Mineral Indicators of Geologically Recent Past Habitability on Mars

We provide new support for habitable microenvironments in the near-subsurface of Mars, hosted in Fe- and Mg-rich rock units, and present a list of minerals that can serve as indicators of specific water-rock reactions in recent geologic paleohabitats for follow-on study. We modeled, using a thermodynamic basis without selective phase suppression, the reactions of published Martian meteorites and Jezero Crater igneous rock compositions and reasonable planetary waters (saline, alkaline waters) using Geochemist's Workbench Ver. 12.0. Solid-phase inputs were meteorite compositions for ALH 77005, Nakhla, and Chassigny, and two rock units from the Mars 2020 Perseverance rover sites, Máaz and Séítah. Six plausible Martian groundwater types [NaClO4, Mg(ClO4)2, Ca(ClO4)2, Mg-Na2(ClO4)2, Ca-Na2(ClO4)2, Mg-Ca(ClO4)2] and a unique Mars soil-water analog solution (dilute saline solution) named "Rosy Red", related to the Phoenix Lander mission, were the aqueous-phase inputs. Geophysical conditions were tuned to near-subsurface Mars (100 °C or 373.15 K, associated with residual heat from a magmatic system, impact event, or a concentration of radionuclides, and 101.3 kPa, similar to <10 m depth). Mineral products were dominated by phyllosilicates such as serpentine-group minerals in most reaction paths, but differed in some important indicator minerals. Modeled products varied in physicochemical properties (pH, Eh, conductivity), major ion activities, and related gas fugacities, with different ecological implications. The microbial habitability of pore spaces in subsurface groundwater percolation systems was interrogated at equilibrium in a thermodynamic framework, based on Gibbs Free Energy Minimization. Models run with the Chassigny meteorite produced the overall highest H2 fugacity. Models reliant on the Rosy Red soil-water analog produced the highest sustained CH4 fugacity (maximum values observed for reactant ALH 77005). In general, Chassigny meteorite protoliths produced the best yield regarding Gibbs Free Energy, from an astrobiological perspective. Occurrences of serpentine and saponite across models are key: these minerals have been observed using CRISM spectral data, and their formation via serpentinization would be consistent with geologically recent-past H2 and CH4 production and sustained energy sources for microbial life. We list index minerals to be used as diagnostic for paleo water-rock models that could have supported geologically recent-past microbial activity, and suggest their application as criteria for future astrobiology study-site selections.

Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization

The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of ~97% over 650 m drives on rough terrain.

Spectral Reflectance and Morphologic Correlations in Eastern Terra Meridiani, Mars

The Mars Express Observatoire pour la Minéralogie, l'Eau, les Glaces, et l'Activité (OMEGA) hyperspectral image data covering eastern Terra Meridiani indicate the ubiquitous presence of molecular water in etched terrain materials that disconformably overlie heavily cratered terrains and underlie the hematite-bearing plains explored by the Opportunity rover. Identification of crystalline water in kieserite (MgSO4.H2O) is linked to materials exposed in a valley and plateau to the north of hematite-bearing plains. The mineralogical similarities between the etched terrain deposits examined with OMEGA data and the layered rocks examined by Opportunity imply that the ancient aqueous environments inferred from analyses of the rover data extend over regional scales.

In situ evidence for an ancient aqueous environment at Meridiani Planum, Mars

Sedimentary rocks at Eagle crater in Meridiani Planum are composed of fine-grained siliciclastic materials derived from weathering of basaltic rocks, sulfate minerals (including magnesium sulfate and jarosite) that constitute several tens of percent of the rock by weight, and hematite. Cross-stratification observed in rock outcrops indicates eolian and aqueous transport. Diagenetic features include hematite-rich concretions and crystal-mold vugs. We interpret the rocks to be a mixture of chemical and siliciclastic sediments with a complex diagenetic history. The environmental conditions that they record include episodic inundation by shallow surface water, evaporation, and desiccation. The geologic record at Meridiani Planum suggests that conditions were suitable for biological activity for a period of time in martian history.