InSight Mars Lander Robotics Instrument Deployment System

The InSight Mars Lander is equipped with an Instrument Deployment System (IDS) and science payload with accompanying auxiliary peripherals mounted on the Lander. The InSight science payload includes a seismometer (SEIS) and Wind and Thermal Shield (WTS), heat flow probe (Heat Flow and Physical Properties Package, HP³) and a precision tracking system (RISE) to measure the size and state of the core, mantle and crust of Mars. The InSight flight system is a close copy of the Mars Phoenix Lander and comprises a Lander, cruise stage, heatshield and backshell. The IDS comprises an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, motor controller, arm-mounted Instrument Deployment Camera (IDC), lander-mounted Instrument Context Camera (ICC), and control software. IDS is responsible for the first precision robotic instrument placement and release of SEIS and HP³ on a planetary surface that will enable scientists to perform the first comprehensive surface-based geophysical investigation of Mars’ interior structure. This paper describes the design and operations of the Instrument Deployment Systems (IDS), a critical subsystem of the InSight Mars Lander necessary to achieve the primary scientific goals of the mission including robotic arm geology and physical properties (soil mechanics) investigations at the Landing site. In addition, we present test results of flight IDS Verification and Validation activities including thermal characterization and InSight 2017 Assembly, Test, and Launch Operations (ATLO), Deployment Scenario Test at Lockheed Martin, Denver, where all the flight payloads were successfully deployed with a balloon gravity offload fixture to compensate for Mars to Earth gravity.     

Statistical survey on sawtooth events,SMCs and isolated substorms

Solar wind driving can cause a variety of different responses in the magnetosphere. Strong and steady driving during geomagnetic storms may result in sawtooth events. Strong to moderate driving may be followed by either sawtooth events or steady magnetospheric convection (SMC) events. Lower solar wind energy input typically leads to the formation of isolated non-storm substorms. This study uses superposed epoch analysis to reveal the typical properties of these three event groups as well as their similarities and differences. We use IMF and solar wind parameters, as well as ground-based indices (AL, SYM-H, ASY-H, PCN) to examine the level of solar wind driving and its response in the magnetosphere. Our results show that sawtooth events are associated with the strongest ionospheric activity. The subgroups of events during constant solar wind _EY$E_Y$ show that the key difference between the events is the average solar wind speed. Particularly, the high activity during sawtooth events is driven by high solar wind speed, while the lowest average speed during the SMCs may explain the lack of substorm activity during the steady convection periods.     

A new narrow beam Doppler radar at 3 MHz for studies of the high-latitude middle atmosphere

A Doppler radar at 3.17 MHz has been installed at Saura close to the Andøya Rocket Range as part of the ALOMAR observatory at Andenes, Norway in summer 2002 to improve the ground based capabilities for measurements of small scale features and turbulence in the mesosphere. The main feature of the new Saura MF radar is the transmitting/receiving antenna which is arranged as a Mills Cross of 29 crossed half-wave dipoles with a minimum beam width of about 7°. Each dipole is fed by its own transceiver, and the individual phase control of the 58 transceiver modules on transmission and reception provides high flexibility in beam forming and pointing as well as transmission switching between ordinary and extraordinary mode circular polarisation. In addition, beams with different widths at the same pointing angle can be formed. For multiple receiver applications (spaced antenna wind measurements, all-sky meteor detections) four independent receiving channels are available.     

Spectroscopic observation of Mars

Visible and near-infrared reflectance spectroscopy has proven a powerful tool for exploring the geology of Mars. Most of this data has been obtained from Earth, but the technique is ideally suited to orbital application, as proposed for the U.S. Mars Geoscience/Climatology Orbiter mission. Spectral reflectance in the near-UV and visible is highly diagnostic of ferric-iron mineralogy, and has shown that Fe³⁺ in the ubiquitous bright dust and soil is amorphous or poorly-crystalline. Other iron-oxide minerals, indicative of other modes or episodes of crustal alteration, may be found in spatially localized deposits. Clay minerals (hydroxylated silicates) have diagnostic vibrational absorptions throughout the near-infrared. While some form of bound water and/or OH has been known on Mars for many years, a new result presented here is the identification of structural OH in a dilute or poorly crystalline magnesian clay. Salts such as carbonates, sulfates, and nitrates have not yet been detected in martian soils but have diagnostic spectral features in the 3- to 4-μm region, best suited to Mars-orbital observation. Analysis of reflectance spectra of low-albedo regions is a primary source of evidence for a basaltic or ultramafic crust, with identification of abundant clinopyroxene and possible detection of other mafic minerals. The distinctive near-infrared spectral shape of dark regions indicates that the dark materials commonly consist of relatively unaltered rocks or rock fragments very thinly coated by (or mixed with) bright oxidized material similar to the global dust. Visible and near-infrared reflectance spectroscopy is also a sensitive technique for detecting and analyzing water ice, as has been demonstrated on Mars by observations of the north polar cap.     

First spatio-temporal results from the LDEF interplanetary dust experiment

The LDEF Interplanetary Dust Experiment was unique in providing a time history of impacts of micron-sized particles on six orthogonal faces of the vehicle over a span of nearly a full year. Over 15000 hits were recorded, representing a mix of zodiacal dust, meteor stream grains, orbital debris, perhaps beta-meteoroids, and possibly interstellar matter. Although the total number was higher than predicted, the relative panel activity distribution was near expectations. Detailed deconvolution of the impact record with orbital data is underway, to examine each of these populations. Very preliminary results of the fairly crude “first look” analysis suggest that debris is the major particle component at 500 km. The data show clear evidence of some known meteor streams as sharp, tightly-focused events, unlike their visible counterparts. Some apparent debris events show similar signatures. Data from the leading and trailing edges suggest a detection of beta-meteoroids, but the analysis is not yet conclusive. Absolute fluxes and flux ratios are not yet known, since the detector status analysis is yet incomplete.     

The Upgraded CARISMA Magnetometer Array in the THEMIS Era

This review describes the infrastructure and capabilities of the expanded and upgraded Canadian Array for Realtime InvestigationS of Magnetic Activity (CARISMA) magnetometer array in the era of the THEMIS mission. Formerly operated as the Canadian Auroral Network for the OPEN Program Unified Study (CANOPUS) magnetometer array until 2003, CARISMA capabilities have been extended with the deployment of additional fluxgate magnetometer stations (to a total of 28), the upgrading of the fluxgate magnetometer cadence to a standard data product of 1 sample/s (raw sampled 8 samples/s data stream available on request), and the deployment of a new network of 8 pairs of induction coils (100 samples per second). CARISMA data, GPS-timed and backed up at remote field stations, is collected using Very Small Aperture Terminal (VSAT) satellite internet in real-time providing a real-time monitor for magnetic activity on a continent-wide scale. Operating under the magnetic footprint of the THEMIS probes, data from 5 CARISMA stations at 29–30 samples/s also forms part of the formal THEMIS ground-based observatory (GBO) data-stream. In addition to technical details, in this review we also outline some of the scientific capabilities of the CARISMA array for addressing all three of the scientific objectives of the THEMIS mission, namely: 1. Onset and evolution of the macroscale substorm instability, 2. Production of storm-time MeV electrons, and 3. Control of the solar wind-magnetosphere coupling by the bow shock, magnetosheath, and magnetopause. We further discuss some of the compelling questions related to these three THEMIS mission science objectives which can be addressed with CARISMA.     

The electric field instrument on the polar satellite

The Polar satellite carries a system of four wire booms in the spacecraft spin plane and two rigid booms along the spin axis. Each of the booms has a spherical sensor at its tip along with nearby guard and stub surfaces whose potentials relative to that of their sphere are controlled by associated electronics. The potential differences between opposite sphere pairs are measured to yield the three components of the DC to >1 MHz electric field. Spheres can also be operated in a mode in which their collected current is measured to give information on the plasma density and its fluctuations. The scientific studies to be performed by this experiment as well as the mechanical and electrical properties of the detector system are described.     

An International Environmental Agreement for space debris mitigation among asymmetric nations

We investigate how ideas from the International Environmental Agreement (IEA) literature can be applied to the problem of space debris mitigation. Space debris pollution is similar to other international environmental problems in that there is a potential for a “tragedy of the commons” effect: individual nations bear all the cost of their mitigation measures but share only a fraction of the benefit. As a consequence, nations have a tendency to underinvest in mitigation. Coalitions of nations, brought together by IEAs, have the potential to lessen the tragedy of the commons effect by pooling the costs and benefits of mitigation. This work brings together two recent modeling advances: (i) a game theoretic model for studying the potential gains from IEA cooperation between nations with asymmetric costs and benefits, (ii) an orbital debris model that gives the societal cost that specific actions, such as failing to deorbit an inactive spacecraft, have on the environment. We combine these two models with empirical launch-share data for a “proof of concept” of an IEA for a single mitigation measure—deorbiting spacecraft at the end of operational lifetime. Simulations of empirically derived and theoretical launch distributions among nations suggest the possibility that voluntary coalitions can provide significant deorbiting gains relative to nations acting in the absence of an IEA agreement.     

Estimating Optimal Tracking Filter Performance for Manned Maneuvering Targets

The majority of tactical weapons systems require that manned maneuverable vehicles, such as aircraft, ships, and submarines, be tracked accurately. An optimal Kalman filter has been derived for this purpose using a target model that is simple to implement and that represents closely the motions of maneuvering targets. Using this filter, parametric tracking accuracy data have been generated as a function of target maneuver characteristics, sensor observation noise, and data rate and that permits rapid a priori estimates of tracking performance to be made when maneuvering targets are to be tracked by sensors providing any combination of range, bearing, and elevation measurements.     

First Results from the THEMIS Mission

THEMIS was launched on February 17, 2007 to determine the trigger and large-scale evolution of substorms. During the first seven months of the mission the five satellites coasted near their injection orbit to avoid differential precession in anticipation of orbit placement, which started in September 2007 and led to a commencement of the baseline mission in December 2007. During the coast phase the probes were put into a string-of-pearls configuration at 100 s of km to 2 R_E along-track separations, which provided a unique view of the magnetosphere and enabled an unprecedented dataset in anticipation of the first tail season. In this paper we describe the first THEMIS substorm observations, captured during instrument commissioning on March 23, 2007. THEMIS measured the rapid expansion of the plasma sheet at a speed that is commensurate with the simultaneous expansion of the auroras on the ground. These are the first unequivocal observations of the rapid westward expansion process in space and on the ground. Aided by the remote sensing technique at energetic particle boundaries and combined with ancillary measurements and MHD simulations, they allow determination and mapping of space currents. These measurements show the power of the THEMIS instrumentation in the tail and the radiation belts. We also present THEMIS Flux Transfer Events (FTE) observations at the magnetopause, which demonstrate the importance of multi-point observations there and the quality of the THEMIS instrumentation in that region of space.