Search

Viking image-based mapping of a widespread deposit covering most of the northern low-lands of Mars led to the proposal by Parker et al. that the deposit represents the vestiges of an enormous ocean that existed approx. 3.4 Ga. Later identified as the Vastitas Borealis Formation, the latest geologic map of Mars identifies this deposit as the Late Hesperian lowland unit (lHl). This deposit is typically bounded by raised lobate margins. In addition, some margins have associated rille channels, which could have been produced sub-aerially by the back-wash of high-energy tsunami waves. Radar-sounding data indicate that the deposit is ice-rich. However, until now, the lack of wave-cut shoreline features and the presence of lobate margins have remained an im-pediment to the acceptance of the paleo-ocean hypothesis.

The Surface Imaging for Lunar Volatiles, Exploration, and Resources (SILVER) instrument is a proposed imaging investigation for the 2008 Lunar Reconnaissance Orbiter (LRO) mission. SILVER and its experienced Measurement Team will prepare for and support future lunar human exploration activities, especially landing site identification and certification on the basis of potential resources. SILVER combines a high-resolution pushbroom visible imaging channel (SILVER-HR) and a wide-field-of-view (45 deg) framing imaging channel (SILVER-WF). SILVER-HR will obtain a single-detector 6 km imaging swath of 12,228 pixels at 0.5 m/pixel to image greater than 100 sq km target areas from 50 km altitude, imaging greater than 15% the lunar surface during a 1 year nominal mission. SILVER-HR has excellent stray-light rejection and its imaging detector has selectable time delay integration (TDI) with up to 128 stages for extreme low-light sensitivity, permitting direct imaging of permanently shadowed polar regions in scattered sunlight or earthshine. SILVER-WF will obtain geodetic framing images in a 2048 x 2048 format at 20m/pixel, with 60% along-track overlap stereo for imaging context and for derivation of a global digital elevation model of meter-scale lunar topography.

We are developing an automated science analysis system that could be utilized by robotic or human explorers on Mars (or even in remote locations on Earth) to improve the quality and quantity of science data returned. Three components of this system (our rock, layer, and horizon detectors) [1] have been incorporated into the JPL CLARITY system for possible use by MSL and future Mars robotic missions. Two other components include a multi-spectral image compression (SPEC) algorithm for pancam-type images with multiple filters and image fusion algorithms that identify the in focus regions of individual images in an image focal series [2]. Recently, we have been working to combine image and spectral data, and other knowledge to identify both rocks and minerals. Here we present our progress on developing an igneous rock detection system.

A key task for human or robotic explorers on the surface of Mars is choosing which particular rock or mineral samples should be selected for more intensive study. The usual challenges of such a task are compounded by the lack of sensory input available to a suited astronaut or the limited downlink bandwidth available to a rover. Additional challenges facing a human mission include limited surface time and the similarities in appearance of important minerals (e.g. carbonates, silicates, salts). Yet the choice of which sample to collect is critical. To address this challenge we are developing science analysis algorithms to interface with a Geologist's Field Assistant (GFA) device that will allow robotic or human remote explorers to better sense and explore their surroundings during limited surface excursions. We aim for our algorithms to interpret spectral and imaging data obtained by various sensors. The algorithms, for example, will identify key minerals, rocks, and sediments from mid-IR, Raman, and visible/near-IR spectra as well as from high resolution and microscopic images to help interpret data and to provide high-level advice to the remote explorer. A top-level system will consider multiple inputs from raw sensor data output by imagers and spectrometers (visible/near-IR, mid-IR, and Raman) as well as human opinion to identify rock and mineral samples.

Marsoweb is a collaborative web environment that has been developed for the Mars research community to better visualize and analyze Mars orbiter data. Its goal is to enable online data discovery by providing an intuitive, interactive interface to data from the Mars Global Surveyor and other orbiters. Recently Marsoweb has served a prominent role as a resource center for the site selection process for the Mars Explorer Rover 2003 missions. In addition to hosting a repository of landing site memoranda and workshop talks, it includes a Java-based interface to a variety of datamaps and images. This interface enables the display and numerical querying of data, and allows data profiles to be rendered from user-drawn cross-sections. High-resolution Mars Orbiter Camera (MOC) images (currently, over 100,000) can be graphically perused; browser-based image processing tools can be used on MOC images of potential landing sites. An automated VRML atlas allows users to construct 'flyovers' of their own regions-of-interest in 3D. These capabilities enable Marsoweb to be used for general global data studies, in addition to those specific to landing site selection. As of September 2002, over 70,000 distinct users from NASA, USGS, academia, and the general public have accessed Marsoweb.

The Mars Reconnaissance Orbiter (MRO) is expected to launch in August 2005, arrive at Mars in March 2006, and begin the primary science phase in November 2006. MRO will carry a suite of remote-sensing instruments and is designed to routinely point off-nadir to precisely target locations on Mars for high-resolution observations. The mission will have a much higher data return than any previous planetary mission, with 34 Tbits of returned data expected in the first Mars year in the mapping orbit (255 x 320 km). The HiRISE camera features a 0.5 m telescope, 12 m focal length, and 14 CCDs. We expect to acquire approximately 10,000 observations in the primary science phase (approximately 1 Mars year), including approximately 2,000 images for 1,000 stereo targets. Each observation will be accompanied by a approximately 6 m/pixel image over a 30 x 45 km region acquired by MRO s context imager. Many HiRISE images will be full resolution in the center portion of the swath width and binned (typically 4x4) on the sides. This provides two levels of context, so we step out from 0.3 m/pixel to 1.2 m/pixel to 6 m/pixel (at 300 km altitude). We expect to cover approximately 1% of Mars at better than 1.2 m/pixel, approximately 0.1% at 0.3 m/pixel, approximately 0.1% in 3 colors, and approximately 0.05% in stereo. Our major challenge is to find the dey contacts, exposures and type morphologies to observe.

We are developing science analyses algorithms to interface with a Geologist's Field Assistant device to allow robotic or human remote explorers to better sense their surroundings during limited surface excursions. Our algorithms will interpret spectral and imaging data obtained by various sensors. Additional information is contained in the original extended abstract.

Due to the low thermal conductivity of CO2 ice and clathrate vs. water ice, we find that liquid water reservoirs would not be confined to the deep subsurface as predicted by the controversial White Mars model, even assuming low global heat flow. Additional information is contained in the original extended abstract.

Marsoweb is an evolving collaborative web environment for interactive 2D and 3D graphical analysis of data for Mars landing site studies, as well as for global Mars datasets of general scientific interest. Additional information is contained in the original extended abstract.

The MRO/HiRISE Operations Center provides a mechanism for Mars investigators to particaipate in selection of targets and access to the aquired images. Additional information is contained in the original extended abstract.

HiRISE, an experiment on the 2005 MRO mission, will provide an unprecedented combination of ground sampling dimension (25-50 cm/pixel), signal-to-noise ratio (greater than 100:1 at all latitudes), swath width (5-10 km), partial 3-color coverage, greater than 2% coverage of Mars at 1 m/pixel or better, and stereo imaging. Additional information is contained in the original extended abstract.

A new approach for the robotic exploration of Mars is detailed in this paper: the use of small, ultralightweight, autonomous rotary-wing aerial platforms. Missions based on robotic rotorcraft could make excellent candidates for NASA Mars Scout program. The paper details the work to date and future planning required for the development of such 'Mars rotorcraft.'

Discovery of young valleys on Mars has renewed interest in mechanisms capable of producing near-surface water under present climatic conditions. This abstract discusses modeling results of small martian hydrothermal systems. Additional information is contained in the original extended abstract.

A collection of web tools is available for both the landing site and broader Mars science communities to better utilize, visualize, and analyze Mars Global Surveyor data. These tools have grown out of a two year effort between the Center for Mars Exploration (CMEX), and the NAS data visualization group at NASA Ames Research Center (ARC), to promote interactions among the planetary community and to coordinate landing site activities. The web site will continue to evolve over the next several years as new tools and features are added to support the ongoing Mars missions.

We argue that many image analysis tasks can be performed by distributed amateurs. Our pilot study, with crater surveying and classification, has produced encouraging results in terms of both quantity (100,000 crater entries in 2 months) and quality. Additional information is contained in the original extended abstract.

We have developed two new techniques to enhance science return and to decrease returned data volume for near-term Mars missions: 1) multi-spectral image compression and 2) autonomous identification and fusion of in-focus regions in an image series.

Recent results from Global Surveyor corroborate the hypothesis that episodes of outburst flooding produced ponded water and climate change on Mars. This hypothesis colligates diverse facts concerning the Martian landscape and its history into a unified genetic system.

Fluvial valley formation and the cold climate hypothesis is evaluated using Mars Global Surveyor (MGS) data.

A virtual, collaborative web environment is being developed to better utilize, visualize, and analyze Mars Global Surveyor data for both landing site and general Mars studies.

Over the past year and a half, the Center for Mars Exploration (CMEX) at NASA Ames Research Center (ARC) has been working with the Mars Surveyor Project Office at JPL to promote interactions among the planetary community and to coordinate landing site activities for the Mars Surveyor Project Office. To date, CMEX has been responsible for organizing the first two Mars Surveyor Landing Site workshops, web-archiving resulting information from these workshops, aiding in science evaluations of candidate landing sites, and serving as a liaison between the community and the Project. Most recently, CMEX has also been working with information technologists at Ames to develop a state-of-the-art collaborative web site environment to foster interaction of interested members of the planetary community with the Mars Surveyor Program and the Project Office. The web site will continue to evolve over the next several years as new tools and features are added to support the ongoing Mars Surveyor missions.

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these and other algorithms and demonstrate their performance during a recent rover field test.

A field experiment to simulate a rover mission to Mars was performed in February 1999. This experiment, the latest in a series of rover field experiments, was designed to demonstrate and validate technologies and investigation strategies for high-science, high-technology performance, and cost-effective planetary rover operations. Objectives: The experiment objectives were to: (1) train scientists in a mission configuration relevant to Surveyor program rover missions at a terrestrial analog field site simulating the criteria of high-priority candidate landing-sites on Mars; (2) develop optimal exploration strategies; (3) evaluate the effectiveness of imaging and spectroscopy in addressing science objectives; (4) assess the value and limitation of descent imaging in supporting rover operations; and (5) evaluate the ability of a science team to correctly interpret the geology of the field site using rover observations. A field site in the California Mojave Desert was chosen for its relevance to the criteria for landing site selection for the Mars Surveyor program. These criteria are: (1) evidence of past water activity; (2) presence of a mechanism to concentrate life; (3) presence of thermal energy sources; (4) evidence of rapid burial; and (5) excavation mechanisms that could expose traces of life.

In the near future NASA intends to explore Mars in preparation for a sample return mission using robotic devices such as landers rovers, orbiters, airplanes, and/or balloons. Such platforms will likely carry imaging devices to characterize the surface morphology, and a variety of analytical instruments intended to evaluated the chemical and mineralogical nature of the environment(s) that they encounter. Historically, mission operations have involved the following sequence of activities: (1) return of scientific data from the vehicle; (2) evaluation of the data by space scientists; (3) recommendations of the scientists regarding future mission activity; (4) transmission of commands to the vehicle to achieve this activity; and (5) new activity by the vehicle in response to those commands.

To adequately explore high priority landing sites, scientists require rovers with greater mobility. Therefore, future Mars missions will involve rovers capable of traversing tens of kilometers (vs. tens of meters traversed by Mars Pathfinder's Sojourner). However, the current process by which scientists interact with a rover does not scale to such distances. A single science objective is achieved through many iterations of a basic command cycle: (1) all data must be transmitted to Earth and analyzed; (2) from this data, new targets are selected and the necessary information from the appropriate instruments are requested; (3) new commands are then uplinked and executed by the spacecraft and (4) the resulting data are returned to Earth, starting the process again. Experience with rover tests on Earth shows that this time intensive process cannot be substantially shortened given the limited data downlink bandwidth and command cycle opportunities of real missions. Sending complete multicolor panoramas at several waypoints, for example, is out of the question for a single downlink opportunity. As a result, long traverses requiring many science command cycles would likely require many weeks, months or even years, perhaps exceeding rover design life or other constraints. Autonomous onboard science analyses can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands, for example acquiring and returning spectra of "interesting" rocks along with the images in which they were detected. Such approaches, coupled with appropriate navigational software, address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing algorithms to enable such intelligent decision making by autonomous spacecraft. Reflecting the ultimate level of ability we aim for, this program has been dubbed the "Grad Student on Mars Project". We envision, for example, an appropriately intelligent Athena-like rover at the Pathfinder landing site might be able to traverse over the ridge towards "Twin Peaks" to obtain better information on the stratigraphy of these "streamlined islands" or of the size, composition and morphology of boulders located on them. Along the traverse, the intelligent rover would collect and analyze images and obtain spectra of geologically interesting features or regions. The intelligent rover might also traverse further up Arcs Vallis, and find additional paleoflood stage indicators such as slackwater deposits. Recognizing additional regions where boulders are imbricated, noting changes in their size, distribution, morphology, composition and the associated changes in channel geometry would yield important information on the outflow channel's paleoflood history, Representative images and associated supporting data from these locations could be downlinked to Earth along with the data requested by scientists from the previous uplink opportunity. Our initial work has focused on recognizing geologically interesting portions of images. Here we summarize some of the algorithms to date.

There are many similarities between the Mars Surveyor '01 (MS '01) landing site selection process and that of Mars Pathfinder. The selection process includes two parallel activities in which engineers define and refine the capabilities of the spacecraft through design, testing and modeling and scientists define a set of landing site constraints based on the spacecraft design and landing scenario. As for Pathfinder, the safety of the site is without question the single most important factor, for the simple reason that failure to land safely yields no science and exposes the mission and program to considerable risk. The selection process must be thorough, defensible and capable of surviving multiple withering reviews similar to the Pathfinder decision. On Pathfinder, this was accomplished by attempting to understand the surface properties of sites using available remote sensing data sets and models based on them. Science objectives are factored into the selection process only after the safety of the site is validated. Finally, as for Pathfinder, the selection process is being done in an open environment with multiple opportunities for community involvement including open workshops, with education and outreach opportunities.

The Mars Surveyor Program -- now a cooperative program led by NASA and CNES along with other international partners -- is underway. It has the primary science objective of furthering our understanding of the biological potential and possible biological history of Mars and has the complementary objective of improving our understanding of martian climate evolution and planetary history. The missions will develop technology and acquire data necessary for eventual human exploration. Launches of orbiters, landers and rovers will take place in 2001 and in 2003; in 2005 a complete system will be launched capable of returning samples to Earth by 2008. A key aspect of the program is the selection of landing sites. This abstract 1) reports on the status of the landing site selection process that begins with the 2001 lander mission and 2) outlines the opportunities for the Mars community to provide input into the landing site selection process.

In the near future NASA intends to explore Mars in preparation for a sample return mission using robotic devices such as landers, rovers, orbiters, airplanes, and/or balloons. Such platforms will likely carry imaging devices to characterize the surface morphology, and a variety of analytical instruments intended to evaluate the chemical and mineralogical nature of the environment(s) that they encounter. Historically, mission operations have involved the following sequence of activities: (1) return of scientific data from the vehicle; (2) evaluation of the data by space scientists; (3) recommendations of the scientists regarding future mission activity; (4) transmission of commands to the vehicle to achieve this activity; and (5) new activity by the vehicle in response to those commands. This is repeated for the duration of the mission, with command opportunities once or perhaps twice per day. In a rapidly changing environment, such as might be encountered by a rover traversing hundreds of meters a day or an airplane soaring over several hundred of kilometers, this traditional cycle of data evaluation and commands is not amenable to rapid long range traverses, discovery of novelty, or rapid response to any unanticipated situations. In addition, to issues of response time, the nature of imaging and/or spectroscopic devices are such that tremendous data volumes can be acquired, for example during a traverse. These data volumes can rapidly exceed on-board memory capabilities prior to an opportunity to transmit it to Earth.

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to preferentially transmit "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high-resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. We are currently investigating the possibility of reconstructing a 3D surface from a sequence of images acquired by a robotic arm camera. This would then allow the return of a single completely in focus image constructed only from those portions of individual images that lie within the camera's depth of field. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these algorithms and their performance during a recent rover field test.

We have previously demonstrated for the Thaumasia region of Mars that: (1) valley formation peaked during the Noachian and declined substantially during the Hesperian and Amazonian Periods and (2) valleys, many of which form networking systems, largely occur near volcanoes, highly faulted terrains, and large impact craters of similar age, thus suggesting hydrothermal activity. In Tanaka et al, the various hypotheses for valley formation on Mars are presented, and a geologic explanation for valley erosion in the Thaumasia region is given that "best fits" the region's geographic and geologic datasets. That comprehensive GIS-based investigation suggests that hydrothermal and seismic activity were the primary causes of valley formation in the Thaumasia region; the data make widespread precipitation less likely as a major factor in valley formation, except perhaps during the Early Noachian, for which much of the geologic record has been destroyed. Based on the reconstruction of the stratigraphic, tectonic, volcanic, and erosional histories and the close association of valleys in time and space with Noachian to Early Hesperian volcanoes and rift systems and Hesperian to Early Amazonian impact craters less than 50 km in diameter, we propose 13 sites of hydrothermal activity within the Thaumasia region; these are the best examples of valleys associated with these geologic features, but there are other less pronounced correlations elsewhere in the region.

Pulses of CO2 injected into the martian atmosphere more recently than 4 Ga can place the atmosphere into a stable, higher pressure, warmer greenhouse state. One to two bar pulses of CO2 added to the atmosphere during the past several billion years are sufficient to raise global mean temperatures above 240 or 250 K for tens to hundreds of millions of years, even when accounting for CO2 condensation. Over time, the added CO2 is lost to carbonates, the atmosphere collapses and returns to its buffered state. A substantial amount of water could be transported during the greenhouse periods from the surface of a frozen body of water created by outflow channel discharges to higher elevations, despite global temperatures well below freezing. This water, precipitated as snow, could ultimately form fluvial valleys if deposition sites are associated with localized heat sources, such as magmatic intrusions or volcanoes. Thus, if outflow channel discharges were accompanied by the release of sufficient quantities of CO2, a limited hydrological cycle could have resulted that would have been capable of producing geomorphic change sufficient for fluvial erosion and valley formation. Glacial or periglacial landforms would also be a consequence of such a mechanism.

Convened at the request of Dr. Jurgen Rahe of the NASA Office of Space Science, the purpose of this workshop was to reexamine the science issues that will determine how an optimum sample return mission would be carried out in 2005 given the new context that has emerged for Mars exploration since the last such workshop was held (in 1987). The results and summary of discussion that took place at the meeting are contained in this volume. The community was invited to participate in the preparation of the final written report by browsing through the agenda and reading the text and viewgraphs provided by workshop participants and submitting comments for that section.

Whether the formation of the Martian valley networks provides unequivocal evidence for drastically different climatic conditions remains debatable. Recent theoretical climate modeling precludes the existence of a temperate climate early in Mars' geological history. An alternative hypothesis suggests that Mars had a globally higher heat flow early in its geological history, bringing water tables to within 350 m of the surface. While a globally higher heat flow would initiate ground water circulation at depth, the valley networks probably required water tables to be even closer to the surface. Additionally, it was previously reported that the clustered distribution of the valley networks within terrain types, particularly in the heavily cratered highlands, suggests regional hydrological processes were important. The case for localized hydrothermal systems is summarized and estimates of both erosion volumes and of the implied water volumes for several Martian valley systems are presented.

The geological evidence for active water cycling early in the history of Mars (Noachian geological system or heavy bombardment) consists almost exclusively of fluvial valley networks in the heavily cratered uplands of the planet. It is commonly assumed that these landforms required explanation by atmospheric processes operating above the freezing point of water and at high pressure to allow rainfall and liquid surface runoff. However, it has also been documented that nearly all valley networks probably formed by subsurface outflow and sapping erosion involving groundwater outflow prior to surface-water flow. The prolonged ground-water flow also requires extensive water cycling to maintain hydraulic gradients, but is this done via rainfall recharge, as in terrestrial environments?

A preliminary survey of Magellan imagery reveals more than 200 newly discovered relic channel and valley landform complexes. For purposes of discussion the channels can be classed as simple, complex, and compound. Integrated valleys also occur. Simple channels include: (1) sinuous rilles that closely resemble their lunar counterparts and (2) a newly recognized long sinuous form of high width-to-depth ratio and remarkably constant width. Herein designated canali, the most spectacular of these channels is 6800 km long. One of the compound channels, an outflow complex in Lada Terra, extends over 1200 km and is up to 30 km wide. Streamlined hills and spill relationships at a cross-axial ridge are similar to features in flood channels. Venusian channels have a global distribution with most of the large canali-type channels developed on volcanic plains. Alternative hypotheses for the channel-forming processes include genesis by the following erosive fluids: ultramafic silicate melts, sulfur, and carbonate lavas. Each of these causative agents has profound implications for Venusian planetology. The remote possibility of an aqueous origin, indicated by apparent regime behavior of the active channeling process, cannot be excluded with absolute certainty.

Many investigators have proposed potential lakes in Valles Marineris based on the relationship with outflow channels, and a proposed lacustrine origin of layered deposits. We have investigated the erosional style of the layered terrains and evaluated their potential origins as sedimentation in and erosional modification by these lakes. The erosional features that will be discussed are distributed in the central canyon area and classified into terraces and layered depressions. Many terraces can be explained by coastal erosion in lakes as well as by eolian erosion. The lack of terraces on the canyon walls is probably due to more recent sapping and mass wasting of materials with different mechanical response to erosion than the layered terrains. Catastrophic water discharges in Valles Marineris as hypothesized by an ocean model may have been the source of the lakes and the eventual catastrophic release of water from the canyons.

We are continuing our investigation of Martian hydrothermal systems and the formation of fluvial valleys on Mars. Here we present our initial numerical modeling results of hydrothermal systems associated with magmatic intrusions on Mars. To model such hydrothermal systems, we consider single, cylindrical intrusions of 4 km height 2 km below the surface. Our preliminary results of modeling hydrothermal systems associated with magmatic intrusions in the Martian environment suggest that such systems, if associated with intrusions of several 10(exp 2) km(exp 3) or larger, in the presence of permeable, water-rich subsurface should be able to provide adequate discharges of water over the time periods needed to form fluvial valleys. However, it is important to note that the amount of water ultimately available for erosion also depends on the surface and subsurface lithology.

A variety of anomalous geomorphological features on Mars can be explained by a conceptual scheme involving episodic ocean and ice-sheet formation. The formation of valley networks early in Mars' history is evidence for a long-term hydrological cycle, which may have been associated with the existence of a persistent ocean. Cataclysmic flooding, triggered by extensive Tharsis volcanism, subsequently led to repeated ocean formation and then dissipation on the northern plains, and associated glaciation in the southern highlands until relatively late in Martian history.

The surface of Mars has been extensively modified by a large variety of water erosional and depositional processes. Although liquid water is presently unstable on the planet's surface, in its cold, hyperarid climate, there is abundant geomorphological evidence of past fluvial valley development multiple episodes of catastrophic flooding, periglacial landforms, ice-related permafrost, lake deposits, eroded impact craters and possible glacial landforms throughout much of Mars' geological history. The amount of water required to form such features is estimated to be equivalent to a planet-wide layer approximately 50 meters deep. Some of this water undoubtedly was removed from the planet by atmospheric escape processes, but much probably remains in the subsurface of Mars. Jakosky summarized the present partitioning of water on Mars, expressed as an average global depth, as follows: in the polar caps, 30 meters; in the megaregolith, 500 to 1000 meters; structurally bound in clays, 10 meters; and in high latitude regolith, a few meters. However, most of this water is probably in the form of ice, except in anomalous areas of possible near surface liquid water, and in regions where hydrothermal systems are still active. The best locations for prospecting are those areas where water or ice is sufficiently concentrated at shallow enough depths to make it feasible to pump out or mine.