. 2021 Feb 15;217(1):24. doi: 10.1007/s11214-020-00755-x

Table 4.

Mars 2020 Mastcam-Z science traceability to observational and functional requirements

Mastcam-Z goals^a	Mastcam-Z objectives^b		Observation requirements	Instrument functional requirements
1. Characterize the overall landscape geomorphology, processes, and the nature of the geologic record (mineralogy, texture, structure, and stratigraphy) at the rover landing site and along the rover’s traverse	Mid-field ∼5 to 100 m away	1-a	• Acquire color monoscopic or stereo images and panoramas of extended regions around the rover under near-constant illumination conditions • Acquire 360° contextual panoramas at key locations along the traverse to document geologic context and to assess stratigraphic boundaries • Tactically assemble DTMs • Resolve cm-size bedding planes, contact geometries, rocks, veins, and nodules up to 60 m from the rover • Spectrally discriminate among expected Mars surface materials to help assess redox state and to choose best in situ and coring targets	• Cameras must be mounted as a stereo pair capable of near-simultaneous (<1 s) imaging • System must have an Instantaneous Field of View (IFOV) of ≤75 μrad/pix at full zoom (high resolution) and ≤3 mrad/pixel at wide angle (low-resolution) • System must be able to buffer ≥1 Gbit of data within internal (non-rover) Non-Volatile Random Access Memory (NVRAM) • System must be capable of imaging at any time during the day or night • Cameras must have RGB color imaging and high resolution bandpass filters to interrogate the ferric absorption edge (< 600 nm), ferric/ferrous spectral slopes/bands in the near-infrared (700-1000 nm), and near-IR hydration band (965 nm) Relevant Requirements on Remote Sensing Mast • Cameras must be able to be pointed to enable 360° azimuth coverage and −90° to +90° elevation coverage • System must be able to acquire a 360° panorama of the surrounding terrain at MER/Pancam scale or better (≤273 μrad/pix) in <1 hour
		1-b
		1-c
		1-d
	Near-field ∼1 to 5 m away	1-e	• Acquire individual color monoscopic or stereo images that can resolve mm-size bedding planes, contact geometries, rocks, veins, and nodules within about 1.5 to 4 meters of the rover • Repeat images of a scene at multiple illumination angles for photometric studies
		1-f
		1-g	• Use RGB color images to discriminate visual color differences of bulk materials • Use narrowband color filter images to detect and discriminate among major Fe-bearing silicates, ferric oxides, ferric oxyhydroxides, and selected hydrated and/or hydroxylated minerals and to identify cm- to dm-scale signs of alteration in outcrop	• Image through specific RGB and narrowband (10-20 nm width) filters in specific visible to near-infrared (400-1000 nm) wavelengths (Table 3) that enable dust cover to be assessed and diagnostic Fe-bearing and hydrated and/or hydroxylated minerals to be detected and distinguished
2. Assess current atmospheric and astronomical conditions, events, and surface-atmosphere interactions and processes	2-a		• Image the Sun in at least 2 colors sufficient to distinguish atmospheric dust and water ice aerosols	• Acquire direct images of the Sun near 440 and 880 nm using neutral density (ND) filters
	2-b		• Acquire images of the sky at wavelengths that constrain aerosol physical and radiative properties • Use camera temp. sensors to estimate environmental temperature at camera height above ground	• Use narrowband filters near 440 and 880 nm to ≈ match solar filters, span ≈2x in wavelength, and include low and high band wavelengths • Acquire temperature measurements with an accuracy of ±2 °C using instrument temp. sensors
	2-b		• Acquire rapid (≥2 fps) ≤2 min videos with ≥ MSL-M100 resolution over 5° FOV for transits; and ≤10 min color videos at ≥1/3 fps with at least Pancam resolution and FOV for dust devils and clouds	• RGB high-definition video at a rate of at least 2 frames/second
3. Provide operational support and scientific context for rover navigation, contact science, sample selection, extraction, and caching, and other selected Mars 2020 investigations	Mid-field ∼5 −100 m	3-a	• Acquire stereo images, mosaics, or panoramas of extended regions around the rover under near-constant illumination conditions • Acquire images of rover hardware and arm workspace at varying spatial scales sufficient to assess configuration, dustiness, basic wear, etc.	• Resolve driving hazards comparable to the size of a rover wheel radius (25 cm) at 100 m • Generate near-field terrain meshes with a range error of <5 mm • Acquire in-focus images that resolve features from ≤3 mm size at 1.5 m (calibration target, deck) to ≤10 cm size at 100 m range
	Mid-field ∼5 −100 m	3-b	• Resolve (identify and characterize) rocks or other potential rover driving obstacles as well as potential fiducials for locations from orbiters
	Near-field ∼1.5-5 m	3-c	• Acquire multispectral (color-contrasting) images of soils, clasts, and rocks/outcrop close to the rover under relatively high-Sun illumination	• Image in specific RGB and narrow (10-20 nm) wavelengths that enable assessment of dust cover and diagnostic Fe-bearing and hydrated minerals to be detected and distinguished
	Near-field ∼1.5-5 m	3-c	• Resolve medium to coarse sand-sized grains and clasts in the in-situ instrument work volume, providing context for fine-scale imaging investigation and selection of samples for caching • Acquire images at varying spatial scales	• Acquire in-focus images at a pixel scale of 150 μm/pix at 2 m range • System must be able to acquire images at varying spatial resolutions

^aSee Sect. 2.1 for detailed definitions of Mastcam-Z Investigation Goals.

^bSee Table 2 for detailed definitions of Mastcam-Z Investigation Objectives.