火星上的InSight HP $^3$穿透器（鼹鼠）：从穿透尝试和相关活动得出的土壤特性
The InSight HP$^3$ Penetrator (Mole) on Mars: Soil Properties Derived From the Penetration Attempts and Related Activities
摘要：
NASA火星上的InSight着陆器包括热流和物理特性包HP $^3$，用于测量行星的表面热流。该装置使用的温度传感器将由一个绰号为“鼹鼠”的小型穿透器带到3- 5米的目标深度。鼹鼠需要在其船体上的摩擦力来平衡其锤机构的剩余反冲力，但没有穿透到目标深度。相反，它沿着船体前进了大约一个点，刻出了一个7厘米深，5-6厘米宽的坑，最初达到了31厘米的深度。失败的根本原因-通过广泛的，几乎长达两年的活动确定-是在一个意想不到的厚粘性硬壳中缺乏摩擦力。在运动期间-本文详细描述-鼹鼠通过使用机器人仪器部署臂末端的铲子施加的摩擦力以及后者的直接支持进一步穿透。鼹鼠最后到达了40厘米的深度，使鼹鼠体在水面下1- 2厘米。利用土锤的贯入记录及其热传感器测量了土的热、力学参数，如硬壳层的导热系数、贯入阻力和粘聚力。用地震仪SEIS记录鼹鼠的锤击声，这些信号可用于导出代表最上层几十cm风化层的P波速度和S波速度以及弹性模量。综合数据被用来推导出一个模型的风化层，有一个约20厘米厚的duricrust下面的1厘米厚的松散层的沙子混合灰尘和另一个10厘米以上的松散的沙子。在后者之下，推断有一层更难穿透，可能由小型撞击坑的碎片组成。
英文摘要：
The NASA InSight Lander on Mars includes the Heat Flow and Physical Properties Package HP$^3$ to measure the surface heat flow of the planet. The package uses temperature sensors that would have been brought to the target depth of 3--5 m by a small penetrator, nicknamed the mole. The mole requiring friction on its hull to balance remaining recoil from its hammer mechanism did not penetrate to the targeted depth. Instead, by precessing about a point midway along its hull, it carved a 7 cm deep and 5-6 cm wide pit and reached a depth of initially 31 cm. The root cause of the failure - as was determined through an extensive, almost two years long campaign - was a lack of friction in an unexpectedly thick cohesive duricrust. During the campaign -- described in detail in this paper -- the mole penetrated further aided by friction applied using the scoop at the end of the robotic Instrument Deployment Arm and by direct support by the latter. The mole finally reached a depth of 40 cm, bringing the mole body 1--2 cm below the surface. The penetration record of the mole and its thermal sensors were used to measure thermal and mechanical soil parameters such as the thermal conductivity and the penetration resistance of the duricrust and its cohesion. The hammerings of the mole were recorded by the seismometer SEIS and the signals could be used to derive a P-wave velocity and a S-wave velocity and elastic moduli representative of the topmost tens of cm of the regolith. The combined data were used to derive a model of the regolith that has an about 20 cm thick duricrust underneath a 1 cm thick unconsolidated layer of sand mixed with dust and above another 10 cm of unconsolidated sand. Underneath the latter, a layer more resistant to penetration and possibly consisting of debris from a small impact crater is inferred.
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