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The long‐wavelength gravity and topography of Venus are dominated by mantle convective flows, and are hence sensitive to the planet's viscosity structure and mantle density anomalies. By modeling the dynamic gravity and topography signatures and by making use of a Bayesian inference approach, we investigate the viscosity structure of the Venusian mantle by constraining radial viscosity variations. We performed inversions under a wide range of model assumptions that consistently predicted the existence of a thin low‐viscosity zone in the uppermost mantle. The zone is about 235 km thick and has a viscosity reduction of 5–15 times with respect to the underlying mantle. Drawing a parallel with the Earth, the reduced viscosity could be a result of partial melting as suggested for the origin of the asthenosphere. These results support the interpretation that Venus is a geologically active world predominantly governed by ongoing magmatic processes. Plain Language Summary On Venus, convective up and downwellings in the mantle are intrinsically linked to density variations in the interior. The manner in which the planet is deformed by these mantle flows depends upon its viscosity, and this in turn affects the gravity and topography signals that were recorded by orbiting spacecraft. We tested a large range of model parameters that describe the mantle viscosity on Venus and retrieved the viscosity structure that is compatible with the observations. Our results indicate the presence of a low viscosity zone beneath the Venusian lithosphere in the uppermost mantle. In this region, the viscosity is one order of magnitude smaller than that of the underlying mantle. Starting at a depth of about 80 km and extending over about 235 km, this low viscosity zone could reflect the presence of partial melting and, similarly to the Earth, an asthenosphere on Venus. The presence of partial melt in the interior of Venus supports recent observations of a volcanically active planet and holds major implications for present‐day magmatic activity. Key Points The long‐wavelength gravity and topography of Venus are investigated in the spectral domain using a dynamic loading model Bayesian inference constraints on the mantle viscosity structure indicate the existence of a low viscosity zone in the upper mantle The low viscosity zone is potentially associated with partial melting beneath the lithosphere

We report observations of Rayleigh waves that orbit around Mars up to three times following the S1222a marsquake. Averaging these signals, we find the largest amplitude signals at 30 and 85 s central period, propagating with distinctly different group velocities of 2.9 and 3.8 km/s, respectively. The group velocities constraining the average crustal thickness beneath the great circle path rule out the majority of previous crustal models of Mars that have a >200 kg/m3 density contrast across the equatorial dichotomy between northern lowlands and southern highlands. We find that the thickness of the Martian crust is 42–56 km on average, and thus thicker than the crusts of the Earth and Moon. Considered with the context of thermal evolution models, a thick Martian crust suggests that the crust must contain 50%–70% of the total heat production to explain present‐day local melt zones in the interior of Mars. Plain Language Summary The NASA InSight mission and its seismometer installed on the surface of Mars is retired after ∼4 years of operation. From the largest marsquake recording during the entire mission, we observe clear seismic signals from surface waves called Rayleigh waves that orbit around Mars up to three times. By measuring the wavespeeds with which these surface waves travel at different frequencies, we obtain the first seismic evidence that constrains the average crustal and uppermost mantle structures beneath the traveling path on a planetary scale. Using the new seismic observations together with gravity data, we confirm that the density of the crust in the northern lowlands and the southern highlands is similar, differing by no more than 200 kg/m3. Furthermore, we find that the global average crustal thickness on Mars is 42–56 km, much thicker than the Earth's and Moon's crusts. By exploring Mars' thermal history, a thick Martian crust requires about 50%–70% of the heat‐producing elements such as thorium, uranium, and potassium to be concentrated in the crust in order to explain local regions in the Martian mantle that can still undergo melting at present day. Key Points We present the first observation of Rayleigh waves that orbit around Mars up to three times Group velocity measurements and 3‐D simulations constrain the average crustal and uppermost mantle velocities along the great‐circle propagation path The global average crustal thickness is 42–56 km and requires a large enrichment of heat‐producing elements to explain local melt zones

Regardless of the steady increase of computing power during the last decades, numerical models in a 3D spherical shell are only used in specific setups to investigate the thermochemical convection in planetary interiors, while 2D geometries are typically favored in most exploratory studies involving a broad range of parameters. The 2D cylindrical and the more recent 2D spherical annulus geometries are predominantly used in this context, but the extent to how well they reproduce the 3D spherical shell results in comparison to each other and in which setup has not yet been extensively investigated. Here we performed a thorough and systematic study in order to assess which 2D geometry reproduces best the 3D spherical shell. In a first set of models, we investigated the effects of the geometry on thermal convection in steady‐state setups while varying a broad range of parameters. Additional thermal evolution models of three terrestrial bodies, namely Mercury, the Moon, and Mars, which have different interior structures, were used to compare the 2D and 3D geometries. Our investigations show that the 2D spherical annulus geometry provides results closer to models in a 3D spherical shell compared to the 2D cylindrical geometry. Our study indicates where acceptable differences can be expected when using a 2D instead of a 3D geometry and where to be cautious when interpreting the results. Plain Language Summary In geodynamic modeling, numerical models are used in order to investigate how the interior of a terrestrial planet evolves from the earliest stage, after the planetary formation, up to present day. Often, the mathematical equations that are used to model the physical processes in the interior of rocky planets are discretized and solved using geometric meshes. The most commonly applied geometries are the 3D spherical shell, the 2D cylinder, and the 2D spherical annulus. While being the most accurate and realistic, the 3D geometry is expensive in terms of computing power and time of execution. On the other hand, 2D geometries provide a reduced accuracy but are computationally faster. Here we perform an extensive comparison between 2D and 3D geometries in scenarios of increasing complexity. The 2D spherical annulus geometry shows much closer results to the 3D spherical shell when compared to the 2D cylinder and should be given preference in 2D modeling studies. Key Points Interior dynamics models using the 2D spherical annulus geometry match the results of a 3D spherical shell better than the 2D cylinder The difference between 2D and 3D geometries decreases when models are heated from below by the core and from within by radioactive elements The 2D spherical annulus shows negligible differences to 3D for the thermal evolution of Mercury and the Moon, and acceptable values for Mars

The seismic activity of a planet can be described by the corner magnitude, events larger than which are extremely unlikely, and the seismic moment rate, the long‐term average of annual seismic moment release. Marsquake S1222a proves large enough to be representative of the global activity of Mars and places observational constraints on the moment rate. The magnitude‐frequency distribution of relevant Marsquakes indicates a b $b$‐value of 1.06. The moment rate is likely between 1.55×1015Nm/a $1.55\\times {10}^{15}\\mathrm{N}\\mathrm{m}/\\mathrm{a}$ and 1.97×1018Nm/a $1.97\\times {10}^{18}\\mathrm{N}\\mathrm{m}/\\mathrm{a}$, with a marginal distribution peaking at 4.9×1016Nm/a $4.9\\times {10}^{16}\\mathrm{N}\\mathrm{m}/\\mathrm{a}$. Comparing this with pre‐InSight estimations shows that these tended to overestimate the moment rate, and that 30% or more of the tectonic deformation may occur silently, whereas the seismicity is probably restricted to localized centers rather than spread over the entire planet. Plain Language Summary The seismic moment rate is a measure for how fast quakes accumulate deformation of the planet's rigid outer layer, the lithosphere. In the past decades, several models for the deformation rate of Mars were developed either from the traces quakes leave on the surface, or from mathematical models of how quickly the planet's interior cools down and shrinks. The large marsquake that occurred on the 4th of May 2022 now allows a statistical estimation of the deformation accumulated on Mars per year, and thus to confront these models with reality. It turns out that, although there is a considerable overlap, the models published prior to InSight tend to overestimate the seismic moment rate, and hence the ongoing deformation on Mars. Possible explanations are that 30% or more of the deformation occurs silently, that is, without causing quakes, or that not the entire planet is seismically active but only specific regions. Key Points A single large marsquake suffices to constrain the global seismic moment rate Pre‐InSight estimations tended to overestimate the moment rate Either a significant part of the ongoing deformation occurs silent, or seismic activity is restricted to some activity centers, or both

Knowing the structure of the crust is critical to understanding a planet's geologic evolution. Crustal thickness inversions rely on bulk density estimates, which are primarily affected by porosity. Due to the absence of high‐resolution gravity data, Mercury's crustal porosity has remained unknown. Here, we use a model that was calibrated to the Moon to relate Mercury's impact crater population and long‐wavelength crustal porosity in the cratered terrains. Therein, porosity is created by large impacts and then decreased as the surface ages due to pore compaction by smaller impacts and overburden pressure. Our models fit independent gravity‐derived porosity estimates in the northern regions, where data is well resolved. Porosity in the cratered terrains is found to be 9%–18% with an average and standard deviation of 13% ± $\\pm $ 2%, indicating lunar‐like crustal bulk densities of 2,565 ± $\\pm $ 70 kg m−3 ${\\mathrm{m}}^{-3}$ from which updated crustal thickness maps are constructed. Plain Language Summary The crust of a planet is a thermal barrier, which controls how fast heat escapes to space. Depending on its thickness, the crust can strongly insulate the planet's interior preventing efficient cooling. Therefore, knowing the structure of the crust is critical to unraveling the geologic history of planetary bodies. Crustal thickness is typically inverted from gravity and topography data. One critical parameter for these inversions is the bulk density of the crust, which is primarily driven by porosity variations. While high‐resolution gravity field mapping allowed constraining the bulk density and porosity of the lunar crust, crustal porosity on other planetary bodies has remained unknown. In this work, we use a model that was calibrated to the Moon to relate Mercury's impact crater population and long‐wavelength crustal porosity in the cratered terrains. We show that crustal porosity in the cratered terrains ranges from 9% to 18% with an average and standard deviation of 13% ± $\\pm $ 2%, indicating lunar‐like low bulk densities of 2,565 ± $\\pm $ 70 kg m−3 ${\\mathrm{m}}^{-3}$. Key Points Mercury's crustal porosity estimated from the crater population, assuming porosity formed by large impacts and decreased with surface aging Crustal porosity in the cratered terrains ranges from 9% to 18% with an average and standard deviation of 13% ± 2% The low bulk density of Mercury's crust in the cratered terrain, 2,565 ± 70 kg m−3, is similar to that of the lunar highlands

The Heat Flow and Physical Properties Package HP 3 for the InSight mission will attempt the first measurement of the planetary heat flow of Mars. The data will be taken at the InSight landing site in Elysium planitia (136  ∘ E, 5  ∘ N) and the uncertainty of the measurement aimed for shall be better than ±5 mW m −2 . The package consists of a mechanical hammering device called the “Mole” for penetrating into the regolith, an instrumented tether which the Mole pulls into the ground, a fixed radiometer to determine the surface brightness temperature and an electronic box. The Mole and the tether are housed in a support structure before being deployed. The tether is equipped with 14 platinum resistance temperature sensors to measure temperature differences with a 1- σ uncertainty of 6.5 mK. Depth is determined by a tether length measurement device that monitors the amount of tether extracted from the support structure and a tiltmeter that measures the angle of the Mole axis to the local gravity vector. The Mole includes temperature sensors and heaters to measure the regolith thermal conductivity to better than 3.5% (1- σ ) using the Mole as a modified line heat source. The Mole is planned to advance at least 3 m—sufficiently deep to reduce errors from daily surface temperature forcings—and up to 5 m into the martian regolith. After landing, HP 3 will be deployed onto the martian surface by a robotic arm after choosing an instrument placement site that minimizes disturbances from shadows caused by the lander and the seismometer. The Mole will then execute hammering cycles, advancing 50 cm into the subsurface at a time, followed by a cooldown period of at least 48 h to allow heat built up during hammering to dissipate. After an equilibrated thermal state has been reached, a thermal conductivity measurement is executed for 24 h. This cycle is repeated until the final depth of 5 m is reached or further progress becomes impossible. The subsequent monitoring phase consists of hourly temperature measurements and lasts until the end of the mission. Model calculations show that the duration of temperature measurement required to sufficiently reduce the error introduced by annual surface temperature forcings is 0.6 martian years for a final depth of 3 m and 0.1 martian years for the target depth of 5 m.

We introduce, in spherical geometry, experiments on electro-hydrodynamic driven Rayleigh–Bénard convection that have been performed for both temperature-independent (‘GeoFlow I’) and temperature-dependent fluid viscosity properties (‘GeoFlow II’) with a measured viscosity contrast up to 1.5. To set up a self-gravitating force field, we use a high-voltage potential between the inner and outer boundaries and a dielectric insulating liquid; the experiments were performed under microgravity conditions on the International Space Station. We further run numerical simulations in three-dimensional spherical geometry to reproduce the results obtained in the ‘GeoFlow’ experiments. We use Wollaston prism shearing interferometry for flow visualization – an optical method producing fringe pattern images. The flow patterns differ between our two experiments. In ‘GeoFlow I’, we see a sheet-like thermal flow. In this case convection patterns have been successfully reproduced by three-dimensional numerical simulations using two different and independently developed codes. In contrast, in ‘GeoFlow II’, we obtain plume-like structures. Interestingly, numerical simulations do not yield this type of solution for the low viscosity contrast realized in the experiment. However, using a viscosity contrast of two orders of magnitude or higher, we can reproduce the patterns obtained in the ‘GeoFlow II’ experiment, from which we conclude that nonlinear effects shift the effective viscosity ratio.

Mars’s seismic activity and noise have been monitored since January 2019 by the seismometer of the InSight (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) lander. At night, Mars is extremely quiet; seismic noise is about 500 times lower than Earth’s microseismic noise at periods between 4 s and 30 s. The recorded seismic noise increases during the day due to ground deformations induced by convective atmospheric vortices and ground-transferred wind-generated lander noise. Here we constrain properties of the crust beneath InSight, using signals from atmospheric vortices and from the hammering of InSight’s Heat Flow and Physical Properties (HP3) instrument, as well as the three largest Marsquakes detected as of September 2019. From receiver function analysis, we infer that the uppermost 8–11 km of the crust is highly altered and/or fractured. We measure the crustal diffusivity and intrinsic attenuation using multiscattering analysis and find that seismic attenuation is about three times larger than on the Moon, which suggests that the crust contains small amounts of volatiles.The crust beneath the InSight lander on Mars is altered or fractured to 8–11 km depth and may bear volatiles, according to an analysis of seismic noise and wave scattering recorded by InSight’s seismometer.

The surface of Mars has been well mapped and characterized, yet the subsurface — the most likely place to find signs of extant or extinct life and a repository of useful resources for human exploration — remains unexplored. In the near future this is set to change.

Diurnal and seasonal variations in soil and surface temperature measured with the HP3 ${\\mathrm{H}\\mathrm{P}}^{3}$ thermal probe and radiometer of NASA's InSight Mars mission are reported. At a representative depth of 10–20 cm, an average temperature of 217.5 K was found, varying by 5.3–6.7 K during a sol and by 13.3 K during the seasons. From the damping of the temperature variation with depth and the phase shift, a thermal diffusivity of (3.93 ± $\\pm $ 0.39) × 10−8 ${10}^{-8}$ m2 ${\\mathrm{m}}^{2}$/s was derived for the upper ∼ ${\\sim} $10 cm from the diurnal temperature variation and of (3.63 ± $\\pm $ 0.53) × 10−8 ${10}^{-8}$ m2 ${\\mathrm{m}}^{2}$/s for the ∼ ${\\sim} $40 cm depth range of the mole from the annual temperature variation. Using published thermal conductivity and inertia values together with the diffusivities, soil densities of 1,470 and 1,730 kg/m3 ${m}^{3}$ were derived for these depths. The temperatures allow the deliquescence of thin films of brine, the efflorescence of which may explain the cemented duricrust observed. Plain Language Summary Temperature is an important factor in understanding the physical properties of Martian soil. It determines how quickly physical processes and chemical reactions occur, including the transport of heat and materials. Temperature is crucial to astrobiology because it affects the habitability of the soil and the potential for water or brine to support microbial life. We measured the temperature in the soil during several Martian days and over a Martian year using the NASA InSight Mars mission's Heat Flow and Physical Properties Package. The average temperature was −56°C (217.5 K) over the depth extent of the thermal probe, which was about 40 cm. The temperature varied by 5–7° during the day, which is only a tenth of the daily surface temperature variation. It varied by 13° during the seasons. The temperature is subfreezing for water, but it allows the formation of thin films of salty brine for 10 hr or more during a Martian day. The solidification of the brine is a likely explanation for the observed few tens of centimeters thick duricrust, a layer of consolidated, cohesive sand, which is thought to have hampered the penetration to greater depth of the mission's thermal probe. Key Points We measured the temperature and its diurnal and annual variations in the top 40 cm of the Martian soil at the InSight landing site The soil thermal diffusivity was calculated from the diurnal and seasonal surface and soil temperature variations The soil temperature allows the formation of thin films of brine; their efflorescence may explain the formation of the observed duricrust