Athena Mars rover science investigation

Abstract

.[1] Each Mars Exploration Rover carries an integrated suite of scientific instruments and tools called the Athena science payload. The primary objective of the Athena science investigation is to explore two sites on the Martian surface where water may once have been present, and to assess past environmental conditions at those sites and their suitability for life. The remote sensing portion of the payload uses a mast called the Pancam Mast Assembly (PMA) that provides pointing for two instruments: the Panoramic Camera (Pancam), and the Miniature Thermal Emission Spectrometer (Mini-TES). Pancam provides high-resolution, color, stereo imaging, while Mini-TES provides spectral cubes at mid-infrared wavelengths. For in-situ study, a five degree-of-freedom arm called the Instrument Deployment Device (IDD) carries four more tools: a Microscopic Imager (MI) for close-up imaging, an Alpha Particle X-Ray Spectrometer (APXS) for elemental chemistry, a Mössbauer Spectrometer (MB) for the mineralogy of Fe-bearing materials, and a Rock Abrasion Tool (RAT) for removing dusty and weathered surfaces and exposing fresh rock underneath. The payload also includes magnets that allow the instruments to study the composition of magnetic Martian materials. All of the Athena instruments have undergone extensive calibration, both individually and using a set of geologic reference materials that are being measured with all the instruments. Using a MER-like rover and payload in a number of field settings, we have devised operations processes that will enable us to use the MER rovers to formulate and test scientific hypotheses concerning past environmental conditions and habitability at the landing sites.

The Modern Near-Surface Martian Climate: A Review of In-situ Meteorological Data from Viking to Curiosity

“…The meteorology science goal of the MER mission was to provide high vertical resolution temperature profiles in the boundary layer, to measure dust and ice aerosol optical depth, and to determine aerosol properties from imaging (Squyres et al 2003). MER-A (Spirit) landed at 14.6°S and operated for 2208 sols.…”

A study of visual and tactile terrain classification and classifier fusion for planetary exploration rovers

“…Colorbased classification is also attractive for planetary exploration rover applications since most past, current, and planned rovers have included multi-spectral imagers as part of their sensor suites (Squyres et al, 2003).…”

Vision guided manipulation for planetary robotics — position control

“…Currently, the Mars Exploration Rover (MER) vehicles carry a five degreeof-freedom robot arm (known as the Instrument Deployment Device, or IDD) that is used to place three in-situ instruments (the APXS, a Mössbauer spectrometer, and a microscopic imager) as well as place and hold a Rock Abrasion Tool (RAT) in order to abrade the weathered surface of a rock [1].…”

“…Some of these are concerned with the safety of the rover, leading to requirements such as ground (Earth-based) analysis of imagery from Hazard Avoidance Cameras (hazcams) before any manipulation [1]. Some concerns are environmental: the Martian surface, for example, sees daily thermal cycling from -100 to +50 o C, with significant amounts of small fine-grained dust.…”