“life in the atacama” 2013 rover field campaign in chile autonomous analysis of robotic core...
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“Life in the Atacama” 2013 Rover Field Campaign in Chile
Autonomous Analysis of Robotic Core Materials by the Mars Microbeam Raman Spectrometer (MMRS)
Jie Wei1, Alian Wang1, James L. Lambert2, David Wettergreen3, Nathalie Cabrol4 and Kimberley Warren-Rhodes4
1Washington University in St. Louis; 2Jet Propulsion Laboratory, CA, 91109,
3Carnegie Mellon University, Pittsburgh PA 15213,4SETI Institute, Carl Sagan Center, NASA Ames Research Center, CA 94035
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Background
Methodology: sampling & measurements
Performance of MMRS (robustness )
Minerals identified
Quantitative analysis: phase distributions
Conclusion
Outline
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Background• Life in the Atacama (NASA ,
ASTEP program)Atacama desert: one of the driest deserts; a
terrestrial analog to Mars. Different forms of life were previously identified at Atacama subsurfaces.
LIFA 2013 campaign, rover-based exploration: robotic subsurface sampling, autonomous mineral phase identification.
Operation: Remotely directedField team: Rover, Drill, MMRS
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Background• Mars Microbeam Raman Spectrometer (MMRS) for
fine-scale mineralogy and biosignature1996 NASA PIDDP 1997 Athena payload for Mars Exploration Rover mission2004 MSL payload selection (category one)2012 LITA project, MMRS stand-alone2013 LITA project , MMRS on Zöe rover
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Methodology• Sample collections Automatically delivered by drill
• Measurements:
Manually collected from pit wall
Autonomous line-scan of samples on carousel
MMRS main box
MMRS probe headLine-scan of the same samples using HoloLab5000 (similar performance as MMRS)
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Raman spectroscopy Micro (focused) beam with line scanfine grain mineralogy
h
Non-invasiveNon-destructiveIn situ application
• Point counting method:
• Taking spectra from many spots using focused beam
• Each assignable spectrum is added to the phase count
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L Dcm
mmrspoints
11 M 80 50
30 20
10 20
A 80 100
30 20
10 100
10 M 80 18
30 20
10 20
0 20
A 80 50
30 50
10 50
9 M 80 5030 5010 50
A 80 5030 5010 50
8 M 80 10030 20
A 80 5030 100
6B M 80 10030 10010 1000 100
5 M 30 520 50
2B M 80 500 20
• 7 locations, 31 samples• 62 measurements (mmrs, lab)• Total 3230 points (spectra) .
2
5,6B
8-11
Measurement summary
Locations and depths
Linear-scan points
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MMRS RobustnessMMRS normal performance remained over 2-week 50 km route
Naphthalene spectra at the beginning and end of the tripBlue: 06/17 15:09 Red: 06/29 20:54
• Peak position• Accounts• Relative peak
intensity
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Gypsum (CaSO4 2H∙ 2O )
For low s/n spectra, single peak at 1008 was assigned to gypsum.
Minerals identified -- 3 sulfates
200 400 600 800 1000 3200 3400 3600
1008
Raman Shift (cm-1)
Gypsum (CaSO4-2H
2O)
MMRSLocale 5, surface
PeakWidth=11 cm-1
200 400 600 800 1000 3200 3400 3600
1008
Raman Shift (cm-1)
Gypsum (CaSO4-2H
2O)
LabLocale 5, surface
PeakWidth=8.6 cm-1
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Anhydrite (CaSO4)
Minerals identified -- 3 sulfates
400 600 800 1000 1200
415 49
4
620
671
1136
1008
418 50
0 610 62
9
676
1129
1017
Raman Shift (cm-1)
MMRS Anhydrite (CaSO
4)
Gypsum (CaSO4-2H
2O)
200 400 600 800 1000 1200
1017
Raman Shift (cm-1)
Anhydrite (CaSO4)
MMRS Lab
Locale 6B, PitDepth=80 cm
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OH str. A-sym. Str.
Sym. Str.
A-sym. Bend. Sym. bend.
Gypsum (CaSO4 2H∙ 2O ) 3494,3407 1135 1008 670, 620 494,415
Anhydrite (CaSO4 ) 1128 1017 676,629,612 499,416
-CaSO4(a) 1168 1025 674,632 492,422
Bassanite (CaSO4 0.5H∙ 2O(b)) 3700,3475 1128 1015 668,628 489,427
(a) Only observed in lab. Chio, Sharma and Muenow, American Mineralogist, 89: 390 (2004) (b) Not certainly identified in this study. From Yang, Wang and Freeman, 40th LPSC (2009): 2128
400 600 800 1000 1200
422 49
2 632
674
102541
5
494
620
671
1136
1008
418 50
0
610 62
9
676
1129
1017
Raman Shift (cm-1)
Anhydrite (CaSO4),MMRS
Gypsum (CaSO4-2H
2O), MMRS
-CaSO4, Lab
Minerals identified -- 3 sulfates in Atacama-2013 samples
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In the MMRS spectra of Atacama samples, only the strongest peaks between 508 - 516 cm-1 show up. They are assigned to the group of feldspar. The peak positions indicate alkali-feldspars, i.e. Na & K-feldspar.
[a]Freeman, Wang, Kuebler, Jolliff and Haskin, The Canadian Mineralogist, 46: 1477 (2008).
Feldspar groupThe Raman spectra slightly vary. The strongest Raman peaks fall within a narrow region of 505 and 515 cm-1 (a).
Minerals identified – K, Na -feldspar
Best assigned as ternary feldspar with most albite contribution[a].
100 200 300 400 500 600 700 800 900 1000 1100
289
478
510
762
813
Raman Shift (cm-1)
MMRS Lab
Locale 9. PitDepth=30 cm
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Calcite (CaCO3) ??CO3
Carbonates have the strongest Raman peak, 1, between 1000 – 1100 cm-1 .
Minerals identified – two carbonates
The spectra are weak, only appeared once in the analyzed spectra, might be K2CO3 or BaCa(CO3)2.
200 400 600 800 1000 1200
278 71
3
1085
Raman Shift (cm-1)
MMRS Lab
Locale 6B, PitDepth=10 cm
900 950 1000 1050 1100 1150
1066
Raman Shift (cm-1)
MMRS Lab
Locale 6B, PitDepth=80 cm
Low s/n spectra: Calcite/aragonite
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Anatase (TiO2), quartz (SiO2) and hematite (Fe2O3)
Hematite and graphite are only identified in lab-measured spectra.
Minerals identified – igneous and graphite
Graphite
0 1000
411
1319
lab Fe2O
3 + quartz
Locale 11, Pit, D=80cm
MMRS quartz (SiO2)
Locale 9, Pit, D=10 cm
638
515
398
204
464
151
Raman Shift (cm-1)
MMRS anatase (TiO2)
Locale 11, surface
1000 1200 1400 1600 1800 2000
Grap
hit
e D
-ban
d +
Hem
ati
te
1587, G
rap
hit
e G
-ban
d
Raman Shift (cm-1)
Graphite, LabLocale 10, DrilledDepth=30 cm
0 100 200 300 400 500 600 700 800
23
6
44
5
60
96
38
Raman Shift (cm-1)
TiO2
Anatase Rutile
rruff database532 nm, unoriented
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V. Quantitative phase distributions: point counting method
Quartz peak Gypsum peak Anatase peaks
50 points in 19 spectra in 2 spectra in 3 spectra
1-phase points 2+3+4+9+10+5-8+17-22+26+24+25 16 13+40+38
2-phase points 23+27 23+27
Percentage of Informative spectra = (19+2+3) / 50 = 48 %Quartz proportion percentage = 19 / 50 = 38%(To be developed -- weighted with Raman cross section of solid phases)
MMRS spectraLocale: 9, pitDepth= 10 cm
(a) Haskin, Wang, Rockow, Jolliff, Korotev and Viskupic, J. Geophy. Res. 102: 19293 (1997).
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• Averaged informative percentages: Lab 48%; MMRS 29%.• Exposure time and accumulation numbers:
Lab: 1000 ms x 10acc - 2000 msx10 acc; MMRS: 100ms x 10 -200ms x 20 .
• Laser focus condition.
Percentage of informative spectra
C7G C5G C12F C3G C1G C10F C8F C1F C5C C3C C1E C1C C15 C13 C6 C0
0
20
40
60
80
100
Info
rmat
ive
Per
cent
age
Samples
lab mmrs
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Depth (cm) 0 10 30 80Number of
measurements 8 14 19 20
Anhydrite/Bassanite 1 0.9 2.6 21
Gypsum 23 11 6.4 11
Quartz 8 10 12 11
Feldspar 13 8 6 4
The relative distribution of anhydrite/bassanite increases sharply at the depth of 80 cm; Gypsum prefers surface.
Quartz Gypsum Anhydrite(+Bassanite)
Fspar Calcite TiO2 Fe2O3
Percentage 10 11 8 7 2 1.8 0.3
Mean proportional percentages
Proportional percentages over depths
Phase distributions (Point proportion)7 sites, 31 samples, 59 measurements (non-informative
measurements were removed), 1680 mmrs + 1550 lab points/spectra
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V. Phase distributions: anhydrite and gypsum
0
50
100
0
50
100
0
50
100
2 4 6 8 10
0
50
100
D= 0cm
Dep
th (
cm)
Locale Number
D= 10cm
D= 30cm
Anhydrite/Bassanite
MMRS,Drill MMRS,Pit Lab, Drill Lab, Pit
D= 80cm
0
50
100
0
50
100
0
50
100
2 4 6 8 10
0
50
100
D= 0cm
Dep
th (
cm)
Locale Number
D= 10cm
D= 30cm
Gypsum
MMRS,Drill MMRS,Pit Lab, Drill Lab, Pit
D= 80cm
0
50
100
0
50
100
0
50
100
2 4 6 8 10
0
50
100
D= 0cm
Dep
th (
cm)
Locale Number
D= 10cm
D= 30cm
Quartz
MMRS,Drill MMRS,Pit Lab, Drill Lab, Pit
D= 80cm
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Conclusion• First time integration of MMRS on a rover and reliable operation over the 50
miles 2-week trip; demonstrated the robustness of its opt-mechanical construction.
• Preliminary data analysis results: – Autonomous MMRS spectra of subsurface materials identified 3 sulfates, 2
carbonates, a type of feldspar, quartz and anatase (TiO2).
– Reduced carbon and hematite (Fe2O3) are also identified in lab spectra.– The percentage of informative MMRS spectra (29%) is lower than lab’s
(48%) (accumulation time and laser focus condition are among the reasons).
– Mineral phase distributions as a function of depths show that anhydrite distribution increases abruptly at the depth of 80 cm.
• Next trip to Atacama: – 1) More calibration; – 2) Better sample filling and longer measurement time;– 3) More samples and points to decrease statistical uncertainty;– 4) Immediate MMRS measurements after sample collection.
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Acknowledgement Jie Wei1, Alian Wang1, James L. Lambert2, David Wettergreen3, Nathalie Cabrol4 and Kimberley Warren-Rhodes4
CMU rover teamGreydon Taylor FoilDavid KohanbashJames Peter TezaSrinivasanVijayaranganMichael Wagner
HoneybeeDrill teamGale PaulsenSean Chulhong Yoon
Local supportGuillermo ChongJonathan BijmanRaul Arias O.
FundingASTEP (NASA )McDonnell Center for the Space Sciences, Washington University in St. Louis
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Thanks for your attention!
Please visit Poster 227219 and 227240 in Hall D, 2-4 pm, 5-6:60 pmfor Raman spectroscopy detection of biomarkers and zeolites
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