Characterization and Calibration of the CheMin Mineralogical Instrument on Mars Science Laboratory

A principal goal of the Mars Science Laboratory (MSL) rover Curiosity is to identify and characterize past habitable environments on Mars. Determination of the mineralogical and chemical composition of Martian rocks and soils constrains their formation and alteration pathways, providing information on climate and habitability through time. The CheMin X-ray diffraction (XRD) and X-ray fluorescence (XRF) instrument on MSL will return accurate mineralogical identifications and quantitative phase abundances for scooped soil samples and drilled rock powders collected at Gale Crater during Curiosity’s 1-Mars-year nominal mission. The instrument has a Co X-ray source and a cooled charge-coupled device (CCD) detector arranged in transmission geometry with the sample. CheMin’s angular range of 5^° to 50^° 2θ with <0.35^° 2θ resolution is sufficient to identify and quantify virtually all minerals. CheMin’s XRF requirement was descoped for technical and budgetary reasons. However, X-ray energy discrimination is still required to separate Co?Kα from Co?Kβ and Fe?Kα photons. The X-ray energy-dispersive histograms (EDH) returned along with XRD for instrument evaluation should be useful in identifying elements Z>13 that are contained in the sample. The CheMin XRD is equipped with internal chemical and mineralogical standards and 27 reusable sample cells with either Mylar^? or Kapton^? windows to accommodate acidic-to-basic environmental conditions. The CheMin flight model (FM) instrument will be calibrated utilizing analyses of common samples against a demonstration-model (DM) instrument and CheMin-like laboratory instruments. The samples include phyllosilicate and sulfate minerals that are expected at Gale crater on the basis of remote sensing observations.     

Mars Science Laboratory Mission and Science Investigation

Scheduled to land in August of 2012, the Mars Science Laboratory (MSL) Mission was initiated to explore the habitability of Mars. This includes both modern environments as well as ancient environments recorded by the stratigraphic rock record preserved at the Gale crater landing site. The Curiosity rover has a designed lifetime of at least one Mars year (～23?months), and drive capability of at least 20?km. Curiosity’s science payload was specifically assembled to assess habitability and includes a gas chromatograph-mass spectrometer and gas analyzer that will search for organic carbon in rocks, regolith fines, and the atmosphere (SAM instrument); an x-ray diffractometer that will determine mineralogical diversity (CheMin instrument); focusable cameras that can image landscapes and rock/regolith textures in natural color (MAHLI, MARDI, and Mastcam instruments); an alpha-particle x-ray spectrometer for in situ determination of rock and soil chemistry (APXS instrument); a?laser-induced breakdown spectrometer to remotely sense the chemical composition of rocks and minerals (ChemCam instrument); an active neutron spectrometer designed to search for water in rocks/regolith (DAN instrument); a weather station to measure modern-day environmental variables (REMS instrument); and a sensor designed for continuous monitoring of background solar and cosmic radiation (RAD instrument). The various payload elements will work together to detect and study potential sampling targets with remote and in situ measurements; to acquire samples of rock, soil, and atmosphere and analyze them in onboard analytical instruments; and to observe the environment around the rover. The 155-km diameter Gale crater was chosen as Curiosity’s field site based on several attributes: an interior mountain of ancient flat-lying strata extending almost 5?km above the elevation of the landing site; the lower few hundred meters of the mountain show a progression with relative age from clay-bearing to sulfate-bearing strata, separated by an unconformity from overlying likely anhydrous strata; the landing ellipse is characterized by a mixture of alluvial fan and high thermal inertia/high albedo stratified deposits; and a number of stratigraphically/geomorphically distinct fluvial features. Samples of the crater wall and rim rock, and more recent to currently active surface materials also may be studied. Gale has a well-defined regional context and strong evidence for a progression through multiple potentially habitable environments. These environments are represented by a stratigraphic record of extraordinary extent, and insure preservation of a rich record of the environmental history of early Mars. The interior mountain of Gale Crater has been informally designated at Mount Sharp, in honor of the pioneering planetary scientist Robert Sharp. The major subsystems of the MSL Project consist of a single rover (with science payload), a Multi-Mission Radioisotope Thermoelectric Generator, an Earth-Mars cruise stage, an entry, descent, and landing system, a launch vehicle, and the mission operations and ground data systems. The primary communication path for downlink is relay through the Mars Reconnaissance Orbiter. The primary path for uplink to the rover is Direct-from-Earth. The secondary paths for downlink are Direct-to-Earth and relay through the Mars Odyssey orbiter. Curiosity is a scaled version of the 6-wheel drive, 4-wheel steering, rocker bogie system from the Mars Exploration Rovers (MER) Spirit and Opportunity and the Mars Pathfinder Sojourner. Like Spirit and Opportunity, Curiosity offers three primary modes of navigation: blind-drive, visual odometry, and visual odometry with hazard avoidance. Creation of terrain maps based on HiRISE (High Resolution Imaging Science Experiment) and other remote sensing data were used to conduct simulated driving with Curiosity in these various modes, and allowed selection of the Gale crater landing site which requires climbing the base of a mountain to achieve its primary science goals. The Sample Acquisition, Processing, and Handling (SA/SPaH) subsystem is responsible for the acquisition of rock and soil samples from the Martian surface and the processing of these samples into fine particles that are then distributed to the analytical science instruments. The SA/SPaH subsystem is also responsible for the placement of the two contact instruments (APXS, MAHLI) on rock and soil targets. SA/SPaH consists of a robotic arm and turret-mounted devices on the end of the arm, which include a drill, brush, soil scoop, sample processing device, and the mechanical and electrical interfaces to the two contact science instruments. SA/SPaH also includes drill bit boxes, the organic check material, and an observation tray, which are all mounted on the front of the rover, and inlet cover mechanisms that are placed over the SAM and CheMin solid sample inlet tubes on the rover top deck.     

The Mars Science Laboratory Organic Check Material

Mars Science Laboratory’s Curiosity rover carries a set of five external verification standards in hermetically sealed containers that can be sampled as would be a Martian rock, by drilling and then portioning into the solid sample inlet of the Sample Analysis at Mars (SAM) suite. Each organic check material (OCM) canister contains a porous ceramic solid, which has been doped with a fluorinated hydrocarbon marker that can be detected by SAM. The purpose of the OCM is to serve as a verification tool for the organic cleanliness of those parts of the sample chain that cannot be cleaned other than by dilution, i.e., repeated sampling of Martian rock. SAM possesses internal calibrants for verification of both its performance and its internal cleanliness, and the OCM is not used for that purpose. Each OCM unit is designed for one use only, and the choice to do so will be made by the project science group (PSG).     

REMS: The Environmental Sensor Suite for the Mars Science Laboratory Rover

The Rover Environmental Monitoring Station (REMS) will investigate environmental factors directly tied to current habitability at the Martian surface during the Mars Science Laboratory (MSL) mission. Three major habitability factors are addressed by REMS: the thermal environment, ultraviolet irradiation, and water cycling. The thermal environment is determined by a mixture of processes, chief amongst these being the meteorological. Accordingly, the REMS sensors have been designed to record air and ground temperatures, pressure, relative humidity, wind speed in the horizontal and vertical directions, as well as ultraviolet radiation in different bands. These sensors are distributed over the rover in four places: two booms located on the MSL Remote Sensing Mast, the ultraviolet sensor on the rover deck, and the pressure sensor inside the rover body. Typical daily REMS observations will collect 180 minutes of data from all sensors simultaneously (arranged in 5 minute hourly samples plus 60 additional minutes taken at times to be decided during the course of the mission). REMS will add significantly to the environmental record collected by prior missions through the range of simultaneous observations including water vapor; the ability to take measurements routinely through the night; the intended minimum of one Martian year of observations; and the first measurement of surface UV irradiation. In this paper, we describe the scientific potential of REMS measurements and describe in detail the sensors that constitute REMS and the calibration procedures.     

Surface Properties of the Mars Science Laboratory Candidate Landing Sites: Characterization from Orbit and Predictions

This work describes the interpretation of THEMIS-derived thermal inertia data at the Eberswalde, Gale, Holden, and Mawrth Vallis Mars Science Laboratory (MSL) candidate landing sites and determines how thermophysical variations correspond to morphology and, when apparent, mineralogical diversity. At Eberswalde, the proportion of likely unconsolidated material relative to exposed bedrock or highly indurated surfaces controls the thermal inertia of a given region. At Gale, the majority of the landing site region has a moderate thermal inertia (250 to 410?J?m^?2?K^?1?s^?1/2), which is likely an indurated surface mixed with unconsolidated materials. The primary difference between higher and moderate thermal inertia surfaces may be due to the amount of mantling material present. Within the mound of stratified material in Gale, layers are distinguished in the thermal inertia data; the MSL rover could be traversing through materials that are both thermophysically and compositionally diverse. The majority of the Holden ellipse has a thermal inertia of 340 to 475?J?m^?2?K^?1?s^?1/2 and consists of bed forms with some consolidated material intermixed. Mawrth Vallis has a mean thermal inertia of 310?J?m^?2?K^?1?s^?1/2 and a wide variety of materials is present contributing to the moderate thermal inertia surfaces, including a mixture of bedrock, indurated surfaces, bed forms, and unconsolidated fines. Phyllosilicates have been identified at all four candidate landing sites, and these clay-bearing units typically have a similar thermal inertia value (400 to 500?J?m^?2?K^?1?s^?1/2), suggesting physical properties that are also similar.     

Collecting Samples in Gale Crater, Mars; an Overview of the Mars Science Laboratory Sample Acquisition, Sample Processing and Handling System

The Mars Science Laboratory Mission (MSL), scheduled to land on Mars in the summer of 2012, consists of a rover and a scientific payload designed to identify and assess the habitability, geological, and environmental histories of Gale crater. Unraveling the geologic history of the region and providing an assessment of present and past habitability requires an evaluation of the physical and chemical characteristics of the landing site; this includes providing an in-depth examination of the chemical and physical properties of Martian regolith and rocks. The MSL Sample Acquisition, Processing, and Handling (SA/SPaH) subsystem will be the first in-situ system designed to acquire interior rock and soil samples from Martian surface materials. These samples are processed and separated into fine particles and distributed to two onboard analytical science instruments SAM (Sample Analysis at Mars Instrument Suite) and CheMin (Chemistry and Mineralogy) or to a sample analysis tray for visual inspection. The SA/SPaH subsystem is also responsible for the placement of the two contact instruments, Alpha Particle X-Ray Spectrometer (APXS), and the Mars Hand Lens Imager (MAHLI), on rock and soil targets. Finally, there is a Dust Removal Tool (DRT) to remove dust particles from rock surfaces for subsequent analysis by the contact and or mast mounted instruments (e.g. Mast Cameras (MastCam) and the Chemistry and Micro-Imaging instruments (ChemCam)).     

The Energetic Particle and Plasma Spectrometer Instrument on the MESSENGER Spacecraft

The Energetic Particle and Plasma Spectrometer (EPPS) package on the MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) mission to Mercury is composed of two sensors, the Energetic Particle Spectrometer (EPS) and the Fast Imaging Plasma Spectrometer (FIPS). EPS measures the energy, angular, and compositional distributions of the high-energy components of the in situ electrons (>20 keV) and ions (>5 keV/nucleon), while FIPS measures the energy, angular, and compositional distributions of the low-energy components of the ion distributions (<50 eV/charge to 20 keV/charge). Both EPS and FIPS have very small footprints, and their combined mass (∼3 kg) is significantly lower than that of comparable instruments.     

Laboratory Evaluation Unit for the Automatic Calibration System

Automatic calibration denotes a system of computer-controlled self-calibrating electrical measurements. Its purpose is to minimize the calibration support required for electrical measurements in maintenance or check-out applications. The system utilizes techniques whereby all electrical measurements are automatically reduced to and expressed in terms of several basic standards. Measurement data are transmitted to a digital computer for computation of the value of the unknown parameter. Automatic self-calibration procedures are carried out just before unknown inputs are measured. Development of instrumentation known as the automatic calibration program, laboratory evaluation unit has been accomplished. This unit automatically measures and calibrates a wide range of the most common dc and low-frequency electrical parameters. Only three single valued, certified standards are included: a 1-V cell, a 1-? resistor, and a 1-MHz oscillator.     

The X-ray/Gamma-ray Spectrometer on the Near Earth Asteroid Rendezvous Mission

An X-ray/gamma-ray spectrometer has been developed as part of a rendezvous mission with the near-Earth asteroid, 433 Eros, in an effort to answer fundamental questions about the nature and origin of asteroids and comets. During about 10 months of orbital operations commencing in early 1999, the X-ray/Gamma-ray Spectrometer will develop global maps of the elemental composition of the surface of Eros. The instrument remotely senses characteristic X-ray and gamma-ray emissions to determine composition. Solar excited X-ray fluorescence in the 1 to 10 keV range will be used to measure the surface abundances of Mg, Al, Si, Ca, Ti, and Fe with spatial resolutions down to 2 km. Gamma-ray emissions in the 0.1 to 10 MeV range will be used to measure cosmic-ray excited elements O, Si, Fe, H and naturally radioactive elements K, Th, U to surface depths on the order of 10 cm. The X-ray spectrometer consists of three gas-filled proportional counters with a collimated field of view of 5° and an energy resolution of 850 eV @ 5.9 keV. Two sunward looking X-ray detectors monitor the incident solar flux, one of which is the first flight of a new, miniature solid-state detector which achieves 600 eV resolution @ 5.9 keV. The gamma-ray spectrometer consists of a NaI(Tl) scintillator situated within a Bismuth Germanate (BGO) cup, which provides both active and passive shielding to confine the field of view and eliminate the need for a massive and costly boom. New coincidence techniques enable recovery of single and double escape events in the central detector. The NaI(Tl) and BGO detectors achieve energy resolutions of 8.7% and 14%, respectively @ 0.662 MeV. A data processing unit based on an RTX2010 microprocessor provides the spacecraft interface and produces 256-channel spectra for X-ray detectors and 1024-channel spectra for the raw, coincident, and anti-coincident gamma-ray modes. This paper presents a detailed overview of the X-ray/Gamma-ray Spectrometer and describes the science objectives, measurement objectives, instrument design, and shows some results from early in-flight data.     

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