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USGS2003

Mars Exploration Rover Athena Panoramic Camera (Pancam) investigation

The Panoramic Camera (Pancam) investigation is part of the Athena science payload launched to Mars in 2003 on NASA's twin Mars Exploration Rover (MER) missions. The scientific goals of the Pancam investigation are to assess the high‐resolution morphology, topography, and geologic context of each MER landing site, to obtain color images to constrain the mineralogic, photometric, and physical properties of surface materials, and to determine dust and aerosol opacity and physical properties from direct imaging of the Sun and sky. Pancam also provides mission support measurements for the rovers, including Sun‐finding for rover navigation, hazard identification and digital terrain modeling to help guide long‐term rover traverse decisions, high‐resolution imaging to help guide the selection of in situ sampling targets, and acquisition of education and public outreach products. The Pancam optical, mechanical, and electronics design were optimized to achieve these science and mission support goals. Pancam is a multispectral, stereoscopic, panoramic imaging system consisting of two digital cameras mounted on a mast 1.5 m above the Martian surface. The mast allows Pancam to image the full 360° in azimuth and ±90° in elevation. Each Pancam camera utilizes a 1024 × 1024 active imaging area frame transfer CCD detector array. The Pancam optics have an effective focal length of 43 mm and a focal ratio of f /20, yielding an instantaneous field of view of 0.27 mrad/pixel and a field of view of 16° × 16°. Each rover's two Pancam “eyes” are separated by 30 cm and have a 1° toe‐in to provide adequate stereo parallax. Each eye also includes a small eight position filter wheel to allow surface mineralogic studies, multispectral sky imaging, and direct Sun imaging in the 400–1100 nm wavelength region. Pancam was designed and calibrated to operate within specifications on Mars at temperatures from −55° to +5°C. An onboard calibration target and fiducial marks provide the capability to validate the radiometric and geometric calibration on Mars.

Journal of Geophysical Research E: Planets↗

USGS2003

Selection of the Mars Exploration Rover landing sites

The selection of Meridiani Planum and Gusev crater as the Mars Exploration Rover landing sites took over 2 years, involved broad participation of the science community via four open workshops, and narrowed an initial ∼155 potential sites (80–300 × 30 km) to four finalists based on science and safety. Engineering constraints important to the selection included (1) latitude (10°N–15°S) for maximum solar power, (2) elevation (less than −1.3 km) for sufficient atmosphere to slow the lander, (3) low horizontal winds, shear, and turbulence in the last few kilometers to minimize horizontal velocity, (4) low 10‐m‐scale slopes to reduce airbag spin‐up and bounce, (5) moderate rock abundance to reduce abrasion or strokeout of the airbags, and (6) a radar‐reflective, load‐bearing, and trafficable surface safe for landing and roving that is not dominated by fine‐grained dust. The evaluation of sites utilized existing as well as targeted orbital information acquired from the Mars Global Surveyor and Mars Odyssey. Three of the final four landing sites show strong evidence for surface processes involving water and appear capable of addressing the science objectives of the missions, which are to determine the aqueous, climatic, and geologic history of sites on Mars where conditions may have been favorable to the preservation of evidence of possible prebiotic or biotic processes. The evaluation of science criteria placed Meridiani and Gusev as the highest‐priority sites. The evaluation of the three most critical safety criteria (10‐m‐scale slopes, rocks, and winds) and landing simulation results indicated that Meridiani and Elysium Planitia are the safest sites, followed by Gusev and Isidis Planitia.

Journal of Geophysical Research E: Planets↗

USGS2003

Athena Microscopic Imager investigation

The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI). The MI is a fixed‐focus camera mounted on the end of an extendable instrument arm, the Instrument Deployment Device (IDD). The MI was designed to acquire images at a spatial resolution of 30 microns/pixel over a broad spectral range (400–700 nm). The MI uses the same electronics design as the other MER cameras but has optics that yield a field of view of 31 × 31 mm across a 1024 × 1024 pixel CCD image. The MI acquires images using only solar or skylight illumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 66 mm), allowing concave surfaces to be imaged in good focus. Coarse focusing (∼2 mm precision) is achieved by moving the IDD away from a rock target after the contact sensor has been activated. The MI optics are protected from the Martian environment by a retractable dust cover. The dust cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500–700 nm, allowing color information to be obtained by taking images with the dust cover open and closed. MI data will be used to place other MER instrument data in context and to aid in petrologic and geologic interpretations of rocks and soils on Mars.

Journal of Geophysical Research E: Planets↗

USGS2003

Meter-scale slopes of candidate MER landing sites from point photoclinometry

Photoclinometry was used to analyze the small-scale roughness of areas that fall within the proposed Mars Exploration Rover (MER) 2003 landing ellipses. The landing ellipses presented in this study were those in Athabasca Valles, Elysium Planitia, Eos Chasma, Gusev Crater, Isidis Planitia, Melas Chasma, and Meridiani Planum. We were able to constrain surface slopes on length scales comparable to the image resolution (1.5 to 12 m/pixel). The MER 2003 mission has various engineering constraints that each candidate landing ellipse must satisfy. These constraints indicate that the statistical slope values at 5 m baselines are an important criterion. We used our technique to constrain maximum surface slopes across large swaths of each image, and built up slope statistics for the images in each landing ellipse. We are confident that all MER 2003 landing site ellipses in this study, with the exception of the Melas Chasma ellipse, are within the small-scale roughness constraints. Our results have provided input into the landing hazard assessment process. In addition to evaluating the safety of the landing sites, our mapping of small-scale roughnesses can also be used to better define and map morphologic units. The morphology of a surface is characterized by the slope distribution and magnitude of slopes. In looking at how slopes are distributed, we can better define landforms and determine the boundaries of morphologic units.

Journal of Geophysical Research E: Planets↗

USGS2003

Athena Mars rover science investigation

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.

Journal of Geophysical Research E: Planets↗

USGS2003

High-resolution topomapping of candidate MER landing sites with Mars Orbiter Camera narrow-angle images

We analyzed narrow‐angle Mars Orbiter Camera (MOC‐NA) images to produce high‐resolution digital elevation models (DEMs) in order to provide topographic and slope information needed to assess the safety of candidate landing sites for the Mars Exploration Rovers (MER) and to assess the accuracy of our results by a variety of tests. The mapping techniques developed also support geoscientific studies and can be used with all present and planned Mars‐orbiting scanner cameras. Photogrammetric analysis of MOC stereopairs yields DEMs with 3‐pixel (typically 10 m) horizontal resolution, vertical precision consistent with ∼0.22 pixel matching errors (typically a few meters), and slope errors of 1–3°. These DEMs are controlled to the Mars Orbiter Laser Altimeter (MOLA) global data set and consistent with it at the limits of resolution. Photoclinometry yields DEMs with single‐pixel (typically ∼3 m) horizontal resolution and submeter vertical precision. Where the surface albedo is uniform, the dominant error is 10–20% relative uncertainty in the amplitude of topography and slopes after “calibrating” photoclinometry against a stereo DEM to account for the influence of atmospheric haze. We mapped portions of seven candidate MER sites and the Mars Pathfinder site. Safety of the final four sites (Elysium, Gusev, Isidis, and Meridiani) was assessed by mission engineers by simulating landings on our DEMs of “hazard units” mapped in the sites, with results weighted by the probability of landing on those units; summary slope statistics show that most hazard units are smooth, with only small areas of etched terrain in Gusev crater posing a slope hazard.

Journal of Geophysical Research E: Planets↗

USGS2004

Luminescence dating of the Wabar meteorite craters, Saudi Arabia

Luminescence dating has been used to find the age of meteorite impact craters at Wabar (Al Hadida) in Saudi Arabia. The luminescence characteristics of the shocked material were determined. Using a variety of luminescence dating techniques applied to impactite formed by the meteorite, and to the underlying sand, the age is found to be 290 ± 38 years. A comparison is made with two possible historically recorded ages. An impact as young as this has implications for the assessment of hazards from the impact on Earth of small meteorites.

Al Hadida, Ar-Rub' Al-Khali (Empty Quarter)↗

USGS2004

Frequency and initiation of debris flows in Grand Canyon, Arizona

Debris flows from 740 tributaries transport sediment into the Colorado River in Grand Canyon, Arizona, creating rapids that control its longitudinal profile. Debris flows mostly occur when runoff triggers failures in colluvium by a process termed “the fire hose effect.” Debris flows originate from a limited number of geologic strata, almost exclusively shales or other clay‐rich, fine‐grained formations. Observations from 1984 through 2003 provide a 20 year record of all debris flows that reached the Colorado River in Grand Canyon, and repeat photography provides a 100 year record of debris flows from 147 tributaries. Observed frequencies are 5.1 events/year from 1984 to 2003, and historic frequencies are 5.0 events/year from 1890 to 1983. Logistic regression is used to model historic frequencies based on drainage basin parameters observed to control debris flow initiation and transport. From 5 to 7 of the 16 parameters evaluated are statistically significant, including drainage area, basin relief, and the height of and gradient below debris flow source areas, variables which reflect transport distance and potential energy. The aspect of the river channel, which at least partially reflects storm movement within the canyon, is also significant. Model results are used to calculate the probability of debris flow occurrence at the river over a century for all 740 tributaries. Owing to the variability of underlying geomorphic controls, the distribution of this probability is not uniform among tributaries of the Colorado River in Grand Canyon.

Arizona↗

USGS2004

Granular avalanches across irregular three-dimensional terrain: 2. Experimental tests

Scaling considerations indicate that miniature experiments can be used to test models of granular avalanches in which the effects of intergranular fluid and cohesion are negligible. To test predictions of a granular avalanche model described in a companion paper, we performed bench top experiments involving avalanches of dry sand across irregular basal topography that mimicked the complexity of natural terrain. The experiments employed a novel method of laser-assisted cartography to map the three-dimensional morphology of rapidly moving avalanches, thereby providing high-resolution data for comparison with model output. Model input consisted of two material properties (angles of internal and basal Coulomb friction of the sand), which were measured in independent tests, and of initial and boundary conditions that characterized the geometry of the experimental apparatus. Experimental results demonstrate that the model accurately predicts not only the gross behavior but also many details of avalanche motion, from initiation to deposition. We attribute this accuracy to a mathematical and computational formulation that conserves mass and momentum in three-dimensional physical space and satisfies the Coulomb equation in three-dimensional stress space. Our results support the hypothesis that a Coulomb proportionality between shear and normal stresses applies in moderately rapid granular flows and that complicated constitutive postulates are unnecessary if momentum conservation is strictly enforced in continuum avalanche models. Furthermore, predictions of our Coulomb continuum model contrast with those of a Coulomb point mass model, illustrating the importance of multidimensional modeling and model testing.

Journal of Geophysical Research Earth Surface↗

USGS2004

Granular avalanches across irregular three-dimensional terrain: 1. Theory and computation

To establish a theoretical basis for predicting and interpreting the behavior of rapid mass movements on Earth's surface, we develop and test a new computational model for gravity-driven motion of granular avalanches across irregular, three-dimensional (3-D) terrain. The principles embodied in the model are simple and few: continuum mass and momentum conservation and intergranular stress generation governed by Coulomb friction. However, significant challenges result from the necessity of satisfying these principles when deforming avalanches interact with steep and highly variable 3-D terrain. We address these challenges in four ways. (1) We formulate depth-averaged governing equations that are referenced to a rectangular Cartesian coordinate system (with z vertical) and that account explicitly for the effect of nonzero vertical accelerations on depth-averaged mass and momentum fluxes and stress states. (2) We compute fluxes of mass and momentum across vertical cell boundaries using a high-resolution finite volume method and Roe-type Riemann solver. Our algorithm incorporates flux difference splitting, an entropy correction for the flux, and eigenvector decomposition to embed the effects of driving and resisting forces in Riemann solutions. (3) We use a finite element method and avalanche displacements predicted by Riemann solutions to compute Coulomb stresses conjugate to the displacements in 3-D stress space. (4) We test the model output against analytical solutions, a sand cone conceptual experiment, and (in a companion paper) data from detailed laboratory experiments. Model results illustrate a complex interplay of basal traction and internal stress, and they successfully predict not only the gross behavior but also many details of avalanche motion from initiation to deposition.

Journal of Geophysical Research Earth Surface↗

USGS2004

A physical model for strain accumulation in the San Francisco Bay region: Stress evolution since 1838

Understanding of the behavior of plate boundary zones has progressed to the point where reasonably comprehensive physical models can predict their evolution. The San Andreas fault system in the San Francisco Bay region (SFBR) is dominated by a few major faults whose behavior over about one earthquake cycle is fairly well understood. By combining the past history of large ruptures on SFBR faults with a recently proposed physical model of strain accumulation in the SFBR, we derive the evolution of regional stress from 1838 until the present. This effort depends on (1) an existing compilation of the source properties of historic and contemporary SFBR earthquakes based on documented shaking, geodetic data, and seismic data (Bakun, 1999) and (2) a few key parameters of a simple regional viscoelastic coupling model constrained by recent GPS data (Pollitz and Nyst, 2004). Although uncertainties abound in the location, magnitude, and fault geometries of historic ruptures and the physical model relies on gross simplifications, the resulting stress evolution model is sufficiently detailed to provide a useful window into the past stress history. In the framework of Coulomb failure stress, we find that virtually all M ??? 5.8 earthquakes prior to 1906 and M ??? 5.5 earthquakes after 1906 are consistent with stress triggering from previous earthquakes. These events systematically lie in zones of predicted stress concentration elevated 5-10 bars above the regional average. The SFBR is predicted to have emerged from the 1906 "shadow" in about 1980, consistent with the acceleration in regional seismicity at that time. The stress evolution model may be a reliable indicator of the most likely areas to experience M ??? 5.5 shocks in the future.

Journal of Geophysical Research B: Solid Earth↗

USGS2005

Interferometric synthetic aperture radar study of Okmok volcano, Alaska, 1992-2003: Magma supply dynamics and postemplacement lava flow deformation

Okmok volcano, located in the central Aleutian arc, Alaska, is a dominantly basaltic complex topped with a 10-km-wide caldera that formed circa 2.05 ka. Okmok erupted several times during the 20th century, most recently in 1997; eruptions in 1945, 1958, and 1997 produced lava flows within the caldera. We used 80 interferometric synthetic aperture radar (InSAR) images (interferograms) to study transient deformation of the volcano before, during, and after the 1997 eruption. Point source models suggest that a magma reservoir at a depth of 3.2 km below sea level, located beneath the center of the caldera and about 5 km northeast of the 1997 vent, is responsible for observed volcano-wide deformation. The preeruption uplift rate decreased from about 10 cm yr −1 during 1992–1993 to 2 ∼ 3 cm yr −1 during 1993–1995 and then to about −1 ∼ −2 cm yr −1 during 1995–1996. The posteruption inflation rate generally decreased with time during 1997–2001, but increased significantly during 2001–2003. By the summer of 2003, 30 ∼ 60% of the magma volume lost from the reservoir in the 1997 eruption had been replenished. Interferograms for periods before the 1997 eruption indicate consistent subsidence of the surface of the 1958 lava flows, most likely due to thermal contraction. Interferograms for periods after the eruption suggest at least four distinct deformation processes: (1) volcano-wide inflation due to replenishment of the shallow magma reservoir, (2) subsidence of the 1997 lava flows, most likely due to thermal contraction, (3) deformation of the 1958 lava flows due to loading by the 1997 flows, and (4) continuing subsidence of 1958 lava flows buried beneath 1997 flows. Our results provide insights into the postemplacement behavior of lava flows and have cautionary implications for the interpretation of inflation patterns at active volcanoes.

Alaska↗

USGS2005

Significance of stress transfer in time-dependent earthquake probability calculations

A sudden change in stress is seen to modify earthquake rates, but should it also revise earthquake probability? Data used to derive input parameters permits an array of forecasts; so how large a static stress change is require to cause a statistically significant earthquake probability change? To answer that question, effects of parameter and philosophical choices are examined through all phases of sample calculations, Drawing at random from distributions of recurrence-aperiodicity pairs identifies many that recreate long paleoseismic and historic earthquake catalogs. Probability density funtions built from the recurrence-aperiodicity pairs give the range of possible earthquake forecasts under a point process renewal model. Consequences of choices made in stress transfer calculations, such as different slip models, fault rake, dip, and friction are, tracked. For interactions among large faults, calculated peak stress changes may be localized, with most of the receiving fault area changed less than the mean. Thus, to avoid overstating probability change on segments, stress change values should be drawn from a distribution reflecting the spatial pattern rather than using the segment mean. Disparity resulting from interaction probability methodology is also examined. For a fault with a well-understood earthquake history, a minimum stress change to stressing rate ratio of 10:1 to 20:1 is required to significantly skew probabilities with >80-85% confidence. That ratio must be closer to 50:1 to exceed 90-95% confidence levels. Thus revision to earthquake probability is achievable when a perturbing event is very close to the fault in question or the tectonic stressing rate is low.

Journal of Geophysical Research B: Solid Earth↗

USGS2005

Rupture dynamics with energy loss outside the slip zone

Energy loss in a fault damage zone, outside the slip zone, contributes to the fracture energy that determines rupture velocity of an earthquake. A nonelastic two-dimensional dynamic calculation is done in which the slip zone is modeled as a fault plane and material off the fault is subject to a Coulomb yield condition. In a mode 2 crack-like solution in which an abrupt uniform drop of shear traction on the fault spreads from a point, Coulomb yielding occurs on the extensional side of the fault. Plastic strain is distributed with uniform magnitude along the fault, and it has a thickness normal to the fault proportional to propagation distance. Energy loss off the fault is also proportional to propagation distance, and it can become much larger than energy loss on the fault specified by the fault constitutive relation. The slip velocity function could be produced in an equivalent elastic problem by a slip-weakening friction law with breakdown slip Dc increasing with distance. Fracture energy G and equivalent Dc will be different in ruptures with different initiation points and stress drops, so they are not constitutive properties; they are determined by the dynamic solution that arrives at a particular point. Peak slip velocity is, however, a property of a fault location. Nonelastic response can be mimicked by imposing a limit on slip velocity on a fault in an elastic medium.

Journal of Geophysical Research B: Solid Earth↗

USGS2005

New constraints on mechanisms of remotely triggered seismicity at Long Valley Caldera

Regional-scale triggering of local earthquakes in the crust by seismic waves from distant main shocks has now been robustly documented for over a decade. Some of the most thoroughly recorded examples of repeated triggering of a single site from multiple, large earthquakes are measured in geothermal fields of the western United States like Long Valley Caldera. As one of the few natural cases where the causality of an earthquake sequence is apparent, triggering provides fundamental constraints on the failure processes in earthquakes. We show here that the observed triggering by seismic waves is inconsistent with any mechanism that depends on cumulative shaking as measured by integrated energy density. We also present evidence for a frequency-dependent triggering threshold. On the basis of the seismic records of 12 regional and teleseismic events recorded at Long Valley Caldera, long-period waves (>30 s) are more effective at generating local seismicity than short-period waves of comparable amplitude. If the properties of the system are stationary over time, the failure threshold for long-period waves is ~0.05 cm/s vertical shaking. Assuming a phase velocity of 3.5 km/s and an elastic modulus of 3.5 x 10 10 Pa, the threshold in terms of stress is 5 kPa. The frequency dependence is due in part to the attenuation of the surface waves with depth. Fluid flow through a porous medium can produce the rest of the observed frequency dependence of the threshold. If the threshold is not stationary with time, pore pressures that are >99.5% of lithostatic and vary over time by a factor of 4 could explain the observations with no frequency dependence of the triggering threshold.

California↗

USGS2005

Evolution of melt-vapor surface tension in silicic volcanic systems: Experiments with hydrous melts

We evaluate the melt‐vapor surface tension (σ) of natural, water‐saturated dacite melt at 200 MPa, 950–1055°C, and 4.8–5.7 wt % H 2 O. We experimentally determine the critical supersaturation pressure for bubble nucleation as a function of dissolved water and then solve for σ at those conditions using classical nucleation theory. The solutions obtained give dacite melt‐vapor surface tensions that vary inversely with dissolved water from 0.042 (±0.003) J m −2 at 5.7 wt % H 2 O to 0.060 (±0.007) J m −2 at 5.2 wt % H 2 O to 0.073 (±0.003) J m −2 at 4.8 wt % H 2 O. Combining our dacite results with data from published hydrous haplogranite and high‐silica rhyolite experiments reveals that melt‐vapor surface tension also varies inversely with the concentration of mafic melt components (e.g., CaO, FeO total , MgO). We develop a thermodynamic context for these observations in which melt‐vapor surface tension is represented by a balance of work terms controlled by melt structure. Overall, our results suggest that cooling, crystallization, and vapor exsolution cause systematic changes in σ that should be considered in dynamic modeling of magmatic processes.

Journal of Geophysical Research B: Solid Earth↗

USGS2004

Stress orientations at intermediate angles to the San Andreas Fault, California

There are currently two competing models for the frictional strength of the San Andreas Fault in California: the strong-fault model and the weak-fault model. The strong-fault model predicts the maximum horizontal compressive stress axis to be at low angles to the fault, while the relatively weak fault model predicts it to be at high angles. Previous studies have disagreed as to which model is supported by observed stress orientations. We review and compare these studies and present results from several new focal mechanism stress inversions. We find that the observed stress orientations of different studies are generally consistent, implying that the disagreement is one of interpretation. The majority of studies find compressive stress orientations at intermediate angles to the fault, not strictly consistent with either current model. The strong-fault model is acceptable if the San Andreas is assumed to be a nonoptimally orientated fault that fails because optimally oriented, preexisting planes are not present. The relatively weak fault model is not consistent with the stress orientations. We propose two alternative models to better explain the observed intermediate stress orientations: an intermediate-strength San Andreas model and a model in which all major active faults are weak.

California↗

USGS2005

The calcite → aragonite transformation in low-Mg marble: Equilibrium relations, transformations mechanisms, and rates

Experimental transformation of a rather pure natural calcite marble to aragonite marble did not proceed via the expected straightforward polymorphic replacement. Instead, the small amount of Mg in the starting material (0.36 wt %) was excluded from the growing aragonite and diffused preferentially into the remaining calcite grains, producing Mg-rich calcite rods that persisted as relicts. Nucleation of aragonite occurred exclusively on grain boundaries, with aragonite [001] oriented subparallel to calcite [0001]. The aragonite crystals preferentially consumed the calcite crystal on which they nucleated, and the reaction fronts developed preferentially along the {010} and {110} planes of aragonite. Each aragonite neoblast that grew was nearly free of Mg (typically <0.1 wt %). The excess Mg was taken up by the calcite grains in between, stabilizing them and causing a few volume percent rodlike relicts of Mg-enriched calcite (up to 10 wt % MgO) to be left behind by the advancing reaction front. The aragonite growth rates are approximately linear and range from &sim;3 × 10 −11 m s −1 at 600°C to &sim;9 × 10 −9 m s −1 at 850°C, with an apparent activation enthalpy of 166 ± 91 kJ mol −1 . This reaction mechanism and the resultant texture are akin to cellular precipitation reactions in metals. Similar transformation textures have been reported from high-Mg marbles in Japan and China that disproportionated to low-Mg calcite and dolomite.

Journal of Geophysical Research B: Solid Earth↗