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Relaxation response of critically stressed macroscale surficial rock sheets
Rock environments both underground and on Earth’s surface show indications of energetic macroscale fracture. In tunnels and excavations, these manifest as rockbursts—energetic explosions of rock that can damage engineering projects, and may pose ongoing financial and safety risk as rock stresses adjust during post-failure relaxation. In natural settings at the surface, evidence for rockbursts exist in the form of tent-like structures of ruptured exfoliation sheets, but few direct observations of such events exist, precluding the analysis of how natural rock formations may evolve after rupture. Here we investigate the post-failure evolution of a granitic rock dome following rapid fracture events (i.e., surficial rockbursts) that occurred in California, USA during 2014–2016. Building upon previous work that showed a thermal stress origin for the observed fracturing, we investigate the return to background stress conditions (i.e., stress relaxation) observed in both short- (week, month) and long-term (multi-year) rock deformation trends. Acoustic emissions, deformation, and environmental monitoring data indicate that partially detached rock sheets forming the surface of the dome undergo fracture aperture closing during cooling periods, concurrent with reduction of rock stress by the source of forcing (i.e., thermal stress). However, with sufficient critical and/or subcritical fracture, our observations also show that rock sheets can become decoupled from the source of stress, resulting in a long-term return to background stress conditions. Our results provide insight into the cyclic and likely ephemeral nature of rock fracture in surficial rock domes, as well as in underground rockburst environments.
Gravity-induced stresses in stratified rock masses
This paper presents closed-form solutions for the stress field induced by gravity in anisotropic and stratified rock masses. These rocks are assumed to be laterally restrained. The rock mass consists of finite mechanical units, each unit being modeled as a homogeneous, transversely isotropic or isotropic linearly elastic material. The following results are found. The nature of the gravity induced stress field in a stratified rock mass depends on the elastic properties of each rock unit and how these properties vary with depth. It is thermodynamically admissible for the induced horizontal stress component in a given stratified rock mass to exceed the vertical stress component in certain units and to be smaller in other units; this is not possible for the classical unstratified isotropic solution. Examples are presented to explore the nature of the gravity induced stress field in stratified rock masses. It is found that a decrease in rock mass anisotropy and a stiffening of rock masses with depth can generate stress distributions comparable to empirical hyperbolic distributions previously proposed in the literature. ?? 1988 Springer-Verlag.
Simulation of rockfalls triggered by earthquakes
A computer program to simulate the downslope movement of boulders in rolling or bouncing modes has been developed and applied to actual rockfalls triggered by the Mammoth Lakes, California, earthquake sequence in 1980 and the Central Idaho earthquake in 1983. In order to reproduce a movement mode where bouncing predominated, we introduced an artificial unevenness to the slope surface by adding a small random number to the interpolated value of the mid-points between the adjacent surveyed points. Three hundred simulations were computed for each site by changing the random number series, which determined distances and bouncing intervals. The movement of the boulders was, in general, rather erratic depending on the random numbers employed, and the results could not be seen as deterministic but stochastic. The closest agreement between calculated and actual movements was obtained at the site with the most detailed and accurate topographic measurements. ?? 1990 Springer-Verlag.
Calibrated acoustic emission system records M -3.5 to M -8 events generated on a saw-cut granite sample
Acoustic emission (AE) analyses have been used for decades for rock mechanics testing, but because AE systems are not typically calibrated, the absolute sizes of dynamic microcrack growth and other physical processes responsible for the generation of AEs are poorly constrained. We describe a calibration technique for the AE recording system as a whole (transducers + amplifiers + digitizers + sample + loading frame) that uses the impact of a 4.76-mm free-falling steel ball bearing as a reference source. We demonstrate the technique on a 76-mm diameter cylinder of westerly granite loaded in a triaxial deformation apparatus at 40 MPa confining pressure. The ball bearing is dropped inside a cavity within the sample while inside the pressure vessel. We compare this reference source to conventional AEs generated during loading of a saw-cut fault in a second granite sample. All located AEs occur on the saw-cut surface and have moment magnitudes ranging from M −5.7 down to at least M −8. Dynamic events rupturing the entire simulated fault surface (stick–slip events) have measurable stress drop and macroscopic slip and radiate seismic waves similar to those from a M −3.5 earthquake. The largest AE events that do not rupture the entire fault are M −5.7. For these events, we also estimate the corner frequency (200–300 kHz), and we assume the Brune model to estimate source dimensions of 4–6 mm. These AE sources are larger than the 0.2 mm grain size and smaller than the 76 × 152 mm fault surface.
Material properties and triggering mechanisms of an andesitic lava dome collapse at Shiveluch Volcano, Kamchatka, Russia, revealed using the finite element method
Shiveluch volcano (Kamchatka, Russia) is an active andesitic volcano with a history of explosive activity, dome extrusion, and structural collapse during the Holocene. The most recent major (> 1 km 3 ) dome collapse occurred in November 1964, producing a ~ 1.5 km 3 debris avalanche that traveled over 15 km from the vent and triggered a phreatic explosion followed by a voluminous (~ 0.8 km 3 ) eruption of juvenile pyroclastic material. Seismic records suggest that the collapse was likely triggered by a magnitude 5.1 earthquake associated with the ascent of magma into the edifice. The geomechanical properties of the pre-1964 dome are unknown; accordingly, the mechanics of the collapse are poorly understood. This project employs numerical slope stability modeling using the finite element method to constrain probable ranges of geomechanical properties for the materials involved in the collapse, considering earthquake loading as the most likely triggering mechanism. Model results show good agreement with the 1964 collapse geometry considering Geological Strength Index and horizontal pseudo-static seismic coefficient ranges of 30–60 and 0.05–0.15 g, respectively, representing variably fractured and altered dome rocks under moderate earthquake loading, confirming that ground acceleration alone could have triggered the dome collapse. Deep-seated rotational sliding is the dominant failure mode, but local extension within the dome during failure appears to play an important role in the development of the collapse. The findings of this work allow for better forward modeling of potential future collapses, the results of which can be incorporated into regional hazard and risk assessments.
Selected bibliography on subsidence processes and related engineering problems in carbonate rocks
The Solution Subsidence and Collapse project is a U.S. Geological Survey research activity funded by the Reactor Hazards Research program. The objective of the study is to determine the geologic and hydrologic controls and mechanisms of ground subsidence in soluble rock terranes caused by natural processes and man's activities. The results of the research will be used for the general geologic characterization of proposed and existing nuclear reactor sites in regions underlain by soluble rocks. In addition, the knowledge gained from the study will be applied to defining potential geologic hazards in soluble rock areas where ground subsidence or collapse can occur. The Solution Subsidence and Collapse project is divided into two study units, one looking at subsidence in evaporitic terranes, the other in carbonate terranes. Each of the two geologic environments has its own unique set of conditions that lead to subsidence and, therefore, each warrants its own special study. As part of the subsidence study a selected bibliography covering various topics on ground subsidence in carbonate karst terranes was compiled and is presented here. The entries in the bibliography are placed in five categories: (1) General; (2) Geology, Geomorphology, Hydrology; (3) Caves, Solution Channels; (4) Subsidence, Sinkholes; and (5) Engineering, Land Use, Detection. A separate bibliography on ground subsidence caused by dissolution and removal of salt and other soluble evaporites has been published as a companion reference to this report (Ege, 1979).
Theoretical basis of the borehole deepening method of absolute stress measurement
Knowledge of the initial state of stress in rocks provides a key to the solution of many problems in rock mechanics. The initial state of stress is part of the basic data required for rational design of structures in rock, since its redistribution when engineering activities are conducted is a primary load on the rock portion of the engineering system. Knowledge of initial and subsequent changes in the state of stress is also relevant in the study of active faults and crustal strain. The purposes of stress measurements are not generally well served by methods which disclose only one of the stress components at a point. Recently, interest has centered on overcoring methods which though expensive and difficult have the important advantage of yielding data on three or more stress components. In a previous paper, the authors introduced a new method--termed borehole deepening--based on measurement of the deformations that occur close to the bottom of a borehole when it is deepened by further drilling without overcoring . The proposed method is at a disadvantage when compared with overcoring procedures in that the quantities to be measured are somewhat smaller and the measuring environment is more hostile. However, the borehole deepening method presents three distinct advantages in comparison with overcoring procedures: (1) Using the same borehole, both the initial and the subsequent changes in the state of stress can be obtained by borehole deepening. Stress changes with time are very significant for stability monitoring as well as in predicting earthquake activity in regions close to known active faults and volcanoes. (2) The necessity of completely unloading a portion of the rock mass where deformation measurements are being carried out in the overcoring methods is ill-suited to nonlinearly elastic materials such as rocks. The borehole deepening method, on the other hand, is based on a change of stress from one level to another, rather than complete strain relief and is therefore less affected by nonlinear behavior. (3) Numerous stress measurements can be carried out economically in a single borehole. Thus, the regional stress distribution can be more readily obtained. Such information is considerably more significant than a single stress measurement at a point; considering the variability of rock masses and the magnitudes and direction of the stresses acting on them from one region to another and within the regions themselves, the reliability of a single measurement when extrapolated for the entire region is not very reasonable. This advantage of more numerous measurements makes it possible to predetermine the initial state of stress with confidence before actual access and construction. It also makes it possible to consider studying regional tectonic systems. Integrated regional measurements of in-situ state of stress would provide the necessary information for plotting the variation of crustal stresses; this would be of great interest in evaluating the several theories of orogenesis and in delineating tectonically active regions. This chapter is concerned with the theoretical basis for the borehole deepening method--the "software" for converting deformation measurements into stress values.
Seismic tomography as a tool for measuring stress in mines
Spokane Research Center personnel have been investigating the use of seismic tomography to monitor the behavior of a rock mass, detect hazardous ground conditions and assess the mechanical integrity of a rock mass affected by mining. Seismic tomography can be a valuable tool for determining relative stress in deep, >1,220-m (>4,000-ft), underground pillars. If high-stress areas are detected, they can be destressed prior to development or they can be avoided. High-stress areas can be monitored with successive seismic surveys to determine if stress decreases to a level where development can be initiated safely. There are several benefits to using seismic tomography to identify high stress in deep underground pillars. The technique is reliable, cost-effective, efficient and noninvasive. Also, investigators can monitor large rock masses, as well as monitor pillars during the mining cycle. By identifying areas of high stress, engineers will be able to assure that miners are working in a safer environment.Spokane Research Center personnel have been investigating the use of seismic tomography to monitor the behavior of a rock mass, detect hazardous ground conditions and assess the mechanical integrity of a rock mass affected by mining. Seismic tomography can be a valuable tool for determining relative stress in deep, >1,200-m (>4,000-ft), underground pillars. If high-stress areas are detected, they can be destressed prior to development or they can be avoided. High-stress areas can be monitored with successive seismic surveys to determine if stress decreases to a level where development can be initiated safely. There are several benefits to using seismic tomography to identify high stress in deep underground pillars. The technique is reliable, cost-effective, efficient and noninvasive. Also, investigators can monitor large rock masses, as well as monitor pillars during the mining cycle. By identifying areas of high stress. engineers will be able to assure that miners are working in a safer environment.
Modeling hazardous mass flows Geoflows09: Mathematical and computational aspects of modeling hazardous geophysical mass flows; Seattle, Washington, 9–11 March 2009
A recent workshop at the University of Washington focused on mathematical and computational aspects of modeling the dynamics of dense, gravity-driven mass movements such as rock avalanches and debris flows. About 30 participants came from seven countries and brought diverse backgrounds in geophysics; geology; physics; applied and computational mathematics; and civil, mechanical, and geotechnical engineering. The workshop was cosponsored by the U.S. Geological Survey Volcano Hazards Program, by the U.S. National Science Foundation through a Vertical Integration of Research and Education (VIGRE) in the Mathematical Sciences grant to the University of Washington, and by the Pacific Institute for the Mathematical Sciences. It began with a day of lectures open to the academic community at large and concluded with 2 days of focused discussions and collaborative work among the participants.
Apollo 11 voice transcript pertaining to the geology of the landing site
On July 20, 1969, America's Eagle touched down in southwestern Mare Tranquillitatis beginning man's firsthand exploration of the moon. This document is an edited record of the conversations between astronauts Neil Armstrong and Edwin "Buzz" Aldrin, Jr., at Tranquility Base, and Bruce McCandless at Mission Control in Houston during the approximately 22 hours spent on the lunar surface. It includes additional commentary during their return to Earth. It is a condensation hopefully of all the verbal data having geological significance. All discussions and observations documenting the lunar landscape, its geologic characteristics, the rocks and soils collected, and the photographic record are retained along with supplementary remarks essential to the continuity of events during the mission. We have deleted the words of mechanical housekeeping and engineering data, attempting not to lose the personal and philosophical aspects of this intensely human experience. The sources of this verbal transcript are the complete audio tapes recorded during the mission and the Technical Air-to-Ground Voice Transcription published by NASA. The voice record is listed chronologically given in days, hours, minutes, and seconds. These are the Ground Elapsed Times (GET) after launch from Kennedy Space Center which was 9:32 a.m. EDT on July 16, 1969. Figure 1 shows the vicinity of the landing site that was described, sampled, and photographed by the Apollo 11 crewmen.
Landslides - Cause and effect
Landslides can cause seismic disturbances; landslides can also result from seismic disturbances, and earthquake-induced slides have caused loss of life in many countries. Slides can cause disastrous flooding, particularly when landslide dams across streams are breached, and flooding may trigger slides. Slope movement in general is a major process of the geologic environment that places constraints on engineering development. In order to understand and foresee both the causes and effects of slope movement, studies must be made on a regional scale, at individual sites, and in the laboratory. Areal studies — some embracing entire countries — have shown that certain geologic conditions on slopes facilitate landsliding; these conditions include intensely sheared rocks; poorly consolidated, fine-grained clastic rocks; hard fractured rocks underlain by less resistant rocks; or loose accumulations of fine-grained surface debris. Field investigations as well as mathematical- and physical-model studies are increasing our understanding of the mechanism of slope movement in fractured rock, and assist in arriving at practical solutions to landslide problems related to all kinds of land development for human use. Progressive failure of slopes has been studied in both soil and rock mechanics. New procedures have been developed to evaluate earthquake response of embankments and slopes. The finite element method of analysis is being extensively used in the calculation of slope stability in rock broken by joints, faults, and other discontinuities.
Curiosity’s robotic arm-mounted Mars Hand Lens Imager (MAHLI): Characterization and calibration status
MAHLI (Mars Hand Lens Imager) is a 2-megapixel, Bayer pattern color CCD camera with a macro lens mounted on a rotatable turret at the end of the 2-meters-long robotic arm aboard the Mars Science Laboratory rover, Curiosity. The camera includes white and longwave ultraviolet LEDs to illuminate targets at night. Onboard data processing services include focus stack merging and data compression. Here we report on the results and status of MAHLI characterization and calibration, covering the pre-launch period from August 2008 through the early months of the extended surface mission through February 2015. Since landing in Gale crater in August 2012, MAHLI has been used for a wide range of science and engineering applications, including distinction among a variety of mafic, siliciclastic sedimentary rocks; investigation of grain-scale rock, regolith, and eolian sediment textures and structures; imaging of the landscape; inspection and monitoring of rover and science instrument hardware concerns; and supporting geologic sample selection, extraction, analysis, delivery, and documentation. The camera has a dust cover and focus mechanism actuated by a single stepper motor. The transparent cover was coated with a thin film of dust during landing, thus MAHLI is usually operated with the cover open. The camera focuses over a range from a working distance of 2.04 cm to infinity; the highest resolution images are at 13.9 µm per pixel; images acquired from 6.9 cm show features at the same scale as the Mars Exploration Rover Microscopic Imagers at 31 µm/pixel; and 100 µm/pixel is achieved at a working distance of ~26.5 cm. The very highest resolution images returned from Mars permit distinction of high contrast silt grains in the 30–40 µm size range. MAHLI has performed well; the images need no calibration in order to achieve most of the investigation’s science and engineering goals. The positioning and repeatability of robotic arm placement of the MAHLI camera head have been excellent on Mars, often with the hardware arriving within millimeters of expectation. Stability while imaging is usually such that the images are sharply focused; some exceptions—thought to result from motion induced by wind—have occurred during longer exposure LED-illuminated night imaging. Image calibration includes relative radiometric correction by removal of dark current and application of a flat field. Dark current is negligible to minor for typical daytime exposure durations and temperatures at the Gale field site. A pre-launch flat field product is usually applied to the data but new products created from images acquired by MAHLI of the Martian sky are superior and can provide a relative radiometric accuracy of ~6%. The camera lens imparts negligible distortion to its images; camera models derived from pre-launch data, with CAHV and CAHVOR parameters captured in their archived labels, can be applied to the images for analysis. MAHLI data and derived products, including pre-launch images, are archived with the NASA Planetary Data System (PDS). This report includes supplementary calibration and characterization data that are not available in the PDS archive (see supplement file MAHLITechRept0001_Supplement.zip).
Gravitational spreading of steep-sided ridges ("sackung") in western United States
Large-scale gravitational spreading and movement along fractures of steep-sided ridges in the mountainous areas of the western United States are characterized by linear fissures, trenches, and uphill-facing scarps on tops and sides of ridges. Spreading appears to take place by movement along disconnected planes and/or by slow plastic deformation of a rock mass. In some places, valleyward squeezing out of weak shales overlain by rigid rocks causes extensional fracturing and outward movement of the rigid layers, as illustrated by extension of two laccoliths overlying Mancos Shale, one at Dolores Peak and another at Crested Butte in western Colorado. Gravitational forces acting on a ridge of more homogeneous material causes tensional spreading of the ridge parallel to its long axis, for example in fractured granitic rock north of Mt. Massive in central Colorado, where a survey course has been established to monitor the movement. Recognition and understanding of these large-scale gravitational features and the mechanism that causes them are pertinent to site selection and design of engineering structures in high mountains. If fractures extend to considerable depth and if movement is continuing, engineering structures in valleys or tunnels through the spreading ridges could be damaged.
U.S. Geological Survey Earthquake Science Center
The mission of the U.S. Geological Survey (USGS) Earthquake Science Center is to collect a wide range of data on earthquakes, faults, and crustal deformation; conduct research to increase our understanding of earthquake source processes, occurrence, and effects; and synthesize this knowledge into probabilistic seismic hazard assessments, aftershock forecasts, and ground-shaking scenarios for anticipated major earthquakes. We disseminate these data products, hazard assessments, and research discoveries to scientists, engineers, emergency managers, and the public. With university and State partners, we operate the California Integrated Seismic Network and the Pacific Northwest Seismic Network, as well as geodetic networks throughout the western United States. We also lead the National Strong Motion Project and the ShakeAlert earthquake early warning (EEW) system; house renowned rock mechanics laboratories and deep borehole geophysics facilities; and conduct extensive geophysical, geologic, and paleoseismic investigations along active faults. We are funded primarily by the USGS Earthquake Hazards Program, with additional support from the USGS Volcano Hazards and Energy Resources Programs, other Federal and State agencies, private foundations, and public and private utilities and corporations.
Stability of submerged slopes on the flanks of the Hawaiian Islands, a simplified approach
Undersea transmission lines and shoreline AC-DC conversion stations and near-shore transmission lines are being considered as part of a system for transporting energy between the Hawaiian Islands. These facilities will need to be designed so that they will not be damaged or destroyed by coastal or undersea landslides. Advanced site surveys and engineering design of these facilities will require detailed site specific analyses, including sediment sampling and laboratory testing of samples, in situ testing of sediment and rock, detailed charting of bathymetry, and two- or three-dimensional numerical analyses of the factors of safety of the slopes against failure from the various possible loading mechanisms. An intermediate approximate approach can be followed that involves gravity and piston cores, laboratory testing and the application of simplified models to determine a seismic angle of repose for actual sediment in the vicinity of the planned facility. An even simpler and more approximate approach involves predictions of angles of repose using classification of the sediment along a proposed route as either a coarse volcaniclastic sand, a calcareous ooze, or a muddy terrigenous sediment. The steepest slope that such a sediment can maintain is the static angle of repose. Sediment may be found on slopes as steep as these, but it must be considered metastable and liable to fail in the event of any disturbance, storm or earthquake. The seismic angle of repose likely governs most slopes on the Hawaiian Ridge. This declivity corresponds to the response of the slope to a continuing seismic environment. As a long history of earthquakes affects the slopes, they gradually flatten to this level. Slopes that exceed or roughly equal this value can be considered at risk to fail during future earthquakes. Seismic and static angles of repose for three sediment types are tabulated in this report.
The Alaska earthquake, March 27, 1964: Lessons and conclusions
One of the greatest earthquakes of all time struck south-central Alaska on March 27, 1964. Strong motion lasted longer than for most recorded earthquakes, and more land surface was dislocated, vertically and horizontally, than by any known previous temblor. Never before were so many effects on earth processes and on the works of man available for study by scientists and engineers over so great an area. The seismic vibrations, which directly or indirectly caused most of the damage, were but surface manifestations of a great geologic event-the dislocation of a huge segment of the crust along a deeply buried fault whose nature and even exact location are still subjects for speculation. Not only was the land surface tilted by the great tectonic event beneath it, with resultant seismic sea waves that traversed the entire Pacific, but an enormous mass of land and sea floor moved several tens of feet horizontally toward the Gulf of Alaska. Downslope mass movements of rock, earth, and snow were initiated. Subaqueous slides along lake shores and seacoasts, near-horizontal movements of mobilized soil (“landspreading”), and giant translatory slides in sensitive clay did the most damage and provided the most new knowledge as to the origin, mechanics, and possible means of control or avoidance of such movements. The slopes of most of the deltas that slid in 1964, and that produced destructive local waves, are still as steep or steeper than they were before the earthquake and hence would be unstable or metastable in the event of another great earthquake. Rockslide avalanches provided new evidence that such masses may travel on cushions of compressed air, but a widely held theory that glaciers surge after an earthquake has not been substantiated. Innumerable ground fissures, many of them marked by copious emissions of water, caused much damage in towns and along transportation routes. Vibration also consolidated loose granular materials. In some coastal areas, local subsidence was superimposed on regional tectonic subsidence to heighten the flooding damage. Ground and surface waters were measurably affected by the earthquake, not only in Alaska but throughout the world. Expectably, local geologic conditions largely controlled the extent of structural damage, whether caused directly by seismic vibrations or by secondary effects such as those just described. Intensity was greatest in areas underlain by thick saturated unconsolidated deposits, least on indurated bedrock or permanently frozen ground, and intermediate on coarse well-drained gravel, on morainal deposits, or on moderately indurated sedimentary rocks. Local and even regional geology also controlled the distribution and extent of the earthquake's effects on hydrologic systems. In the conterminous United States, for example, seiches in wells and bodies of surface water were controlled by geologic structures of regional dimension. Devastating as the earthquake was, it had many long-term beneficial effects. Many of these were socioeconomic or engineering in nature; others were of scientific value. Much new and corroborative basic geologic and hydrologic information was accumulated in the course of the earthquake studies, and many new or improved investigative techniques were developed. Chief among these, perhaps, were the recognition that lakes can be used as giant tiltmeters, the refinement of methods for measuring land-level changes by observing displacements of barnacles and other sessile organisms, and the relating of hydrology to seismology by worldwide study of hydroseisms in surface-water bodies and in wells. The geologic and hydrologic lessons learned from studies of the Alaska earthquake also lead directly to better definition of the research needed to further our understanding of earthquakes and of how to avoid or lessen the effects of future ones. Research is needed on the origins and mechanisms of earthquakes, on crustal structure, and on the generation of tsunamis and local waves. Better earthquake-hazard maps, based on improved knowledge of regional geology, fault behavior, and earthquake mechanisms, are needed for the entire country. Their preparation will require the close collaboration of engineers, seismologists, and geologists. Geologic maps of all inhabited places in earthquake-prone parts of the country are also needed by city planners and others, because the direct relationship between local geology and potential earthquake damage is now well understood. Improved and enlarged nets of earthquake-sensing instruments, sited in relation to known geology, are needed, as are many more geodetic and hydrographic measurements. Every large earthquake, wherever located, should be regarded as a full-scale laboratory experiment whose study can give scientific and engineering information unobtainable from any other source. Plans must be made before the event to insure staffing, funding, and coordination of effort for the scientific and engineering study of future earthquakes. Advice of earth scientists and engineers should be used in the decision-making processes involved in reconstruction after any future disastrous earthquake, as was done after the Alaska earthquake. The volume closes with a selected bibliography and a comprehensive index to the entire series of U.S. Geological Survey Professional Papers 541-546. This is the last in a series of six reports that the U.S. Geological Survey published on the results of a comprehensive geologic study that began, as a reconnaissance survey, within 24 hours after the March 27, 1964, Magnitude 9.2 Great Alaska Earthquake and extended, as detailed investigations, through several field seasons. The 1964 Great Alaska earthquake was the largest earthquake in the U.S. since 1700. Professional Paper 546, in 1 part, describes Lessons and Conclusions.
Localization and physical property experiments conducted by opportunity at Meridiani Planum
The location of the Opportunity landing site was determined to better than 10-m absolute accuracy from analyses of radio tracking data. We determined Rover locations during traverses with an error as small as several centimeters using engineering telemetry and overlapping images. Topographic profiles generated from rover data show that the plains are very smooth from meter- to centimeter-length scales, consistent with analyses of orbital observations. Solar cell output decreased because of the deposition of airborne dust on the panels. The lack of dust-covered surfaces on Meridiani Planum indicates that high velocity winds must remove this material on a continuing basis. The low mechanical strength of the evaporitic rocks as determined from grinding experiments, and the abundance of coarse-grained surface particles argue for differential erosion of Meridiani Planum.