Fundamental Science and Engineering Questions in Planetary Cave Exploration.

Nearly half a century ago, two papers postulated the likelihood of lunar lava tube caves using mathematical models. Today, armed with an array of orbiting and fly-by satellites and survey instrumentation, we have now acquired cave data across our solar system-including the identification of potential cave entrances on the Moon, Mars, and at least nine other planetary bodies. These discoveries gave rise to the study of planetary caves. To help advance this field, we leveraged the expertise of an interdisciplinary group to identify a strategy to explore caves beyond Earth. Focusing primarily on astrobiology, the cave environment, geology, robotics, instrumentation, and human exploration, our goal was to produce a framework to guide this subdiscipline through at least the next decade. To do this, we first assembled a list of 198 science and engineering questions. Then, through a series of social surveys, 114 scientists and engineers winnowed down the list to the top 53 highest priority questions. This exercise resulted in identifying emerging and crucial research areas that require robust development to ultimately support a robotic mission to a planetary cave-principally the Moon and/or Mars. With the necessary financial investment and institutional support, the research and technological development required to achieve these necessary advancements over the next decade are attainable. Subsequently, we will be positioned to robotically examine lunar caves and search for evidence of life within Martian caves; in turn, this will set the stage for human exploration and potential habitation of both the lunar and Martian subsurface.

Using near-surface temperature data to vicariously calibrate high-resolution thermal infrared imagery and estimate physical surface properties.

Thermal response of the surface to solar insolation is a function of the topography and the thermal physical characteristics of the landscape, which include bulk density, heat capacity, thermal conductivity and surface albedo and emissivity. Thermal imaging is routinely used to constrain thermal physical properties by characterizing or modeling changes in the diurnal temperature profiles. Images need to be acquired throughout the diurnal cycle - typically this is done twice during a diurnal cycle, but we suggest multiple times. Comparison of images acquired over 24 hours requires that either the data be calibrated to surface temperature, or the response of the thermal camera is linear and stable over the image acquisition period. Depending on the type and age of the thermal instrument, imagery may be self-calibrated in radiance, corrected for atmospheric effects, and pixels converted to surface temperature. We used an experimental instrumentation where the calibration should be stable, but calibration coefficients are unknown. Cases may occur where one wishes to validate the camera's calibration. We present a method to validate and calibrate the instrument and characterize the thermal physical properties for areas of interest. Finally, in situ high-temporal-resolution oblique thermal imaging can be invaluable in preparation for conducting overflight missions. We present the following:•The use of oblique thermal high temporal resolution thermal imaging over diurnal or multiday periods for the characterization of landscapes has not been widespread but poses great potential.•A method of collecting and analyzing thermal data that can be used to either determine or validate thermal camera calibration coefficients.•An approach to characterize thermophysical properties of the landscape using oblique temporally high-resolution thermal imaging, combined with in situ ground measurements.

Elemental mapping by Dawn reveals exogenic H in Vesta's regolith.

Using Dawn's Gamma Ray and Neutron Detector, we tested models of Vesta's evolution based on studies of howardite, eucrite, and diogenite (HED) meteorites. Global Fe/O and Fe/Si ratios are consistent with HED compositions. Neutron measurements confirm that a thick, diogenitic lower crust is exposed in the Rheasilvia basin, which is consistent with global magmatic differentiation. Vesta's regolith contains substantial amounts of hydrogen. The highest hydrogen concentrations coincide with older, low-albedo regions near the equator, where water ice is unstable. The young, Rheasilvia basin contains the lowest concentrations. These observations are consistent with gradual accumulation of hydrogen by infall of carbonaceous chondrites--observed as clasts in some howardites--and subsequent removal or burial of this material by large impacts.

Massive CO2 ice deposits sequestered in the south polar layered deposits of Mars.

Shallow Radar soundings from the Mars Reconnaissance Orbiter reveal a buried deposit of carbon dioxide (CO(2)) ice within the south polar layered deposits of Mars with a volume of 9500 to 12,500 cubic kilometers, about 30 times that previously estimated for the south pole residual cap. The deposit occurs within a stratigraphic unit that is uniquely marked by collapse features and other evidence of interior CO(2) volatile release. If released into the atmosphere at times of high obliquity, the CO(2) reservoir would increase the atmospheric mass by up to 80%, leading to more frequent and intense dust storms and to more regions where liquid water could persist without boiling.

CO2 jets formed by sublimation beneath translucent slab ice in Mars' seasonal south polar ice cap.

The martian polar caps are among the most dynamic regions on Mars, growing substantially in winter as a significant fraction of the atmosphere freezes out in the form of CO2 ice. Unusual dark spots, fans and blotches form as the south-polar seasonal CO2 ice cap retreats during spring and summer. Small radial channel networks are often associated with the location of spots once the ice disappears. The spots have been proposed to be simply bare, defrosted ground; the formation of the channels has remained uncertain. Here we report infrared and visible observations that show that the spots and fans remain at CO2 ice temperatures well into summer, and must be granular materials that have been brought up to the surface of the ice, requiring a complex suite of processes to get them there. We propose that the seasonal ice cap forms an impermeable, translucent slab of CO2 ice that sublimates from the base, building up high-pressure gas beneath the slab. This gas levitates the ice, which eventually ruptures, producing high-velocity CO2 vents that erupt sand-sized grains in jets to form the spots and erode the channels. These processes are unlike any observed on Earth.

Albedo of the south pole on Mars determined by topographic forcing of atmosphere dynamics.

The nature of the martian south polar cap has remained enigmatic since the first spacecraft observations. In particular, the presence of a perennial carbon dioxide ice cap, the formation of a vast area of black 'slab ice' known as the Cryptic region and the asymmetric springtime retreat of the cap have eluded explanation. Here we present observations and climate modelling that indicate the south pole of Mars is characterized by two distinct regional climates that are the result of dynamical forcing by the largest southern impact basins, Argyre and Hellas. The style of surface frost deposition is controlled by these regional climates. In the cold and stormy conditions that exist poleward of 60 degrees S and extend 180 degrees in longitude west from the Mountains of Mitchel (approximately 30 degrees W), surface frost accumulation is dominated by precipitation. In the opposite hemisphere, the polar atmosphere is relatively warm and clear and frost accumulation is dominated by direct vapour deposition. It is the differences in these deposition styles that determine the cap albedo.

Morphology and composition of the surface of Mars: Mars Odyssey THEMIS results.

The Thermal Emission Imaging System (THEMIS) on Mars Odyssey has produced infrared to visible wavelength images of the martian surface that show lithologically distinct layers with variable thickness, implying temporal changes in the processes or environments during or after their formation. Kilometer-scale exposures of bedrock are observed; elsewhere airfall dust completely mantles the surface over thousands of square kilometers. Mars has compositional variations at 100-meter scales, for example, an exposure of olivine-rich basalt in the walls of Ganges Chasma. Thermally distinct ejecta facies occur around some craters with variations associated with crater age. Polar observations have identified temporal patches of water frost in the north polar cap. No thermal signatures associated with endogenic heat sources have been identified.

Exposed water ice discovered near the south pole of Mars.

The Mars Odyssey Thermal Emission Imaging System (THEMIS) has discovered water ice exposed near the edge of Mars' southern perennial polar cap. The surface H2O ice was first observed by THEMIS as a region that was cooler than expected for dry soil at that latitude during the summer season. Diurnal and seasonal temperature trends derived from Mars Global Surveyor Thermal Emission Spectrometer observations indicate that there is H2O ice at the surface. Viking observations, and the few other relevant THEMIS observations, indicate that surface H2O ice may be widespread around and under the perennial CO2 cap.