalities have to be checked on Mars since there was no way of replicating the exact lighting and surface conditions on Earth during pre-flight operations. The ultimate goal are traverses of distances of more than 100 meters per Sol.
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On Sol 25, Curiosity took a day off from driving to acquire more NavCam images of the Martian Sky to evaluate clouds. Also, new MastCam frames were acquired for more instrument characterization. These images were looking east once again showing Mount Sharp. The subframes will be used to produce another large panorama image. In addition to that, Curiosity gathered more data with REMS, the Rover Environmental Monitoring Station. REMS is a meteorological instrument suite that will record six atmospheric properties: wind (speed and direction), pressure, relative humidity, air temperature, ground temperature and ultraviolet radiation. The instruments are located at three locations on the rover, two booms that are attached to the Remote Sensing Mast, the Ultraviolet Sensor (UVS) assembly on the rover deck and the Instrument Control Unit (ICU) inside the rover body.
On Sol 26, Curiosity has a full timeline once again. The Sol's plan includes a drive as well as checkouts of its drill on the Turret at the end of the Robotic Arm, and testing of the CheMin Instrument inside the Rover Body. CheMin is a definitive mineralogy instrument that will analyze the minerals that are present in rocks and soil samples that are delivered to the instrument by the Sample Acquisition, Sample Processing and Handling (SA/SPaH) system. It will identify and quantify minerals accurately and in a time efficient manner. The drive to Glenelg will take several weeks as Rover checkouts and initial science operations are in progress. "We are on our way, though Glenelg is still many weeks away," said Curiosity Project Scientist John Grotzinger of the California Institute of Technology in Pasadena. "We plan to stop for just a day at the location we just reached, but in the next week or so we will make a longer stop." This longer stop will be made as soon as fine grained materials are found for the first scoop sampling operation of the mission. These samples will be used to clean the sample acquisition mechanism as well as the CheMin and SAM Instruments. |
Photo: NASA/JPL/MSSS
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This operation will mark the start of Commissioning Activity Phase 2 which will focus on the Robotic Arm of MSL and instruments & tools related to it. The stop during the drive to Glenelg is variable in duration and depends on checkout progress before the journey at the base of Gale Crater continues.
Glenelg is of high interest because it lies at the intersection of three different surface materials/geological features. The brighter terrain to the North is likely a type of bedrock which could be suitable for eventual drilling by Curiosity. To the East is the next type of terrain which is marked by numerous small craters. This could be material that represents and older or harder surface. The third kind of terrain at this intersection is the surface type Curiosity landed on. This is interesting because it will enable scientists to determine if the same kind of rock texture at Goulburn Scour also occurs at Glenelg - at some distance to the landing site.
Glenelg is of high interest because it lies at the intersection of three different surface materials/geological features. The brighter terrain to the North is likely a type of bedrock which could be suitable for eventual drilling by Curiosity. To the East is the next type of terrain which is marked by numerous small craters. This could be material that represents and older or harder surface. The third kind of terrain at this intersection is the surface type Curiosity landed on. This is interesting because it will enable scientists to determine if the same kind of rock texture at Goulburn Scour also occurs at Glenelg - at some distance to the landing site.
Image: NASA/JPL/Caltech/University of Arizona
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