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Data in this repository includes four GeoTIFF files providing information of topography in Muskox Valley, located on the eastern side of Axel Heiberg Island, NU at coordinates 8813520, 482220, UTM projection, Zone 16N. Each GeoTIFF is projected in the following coordinate system: EPSG:32616 - WGS 84 / UTM zone 16N. The GeoTIFFs were derived from high-resolution LiDAR collected in Muskox Valley during a one-day field campaign on July 7, 2019, using the AkhkaR4DW backpack mobile laser scanning system. The portable unit collects high-precision 3D topographic data kinematically38 at a maximum spatial resolution of 0.1-1 cm. The system operation is based on Global Navigation Satellite System - Inertial Measurement unit (GNSS-IMU) positioning and observes GPS and GLONASS constellations for position. See the following publication or more information on the portable LiDAR unit: Kukko, A., Kaartinen, H., Osinski, G., and Hyyppä, J.: Modeling permafrost terrain using kinematic, dual-wavelength laser scanning. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., V-2-2020, 749–756, doi:10.5194/isprs-annals-V-2-2020-749-2020 (2020).

Mars is thought to have been a hyperarid desert for at least the last one billion years of its history and so water is locked up in the two polar ice caps, ground ice and an extensive band of debris covered glaciers found in the mid-latitudes. Layers expressed by the polar caps are thought to record the most recent climate cycles of Mars – up to a few tens of Ma. The debris covered glaciers are thought to date to hundreds of millions of years in age and potentially record a deeper climate record. Here, we report on the widespread occurrence of layered outcrops intimately associated with glaciated terrains in Deuteronilus Mensae and the Eastern Hellas region – two areas renowned for their extremely extensive and well-preserved debris covered glaciers. We explore the relationship between these layered outcrops and the debris covered glaciers by exploiting images and elevation data from the High Resolution Science Imaging Experiment (HiRISE) at 25 cm/pixel, Context camera (CTX) at 6 m/pixel and Colour and Stereo Imaging System (CaSSIS) at 4.5 m/pixel. Because these outcrops have similar morphology in both the northern and the southern hemisphere they point to a globally relevant process. Our aim is to test the hypothesis that these deposits represent remnant glacial deposits, which could give information of Mars climate beyond that obtainable by studying the polar caps.

Mars is nowadays a frozen desert devoid of liquid water, but it was not always like this: giant valleys and canyons on its surface show that at some point in the remote past, water existed on the Martian surface. Trying to understand the origin of these valleys, we found answers in an unexpected place: the plumbing system of ice sheets.

The lack of evidence for large-scale glacial erosion on Mars has led to the belief that any ice sheet that may have existed had to be frozen to the ground. We challenge this argument, suggesting instead that the fingerprints of Martian warm-based ice masses should be the remnants of their drainage systems, including channel networks and eskers, instead of the large scoured fields generally associated with terrestrial Quaternary glaciation. Our results use the terrestrial glacial hydrology framework to interrogate how the Martian lower surface gravity should affect the state and evolution of the glacial drainage system, ice sliding velocity, and the rates of glacial erosion. Taking as reference the scale and characteristics of the ancient southern circumpolar ice sheet that deposited the Dorsa Argentea formation, we compare the theoretical behavior of geometrically identical ice sheets on Mars and Earth and show that, whereas on Earth glacial drainage is predominantly inefficient, enhancing ice sliding and producing characteristically scoured glacial landscapes, on Mars the lower gravity favors the formation of efficient subglacial channelized drainage. The apparent lack of large-scale glacial fingerprints on Mars, such as scouring marks, drumlins, lineations, etc., is thus to be expected.

The southern highlands of Mars are dissected by hundreds of valley networks, which are evidence that water once sculpted the surface. Characterizing the mechanisms of valley incision may constrain early Mars climate and the search for ancient life. Previous interpretations of the geological record require precipitation and surface water runoff to form the valley networks, in contradiction with climate simulations that predict a cold, icy ancient Mars. Here we present a global comparative study of valley network morphometry, using a principal-component-based analysis with physical models of fluvial, groundwater sapping and glacial and subglacial erosion. We found that valley formation involved all these processes, but that subglacial and fluvial erosion are the predominant mechanisms. This is supported by predictions from models of steady-state erosion and geomorphological comparisons to terrestrial analogues. The inference of subglacial channels among the valley networks supports the presence of ice sheets that covered the southern highlands during the time of valley network emplacement. Some valleys in the southern highlands of Mars may have formed by subglacial erosion, consistent with a cold and icy early Mars, according to a statistical analysis of valley morphometry.

The lack of evidence for large-scale glacial landscapes on Mars has led to the belief that ancient glaciations had to be frozen to the ground. Here we propose that the fingerprints of Martian wet-based glaciation should be the remnants of the ice sheet drainage system instead of landforms generally associated with terrestrial ice sheets. We use the terrestrial glacial hydrology framework to interrogate how the Martian surface gravity affects glacial hydrology, ice sliding, and glacial erosion. Taking as reference the ancient southern circumpolar ice sheet that deposited the Dorsa Argentea formation, we compare the theoretical behavior of identical ice sheets on Mars and Earth and show that, whereas on Earth glacial drainage is predominantly inefficient, enhancing ice sliding and erosion, on Mars the lower gravity favors the formation of efficient subglacial drainage. The apparent lack of large-scale glacial fingerprints on Mars, such as drumlins or lineations, is to be expected.

The CanMars Mars sample return (MSR) analogue mission was conducted as a field and operational test for the Mars 2020 sample cache rover mission and was the most realistic known MSR rover analogue mission to-date. A rover — similar in scale to that of rover planned for NASA's Mars 2020 mission — was deployed to a scientifically relevant Mars-analogue sedimentary field site with remote mission operations conducted at the University of Western Ontario, Canada; the mission aim was to inform on best practices and optimal approaches for sample acquisition modeled on the Mars 2020 rover mission. The daily operational procedures of the CanMars Science Team were modeled on those of current missions (i.e., Mars Science Laboratory tactical operations), serving as a study of known operational workflows and as a testbed for new approaches. This paper reports on the operational results of CanMars with best-practice recommendations. CanMars was designed as a Mars 2020 mock mission and thus carried similar science objectives; these included (1) advancing the understanding of the habitability potential of a subaqueous sedimentary environment through identifying, characterizing, and caching drilled samples containing high organic carbon (as a proxy for preserved ancient biosignatures) and (2) advancing the understanding of the history of water at the site. The in situ science investigations needed to address these science objectives were guided by the Mars Exploration Program Analysis Group goals. Effective and efficient Science Team operational procedures were developed – and many lessons were documented – through daily tactical planning and science investigations employed to meet the sample acquisition goals. In addition to the documentation of the CanMars operational procedures, this paper provides a brief summary of the science results from CanMars with a focus on recommendations for future analogue missions and planetary sample return flight missions, providing specific value to operational procedures for the Mars 2020 rover mission.

Mars Polar Science is an integrated, compelling system that serves as a nearby analogue to numerous other planets, supports human exploration, and habitability. Mars possesses the closest and most easily accessible layered ice deposits outside of Earth, and accessing those layers to read the climate record would be a triumph for planetary science.

This paper emphasizes the importance of using terrestrial analogues to improve our understanding of the role of ice on Mars through its associated landforms. We discuss terrestrial regions and techniques that can help understand Martian icy environments, and highlight the necessity to explore the Martian cryosphere as the next natural step.

Introduction: Martian valley networks are evidence for surface run-off and past water cycles on ancient Mars. Many of the networks resemble terrestrial precipitation-fed systems; however, recent analysis has found that the geometries and morphological characteristics of some valley networks are more comparable to subglacial valley formation. Subglacial valleys have morphological characteristics that make them distinct from fluvial valley systems (i.e., those formed via precipitation or sapping erosion). Unlike fluvial valley networks, which follow the surface slope of the underlying topography, sub-glacial networks are orientated in the direction of the surface slope of the overlying ice-sheet. Therefore, subglacial valleys may have orientations that are discordant with the underlying topography. Discordance analysis, a technique that compares the valley paleoslope direction and topographic slope direction, has been applied to Mars to determine areas that have undergone topographic modification since valley formation. This technique could also be a tool for identify valleys with potential sub-glacial origins.In this study, we mapped and applied discordance analysis to valley networks in and around Argyre basin. Detailed analysis was performed on four valley networks on eastern Argyre, to determine whether their characteristics are indicative of a fluvial or sub-glacial origin.Results: 2669 V-Shaped valleys (total length = 36155.5 km) and 45 U-Shaped valleys (total length = 2683.5 km) were identified. Most V-Shaped valleys dissect the eastern and northern rim of Argyre Basin, with fewer in the south and west. The densest northern valley networks have values up to 0.098 km-1, compared to the densest in the south with values of only 0.040 km-1. U-Shaped valleys are prominent along the south/south-west rim, but are lacking along the northern rim of Argyre.Most valleys (47.8 %) are concordant (< 45° discordance) with present slope direction. Two dense groups of discordant valleys are present adjacent to Hale Crater and Nia Vallis. These areas display features associated with the presence of an ice-sheet/glacier – e.g., glacial moraines and eskers. Additionally, the morphology of these valley systems are consistent with a subglacial origin.Fento Vallis and the Darwin Crater valley system are concordant with present topographic slope, and are in close proximity to one another; however, their morphologies differ greatly. Fento Vallis consists of 25 valleys (total valley length of ~ 690 km) and drainage density of 0.019 km-1. The Darwin Crater valley network consists of 49 valleys (total valley length of ~ 1351 km) and drainage density of 0.048 km-1. Fento Vallis displays features (e.g., inner channel eskers) indicative of a subglacial origin. Alternatively, the Darwin Crater System has a planform associated with fluvial activity and originates from cirque like depressions. Although the Darwin Crater system appears to have a fluvial origin, less than 100 km to the east is Pallacopas Vallis, which displays inner eskers indicating that it has a subglacial origin.Three of the networks analysed, which are > 1000 km apart from one another, are likely subglacial in origin. Their occurrence indicates that an ice-sheet or multiple ice-sheets were present along the eastern region of Argyre throughout its history.

The return of samples from known locations on Mars is among the highest priority goals of the international planetary science community. A possible scenario for Mars Sample Return (MSR) is a series of 3 missions: sample cache, fetch, and retrieval. The NASA Mars 2020 mission represents the first cache mission and was the focus of the CanMars analogue mission described in this paper. The major objectives for CanMars included comparing the accuracy of selecting samples remotely using rover data versus a traditional human field party, testing the efficiency of remote science operations with periodic pre-planned strategic observations (Strategic Traverse Days), assessing the utility of realistic autonomous science capabilities to the remote science team, and investigating the factors that affect the quality of sample selection decision-making in light of returned sample analysis. CanMars was conducted over two weeks in November 2015 and continued over three weeks in October and November 2016 at an analogue site near Hanksville, Utah, USA, that was unknown to the Mission Control Team located at the University of Western Ontario (Western) in London, Ontario, Canada. This operations architecture for CanMars was based on the Phoenix and Mars Exploration Rover missions together with previous analogue missions led by Western with the Mission Control Team being divided into Planning and Science sub-teams. In advance of the 2015 operations, the Science Team used satellite data, chosen to mimic datasets available from Mars-orbiting instruments, to produce a predictive geological map for the landing ellipse and a set of hypotheses for the geology and astrobiological potential of the landing site. The site was proposed to consist of a series of weakly cemented multi-coloured sedimentary rocks comprising carbonates, sulfates, and clays, and sinuous ridges with a resistant capping unit, interpreted as inverted paleochannels. Both the 2015 CanMars mission, which achieved 11 sols of operations, and the first part of the 2016 mission (sols 12–21), were conducted with the Mars Exploration Science Rover (MESR) and a series of integrated and hand-held instruments designed to mimic the payload of the Mars 2020 rover. Part 2 of the 2016 campaign (sols 22–39) was implemented without the MESR rover and was conducted exclusively by the field team as a Fast Motion Field Test (FMFT) with hand-carried instruments and with the equivalent of three sols of operations being executed in a single actual day. A total of 8 samples were cached during the 39 sols from which the Science Team prioritized 3 for “return to Earth”. Various science autonomy capabilities, based on flight-proven or near-future techniques intended for actual rover missions, were tested throughout the 2016 CanMars activities, with autonomous geological classification and targeting and autonomous pointing refinement being used extensively during the FMFT. Blind targeting, contingency sequencing, and conditional sequencing were also employed. Validation of the CanMars cache mission was achieved through various methods and approaches. The use of dedicated documentarians in mission control provided a detailed record of how and why decisions were made. Multiple separate field validation exercises employing humans using traditional geological techniques were carried out. All 8 of the selected samples plus a range of samples from the landing site region, collected out-of-simulation, have been analysed using a range of laboratory analytical techniques. A variety of lessons learned for both future analogue missions and planetary exploration missions are provided, including: dynamic collaboration between the science and planning teams as being key for mission success; the more frequent use of spectrometers and micro-imagers having remote capabilities rather than contact instruments; the utility of strategic traverse days to provide additional time for scientific discussion and meaningful interpretation of the data; the benefit of walkabout traverse strategies along with multi-sol plans with complex decisions trees to acquire a large amount of contextual data; and the availability of autonomous geological targeting, which enabled complex multi-sol plans gathering large suites of geological and geochemical survey data. Finally, the CanMars MSR activity demonstrated the utility of analogue missions in providing opportunities to engage and educate children and the public, by providing tangible hands-on linkages between current robotic missions and future human space missions. Public education and outreach was a priority for CanMars and a dedicated lead coordinated a strong presence on social media (primarily Twitter and Facebook), articles in local, regional, and national news networks, and interaction with the local community in London, Ontario. A further core objective of CanMars was to provide valuable learning opportunities to students and post-doctoral fellows in preparation for future planetary exploration missions. A learning goals survey conducted at the end of the 2016 activities had 90% of participants “somewhat agreeing” or “strongly agreeing” that participation in the mission has helped them to increase their understanding of the four learning outcomes.

Valley networks are ancient drainage systems incised on the southern hemisphere of Mars, and stand as evidence that liquid water once sculpted its surface. The duration of valley network activity and the sources of water are key questions in deciphering the timing of water stability on early Mars, but remain poorly constrained. In this study we address two questions: Did Martian valley networks evolve for sufficiently long to establish their own erosional basins, or do their profiles primarily reflect landscape pre-incision topography? And were these valleys precipitation-fed or spring-fed? Our analysis uses the theoretical framework built to describe the shape of steady-state river profiles on Earth to compare and analyze the concavity of 62 valley network longitudinal profiles on Mars. Using non-linear fits to valley profiles we evaluate the degree to which valley networks are consistent with fluvial steady-state. The fit enables the identification of valley network concavity index and area-discharge exponent, which we then interpret in terms of the theoretical framework to discuss valley network maturity and water source. Our results show that the majority of valley networks do not have concave or even smooth profiles, and did not substantially modify their surrounding landscape. We observe disparity in concavity indexes of valley networks belonging in the same integrated basins, indicating different stages of landscape evolution and lack of synchronous valley development. However, our results identify six valley networks consistent with fluvial steady-state and areally uniform precipitation.

Subglacial meltwater channels (N-channels) are attributed to erosion by meltwater in subglacial conduits. They exert a major control on meltwater accumulation at the base of ice sheets, serving as drainage pathways and modifying ice flow rates. The study of exposed relict subglacial channels offers a unique opportunity to characterize the geomorphologic fingerprint of subglacial erosion as well as study the structure and characteristics of ice sheet drainage systems. In this study we present detailed field and remote sensing observations of exposed subglacial meltwater channels in excellent preservation state on Devon Island (Canadian Arctic Archipelago). We characterize channel cross section, longitudinal profiles, and network morphologies and establish the spatial extent and distinctive characteristics of subglacial drainage systems. We use field-based GPS measurements of subglacial channel longitudinal profiles, along with stereo imagery-derived digital surface models (DSMs), and novel kinematic portable lidar data to establish a detailed characterization of subglacial channels in our field study area, including their distinction from rivers and other meltwater drainage systems. Subglacial channels typically cluster in groups of ∼10 channels and are oriented perpendicular to active or former ice margins. Although their overall direction generally follows topographic gradients, channels can be oblique to topographic gradients and have undulating longitudinal profiles. We also observe that the width of first-order tributaries is 1 to 2 orders of magnitude larger than in Devon Island river systems and approximately constant. Furthermore, our findings are consistent with theoretical expectations drawn from analyses of flow driven by gradients in effective water pressure related to variations in ice thickness. Our field and remote sensing observations represent the first high-resolution study of the subglacial geomorphology of the high Arctic, and provide quantitative and qualitative descriptions of subglacial channels that revisit well-established field identification guidelines. Distinguishing subglacial channels in topographic data is critical for understanding the emergence, geometry, and extent of channelized meltwater systems and their role in ice sheet drainage. The final aim of this study is to facilitate the identification of subglacial channel networks throughout the globe by using remote sensing techniques, which will improve the detection of these systems and help to build understanding of the underlying mechanics of subglacial channelized drainage.

Mars Polar Science is a subfield of Mars science that encompasses all studies of the cryosphere of Mars and its interaction with the Martian environment. Every 4 yr, the community of scientists dedicated to this subfield meets to discuss new findings and debate open issues in the International Conference on Mars Polar Science and Exploration (ICMPSE). This paper summarizes the proceedings of the seventh ICMPSE and the progress made since the sixth edition. We highlight the most important advances and present the most salient open questions in the field today, as discussed and agreed upon by the participants of the conference. We also feature agreed-upon suggestions for future methods, measurements, instruments, and missions that would be essential to answering the main open questions presented. This work is thus an overview of the current status of Mars Polar Science and is intended to serve as a road map for the direction of the field during the next 4 yr and beyond, helping to shape its contribution within the larger context of planetary science and exploration.

The morphology of channel networks related to long-term erosion reflects the mechanisms involved in their formation. This study aims to identify quantitative metrics, drawn from topographic data and satellite imagery, that are diagnostic of the distinctive styles of erosion by rivers, glaciers, subglacial meltwater, and groundwater sapping. From digital elevation models, we identify three geometric metrics: the minimum channel width, channel aspect ratio (longest length to channel width at the outlet), and tributary junction angle. We also characterize channel network complexity in terms of its stream order and fractal dimension. To validate our approach, we perform a principal component analysis (PCA) on measurements of these five metrics on 70 channel networks. We build understanding of these results, in turn using scaling analyses of appropriate physical models. We show that rivers, glaciers, and groundwater sapping erode the landscape in rigorously distinguishable ways. Whereas rivers are characterized by nearly constant minimum width, variable aspect ratio, and high stream orders, glaciers have highly variable minimum widths and aspect ratios and much smaller stream orders. Erosion by subglacial meltwater remains poorly understood, and we argue that we require an additional metric to fully characterize these systems. Our methodology can more generally be applied to identify the contributions of different processes involved in carving a channel network. In particular, we are able to identify transitions from fluvial to glaciated landscapes or vice versa.

The surface of Mars is incised with hundreds of ancient valley networks, the physical record of flowing liquid water during the early stages of Mars evolution (3.5-3.8 Byr ago). Their remarkable similarity to terrestrial rivers has historically motivated their interpretation in terms of rainfall and surface runoff, indicating that Mars’ climate was significantly warmer than present day. Protracted surface liquid water stability is, however, hard to reconcile with results from state of the art Global Climate Models, which predict that under a fainter young Sun and a thicker primitive atmosphere, the Martian southern hemisphere would be largely under ice cover. Distinguishing whether early Mars harbored surface water or was covered by an extensive cryosphere is key to understanding the nature of any habitable environments. The goal of this dissertation is to reconcile the climate and geomorphological characterizations of early Mars by establishing quantitative constraints on the origin of the Martian valley networks. In Chapter 2, I develop a methodology to quantitatively characterize valley networks in terms of their predominant erosional mechanism, including fluvial, glacial, sapping, and subglacial regimes. Chapter 3 uses constraints from a detailed field characterization of subglacial channels to establish their reliable identification from remote sensing data. In Chapter 4, I present the main results: the identification of subglacial channels among the Martian valley networks. These results support climate model predictions and are consistent with morphological observations. Chapter 5 builds on Chapter 4 to further understand the dynamics of landscape evolution on early Mars. In particular, I demonstrate that only a small fraction of valley networks are in a steady-state, and that erosion rates were likely very low on early Mars. I conclude (1) that subglacial erosion is widespread on the Martian Highlands and best explains the puzzling characteristics of valley networks, (2) that fluvial erosion was short-lived and only concentrated in narrow topographic corridors, and (3) that glacial and sapping erosion were rare on early Mars. In marked contrast to the popular view that Mars was "warm and wet'', my results show that early Mars had a climate akin to Antarctica: extensive ice sheets with localized melting. Supplementary materials: http://hdl.handle.net/2429/67020