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The Mars Hand Lens Imager (MAHLI) is a 2-megapixel, color camera withresolution as high as 13.9 µm pixel<sup>−1</sup>. MAHLI has operatedsuccessfully on the Martian surface for over 1150 Martian days (sols) aboardthe Mars Science Laboratory (MSL) rover, Curiosity. During that time MAHLIacquired images to support science and science-enabling activities, includingrock and outcrop textural analysis; sand characterization to further theunderstanding of global sand properties and processes; support of otherinstrument observations; sample extraction site documentation; range-findingfor arm and instrument placement; rover hardware and instrument monitoringand safety; terrain assessment; landscape geomorphology; and support of roverrobotic arm commissioning. Operation of the instrument has demonstrated thatimaging fully illuminated, dust-free targets yields the best results, withcomplementary information obtained from shadowed images. Thelight-emitting diodes (LEDs) allow satisfactory night imaging but do notimprove daytime shadowed imaging. MAHLI's combination of fine-scale,science-driven resolution, RGB color, the ability to focus over a large rangeof distances, and relatively large field of view (FOV), have maximized thereturn of science and science-enabling observations given the MSL missionarchitecture and constraints

MAHLI on Mars: lessons learned operating a geoscience camera on a landed payload robotic arm