Adaptive sampling with PIXL on the Mars Perseverance rover

Planetary rovers can use onboard data analysis to adapt their measurement plan on the fly, improving the science value of data collected between commands from Earth. This paper describes the implementation of an adaptive sampling algorithm used by PIXL, the X-ray fluorescence spectrometer of the Mars 2020 Perseverance rover. PIXL is deployed using the rover arm to measure X-ray spectra of rocks with a scan density of several thousand points over an area of typically 5 x 7 mm. The adaptive sampling algorithm is programmed to recognize points of interest and to increase the signal-to-noise ratio at those locations by performing longer integrations. Two approaches are used to formulate the sampling rules based on past quantification data: 1) Expressions that isolate particular regions within a ternary compositional diagram, and 2) Machine learning rules that threshold for a high weight percent of particular compounds. The design of the rulesets are outlined and the performance of the algorithm is quantified using measurements from the surface of Mars. To our knowledge, PIXL's adaptive sampling represents the first autonomous decision-making based on real-time compositional analysis by a spacecraft on the surface of another planet.Comment: 24 pages including 11 figures and 7 tables. Submitted for publication to the journal Icaru

Redox-driven mineral and organic associations in Jezero Crater, Mars

The Perseverance rover has explored and sampled igneous and sedimentary rocks within Jezero Crater to characterize early Martian geological processes and habitability and search for potential biosignatures1,2,3,4,5,6,7. Upon entering Neretva Vallis, on Jezero Crater’s western edge8, Perseverance investigated distinctive mudstone and conglomerate outcrops of the Bright Angel formation. Here we report a detailed geological, petrographic and geochemical survey of these rocks and show that organic-carbon-bearing mudstones in the Bright Angel formation contain submillimetre-scale nodules and millimetre-scale reaction fronts enriched in ferrous iron phosphate and sulfide minerals, likely vivianite and greigite, respectively. This organic carbon appears to have participated in post-depositional redox reactions that produced the observed iron-phosphate and iron-sulfide minerals. Geological context and petrography indicate that these reactions occurred at low temperatures. Within this context, we review the various pathways by which redox reactions that involve organic matter can produce the observed suite of iron-, sulfur- and phosphorus-bearing minerals in laboratory and natural environments on Earth. Ultimately, we conclude that analysis of the core sample collected from this unit using high-sensitivity instrumentation on Earth will enable the measurements required to determine the origin of the minerals, organics and textures it contains