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The Mars 2020 Perseverance rover mast camera zoom (Mastcam-Z) multispectral, stereoscopic imaging investigation

Mastcam-Z is a multispectral, stereoscopic imaging investigation on the Mars 2020 mission’s Perseverance rover. Mastcam-Z consists of a pair of focusable, 4:1 zoomable cameras that provide broadband red/green/blue and narrowband 400-1000 nm color imaging with fields of view from 25.6° × 19.2° (26 mm focal length at 283 μrad/pixel) to 6.2° × 4.6° (110 mm focal length at 67.4 μrad/pixel). The cameras can resolve (≥ 5 pixels) ∼0.7 mm features at 2 m and ∼3.3 cm features at 100 m distance. Mastcam-Z shares significant heritage with the Mastcam instruments on the Mars Science Laboratory Curiosity rover. Each Mastcam-Z camera consists of zoom, focus, and filter wheel mechanisms and a 1648 × 1214 pixel charge-coupled device detector and electronics. The two Mastcam-Z cameras are mounted with a 24.4 cm stereo baseline and 2.3° total toe-in on a camera plate ∼2 m above the surface on the rover’s Remote Sensing Mast, which provides azimuth and elevation actuation. A separate digital electronics assembly inside the rover provides power, data processing and storage, and the interface to the rover computer. Primary and secondary Mastcam-Z calibration targets mounted on the rover top deck enable tactical reflectance calibration. Mastcam-Z multispectral, stereo, and panoramic images will be used to provide detailed morphology, topography, and geologic context along the rover’s traverse; constrain mineralogic, photometric, and physical properties of surface materials; monitor and characterize atmospheric and astronomical phenomena; and document the rover’s sample extraction and caching locations. Mastcam-Z images will also provide key engineering information to support sample selection and other rover driving and tool/instrument operations decisions.

Space Science Reviews

NASA's surface biology and geology designated observable: A perspective on surface imaging algorithms

The 2017–2027 National Academies' Decadal Survey, Thriving on Our Changing Planet , recommended Surface Biology and Geology (SBG) as a “Designated Targeted Observable” (DO). The SBG DO is based on the need for capabilities to acquire global, high spatial resolution, visible to shortwave infrared (VSWIR; 380–2500 nm; ~30 m pixel resolution) hyperspectral (imaging spectroscopy) and multispectral midwave and thermal infrared (MWIR: 3–5 μm; TIR: 8–12 μm; ~60 m pixel resolution) measurements with sub-monthly temporal revisits over terrestrial, freshwater, and coastal marine habitats. To address the various mission design needs, an SBG Algorithms Working Group of multidisciplinary researchers has been formed to review and evaluate the algorithms applicable to the SBG DO across a wide range of Earth science disciplines, including terrestrial and aquatic ecology, atmospheric science, geology, and hydrology. Here, we summarize current state-of-the-practice VSWIR and TIR algorithms that use airborne or orbital spectral imaging observations to address the SBG DO priorities identified by the Decadal Survey: (i) terrestrial vegetation physiology, functional traits, and health; (ii) inland and coastal aquatic ecosystems physiology, functional traits, and health; (iii) snow and ice accumulation, melting, and albedo; (iv) active surface composition (eruptions, landslides, evolving landscapes, hazard risks); (v) effects of changing land use on surface energy, water, momentum, and carbon fluxes; and (vi) managing agriculture, natural habitats, water use/quality, and urban development. We review existing algorithms in the following categories: snow/ice, aquatic environments, geology, and terrestrial vegetation, and summarize the community-state-of-practice in each category. This effort synthesizes the findings of more than 130 scientists.

Remote Sensing of Environment

Elevation-based probabilistic mapping of irregularly flooded wetlands along the northern Gulf of Mexico coast

Irregularly flooded wetlands are found above the mean high water tidal datum and are exposed to tides and saltwater less frequently than daily. These wetlands provide important ecosystem services, such as providing habitat for fish and wildlife, enhancing water quality, ameliorating flooding impacts, supporting coastal food webs, and protecting upslope areas from erosion. Mapping irregularly flooded wetlands is challenging given their expansive coverage and dynamic nature. Furthermore, coastal wetlands are expected to change over the coming century due to sea-level rise and changes in the frequency and intensity of extreme storms. Consequently, coastal managers need baseline information on the spatial distribution of wetlands along with efficient and repeatable methods for observing changes. In this study, we used coastal wetlands from existing land use land cover data, best available lidar-derived digital elevation models, and Monte Carlo simulations to incorporate elevation uncertainty to create a probabilistic map of irregularly flooded wetlands along the northern Gulf of Mexico coast (USA). Our approach integrated findings from a review of coastal wetland elevation error in lidar datasets and an analysis of spatial autocorrelations of wetland elevation. We found a positive correlation ( r = 0.563, p < 0.0001) when comparing the probability estimated from a digital elevation model and in situ elevation observations. The differences in probability had a mean bias error of −0.04 (i.e., digital elevation model-based probability tends to be slightly lower), a mean absolute error of 0.20, and a root mean square error of 0.26. Beyond this overall validation, we explored error metrics for land cover classes and lidar collection details. To quantify areal coverage of the probabilistic output, we classified the probability values into equal bins using an interval of 0.33. The areal coverage of the lowest probability bin (“unlikely”; probability ≤0.33) was separated into the upper and lower portions of the irregularly flooded wetland zone. Of the coastal wetlands along the northern Gulf of Mexico coast about 38% were classified as unlikely and low with the greatest coverage in south Louisiana and the Everglades and around 33% were classified as unlikely and high with the greatest coverage in the Everglades and Texas. The relative coverage within the highest probability bin (“likely”; probability >0.66) covered around 13%, with the greatest coverage in south Florida, south Louisiana, and Texas. The framework developed in this study can be transferred to other coastal wetland areas and updated to observe changes with sea-level rise.

Gulf of Mexico coastline

Techniques for identifying dust devils in mars pathfinder images

Image processing methods used to identify and enhance dust devil features imaged by IMP (Imager for Mars Pathfinder) are reviewed. Spectral differences, visible red minus visible blue, were used for initial dust devil searches, driven by the observation that Martian dust has high red and low blue reflectance. The Martian sky proved to be more heavily dust-laden than pre-Pathfinder predictions, based on analysis of images from the Hubble Space Telescope. As a result, these initial spectral difference methods failed to contrast dust devils with background dust haze. Imager artifacts (dust motes on the camera lens, flat-field effects caused by imperfections in the CCD, and projection onto a flat sensor plane by a convex lens) further impeded the ability to resolve subtle dust devil features. Consequently, reference images containing sky with a minimal horizon were first subtracted from each spectral filter image to remove camera artifacts and reduce the background dust haze signal. Once the sky-flat preprocessing step was completed, the red-minus-blue spectral difference scheme was attempted again. Dust devils then were successfully identified as bright plumes. False-color ratios using calibrated IMP images were found useful for visualizing dust plumes, verifying initial discoveries as vortex-like features. Enhancement of monochromatic (especially blue filter) images revealed dust devils as silhouettes against brighter background sky. Experiments with principal components transformation identified dust devils in raw, uncalibrated IMP images and further showed relative movement of dust devils across the Martian surface. A variety of methods therefore served qualitative and quantitative goals for dust plume identification and analysis in an environment where such features are obscure.

IEEE Transactions on Geoscience and Remote Sensing

Evaluation of SWIR crop residue bands for the Landsat Next mission

This research reports the findings of a Landsat Next expert review panel that evaluated the use of narrow shortwave infrared (SWIR) reflectance bands to measure ligno-cellulose absorption features centered near 2100 and 2300 nm, with the objective of measuring and mapping non-photosynthetic vegetation (NPV), crop residue cover, and the adoption of conservation tillage practices within agricultural landscapes. Results could also apply to detection of NPV in pasture, grazing lands, and non-agricultural settings. Currently, there are no satellite data sources that provide narrowband or hyperspectral SWIR imagery at sufficient volume to map NPV at a regional scale. The Landsat Next mission, currently under design and expected to launch in the late 2020’s, provides the opportunity for achieving increased SWIR sampling and spectral resolution with the adoption of new sensor technology. This study employed hyperspectral data collected from 916 agricultural field locations with varying fractional NPV, fractional green vegetation, and surface moisture contents. These spectra were processed to generate narrow bands with centers at 2040, 2100, 2210, 2260, and 2230 nm, at various bandwidths, that were subsequently used to derive 13 NPV spectral indices from each spectrum. For crop residues with minimal green vegetation cover, two-band indices derived from 2210 and 2260 nm bands were top performers for measuring NPV (R 2 = 0.81, RMSE = 0.13) using bandwidths of 30 to 50 nm, and the addition of a third band at 2100 nm increased resistance to atmospheric correction residuals and improved mission continuity with Landsat 8 Operational Land Imager Band 7. For prediction of NPV over a full range of green vegetation cover, the Cellulose Absorption Index, derived from 2040, 2100, and 2210 nm bands, was top performer (R 2 = 0.77, RMSE = 0.17), but required a narrow (≤20 nm) bandwidth at 2040 nm to avoid interference from atmospheric carbon dioxide absorption. In comparison, broadband NPV indices utilizing Landsat 8 bands centered at 1610 and 2200 nm performed poorly in measuring fractional NPV (R 2 = 0.44), with significantly increased interference from green vegetation.

Remote Sensing

The ChemCam Instrument Suite on the Mars Science Laboratory (MSL) Rover: Science objectives and mast unit description

ChemCam is a remote sensing instrument suite on board the "Curiosity" rover (NASA) that uses Laser-Induced Breakdown Spectroscopy (LIBS) to provide the elemental composition of soils and rocks at the surface of Mars from a distance of 1.3 to 7 m, and a telescopic imager to return high resolution context and micro-images at distances greater than 1.16 m. We describe five analytical capabilities: rock classification, quantitative composition, depth profiling, context imaging, and passive spectroscopy. They serve as a toolbox to address most of the science questions at Gale crater. ChemCam consists of a Mast-Unit (laser, telescope, camera, and electronics) and a Body-Unit (spectrometers, digital processing unit, and optical demultiplexer), which are connected by an optical fiber and an electrical interface. We then report on the development, integration, and testing of the Mast-Unit, and summarize some key characteristics of ChemCam. This confirmed that nominal or better than nominal performances were achieved for critical parameters, in particular power density (>1 GW/cm 2 ). The analysis spot diameter varies from 350 μm at 2 m to 550 μm at 7 m distance. For remote imaging, the camera field of view is 20 mrad for 1024×1024 pixels. Field tests demonstrated that the resolution (˜90 μrad) made it possible to identify laser shots on a wide variety of images. This is sufficient for visualizing laser shot pits and textures of rocks and soils. An auto-exposure capability optimizes the dynamical range of the images. Dedicated hardware and software focus the telescope, with precision that is appropriate for the LIBS and imaging depths-of-field. The light emitted by the plasma is collected and sent to the Body-Unit via a 6 m optical fiber. The companion to this paper (Wiens et al. this issue) reports on the development of the Body-Unit, on the analysis of the emitted light, and on the good match between instrument performance and science specifications.

Space Science Reviews

Global methane budget 2000-2020

Understanding and quantifying the global methane (CH 4 ) budget is important for assessing realistic pathways to mitigate climate change. CH 4 is the second most important human-influenced greenhouse gas in terms of climate forcing after carbon dioxide (CO 2 ), and both emissions and atmospheric concentrations of CH 4 have continued to increase since 2007 after a temporary pause. The relative importance of CH 4 emissions compared to those of CO 2 for temperature change is related to its shorter atmospheric lifetime, stronger radiative effect, and acceleration in atmospheric growth rate over the past decade, the causes of which are still debated. Two major challenges in quantifying the factors responsible for the observed atmospheric growth rate arise from diverse, geographically overlapping CH 4 sources and from the uncertain magnitude and temporal change in the destruction of CH 4 by short-lived and highly variable hydroxyl radicals (OH). To address these challenges, we have established a consortium of multidisciplinary scientists under the umbrella of the Global Carbon Project to improve, synthesise, and update the global CH 4 budget regularly and to stimulate new research on the methane cycle. Following Saunois et al. (2016, 2020), we present here the third version of the living review paper dedicated to the decadal CH 4 budget, integrating results of top-down CH 4 emission estimates (based on in situ and Greenhouse Gases Observing SATellite (GOSAT) atmospheric observations and an ensemble of atmospheric inverse-model results) and bottom-up estimates (based on process-based models for estimating land surface emissions and atmospheric chemistry, inventories of anthropogenic emissions, and data-driven extrapolations). We present a budget for the most recent 2010–2019 calendar decade (the latest period for which full data sets are available), for the previous decade of 2000–2009 and for the year 2020. The revision of the bottom-up budget in this 2025 edition benefits from important progress in estimating inland freshwater emissions, with better counting of emissions from lakes and ponds, reservoirs, and streams and rivers. This budget also reduces double counting across freshwater and wetland emissions and, for the first time, includes an estimate of the potential double counting that may exist (average of 23 Tg CH 4 yr −1 ). Bottom-up approaches show that the combined wetland and inland freshwater emissions average 248 [159–369] Tg CH 4 yr −1 for the 2010–2019 decade. Natural fluxes are perturbed by human activities through climate, eutrophication, and land use. In this budget, we also estimate, for the first time, this anthropogenic component contributing to wetland and inland freshwater emissions. Newly available gridded products also allowed us to derive an almost complete latitudinal and regional budget based on bottom-up approaches. For the 2010–2019 decade, global CH 4 emissions are estimated by atmospheric inversions (top-down) to be 575 Tg CH 4 yr −1 (range 553–586, corresponding to the minimum and maximum estimates of the model ensemble). Of this amount, 369 Tg CH 4 yr −1 or ∼ 65 % is attributed to direct anthropogenic sources in the fossil, agriculture, and waste and anthropogenic biomass burning (range 350–391 Tg CH 4 yr −1 or 63 %–68 %). For the 2000–2009 period, the atmospheric inversions give a slightly lower total emission than for 2010–2019, by 32 Tg CH 4 yr −1 (range 9–40). The 2020 emission rate is the highest of the period and reaches 608 Tg CH 4 yr −1 (range 581–627), which is 12 % higher than the average emissions in the 2000s. Since 2012, global direct anthropogenic CH 4 emission trends have been tracking scenarios that assume no or minimal climate mitigation policies proposed by the Intergovernmental Panel on Climate Change (shared socio-economic pathways SSP5 and SSP3). Bottom-up methods suggest 16 % (94 Tg CH 4 yr −1 ) larger global emissions (669 Tg CH 4 yr −1 , range 512–849) than top-down inversion methods for the 2010–2019 period. The discrepancy between the bottom-up and the top-down budgets has been greatly reduced compared to the previous differences (167 and 156 Tg CH 4 yr −1 in Saunois et al. (2016, 2020) respectively), and for the first time uncertainties in bottom-up and top-down budgets overlap. Although differences have been reduced between inversions and bottom-up, the most important source of uncertainty in the global CH 4 budget is still attributable to natural emissions, especially those from wetlands and inland freshwaters. The tropospheric loss of methane, as the main contributor to methane lifetime, has been estimated at 563 [510–663] Tg CH 4 yr −1 based on chemistry–climate models. These values are slightly larger than for 2000–2009 due to the impact of the rise in atmospheric methane and remaining large uncertainty ( ∼ 25 %). The total sink of CH 4 is estimated at 633 [507–796] Tg CH 4 yr −1 by the bottom-up approaches and at 554 [550–567] Tg CH 4 yr −1 by top-down approaches. However, most of the top-down models use the same OH distribution, which introduces less uncertainty to the global budget than is likely justified. For 2010–2019, agriculture and waste contributed an estimated 228 [213–242] Tg CH 4 yr −1 in the top-down budget and 211 [195–231] Tg CH 4 yr −1 in the bottom-up budget. Fossil fuel emissions contributed 115 [100–124] Tg CH 4 yr −1 in the top-down budget and 120 [117–125] Tg CH 4 yr −1 in the bottom-up budget. Biomass and biofuel burning contributed 27 [26–27] Tg CH 4 yr −1 in the top-down budget and 28 [21–39] Tg CH 4 yr −1 in the bottom-up budget. We identify five major priorities for improving the CH 4 budget: (i) producing a global, high-resolution map of water-saturated soils and inundated areas emitting CH 4 based on a robust classification of different types of emitting ecosystems; (ii) further development of process-based models for inland-water emissions; (iii) intensification of CH 4 observations at local (e.g. FLUXNET-CH 4 measurements, urban-scale monitoring, satellite imagery with pointing capabilities) to regional scales (surface networks and global remote sensing measurements from satellites) to constrain both bottom-up models and atmospheric inversions; (iv) improvements of transport models and the representation of photochemical sinks in top-down inversions; and (v) integration of 3D variational inversion systems using isotopic and/or co-emitted species such as ethane as well as information in the bottom-up inventories on anthropogenic super-emitters detected by remote sensing (mainly oil and gas sector but also coal, agriculture, and landfills) to improve source partitioning.

Earth System Science Data