X-ray probes of magnetospheric interactions with Jupiter's auroral zones, the Galilean satellites, and the Io plasma torus

Remote observations with the Chandra X-ray Observatory and the XMM-Newton Observatory have shown that the jovian system is a source of X-rays with a rich and complicated structure. The planet's polar auroral zones and its disk are both powerful sources of X-ray emission. Chandra observations revealed X-ray emission from the Io plasma torus and from the Galilean moons Io, Europa, and possibly Ganymede. The emission from the moons is due to bombardment of their surfaces by highly energetic magnetospheric protons, and oxygen and sulfur ions. These ions excite atoms in their surfaces leading to fluorescent X-ray emission lines. These lines are produced against an intense background continuum, including bremsstrahlung radiation from surface interactions of primary magnetospheric and secondary electrons. Although the X-ray emission from the Galilean moons is faint when observed from Earth orbit, an imaging X-ray spectrometer in orbit around one or more of these moons, operating from 200 eV to 8 keV with 150 eV energy resolution, would provide a detailed mapping of the elemental composition in their surfaces. Surface resolution of 40 m for small features could be achieved in a 100-km orbit around one moon while also remotely imaging surfaces of other moons and Jupiter's upper atmosphere at maximum regional resolutions of hundreds of kilometers. Due to its relatively more benign magnetospheric radiation environment, its intrinsic interest as the largest moon in the Solar System, and its mini-magnetosphere, Ganymede would be the ideal orbital location for long-term observational studies of the jovian system. Here we describe the physical processes leading to X-ray emission from the surfaces of Jupiter's moons and the properties required for the technique of imaging X-ray spectroscopy to map the elemental composition of their surfaces, as well as studies of the X-ray emission from the planet's aurora and disk and from the Io plasma torus.     

Magnetic fields of mars and venus: Solar wind interactions

Recent U.S.S.R. studies of the magnetic field and solar wind flow in the vicinity of Mars and Venus confirm earlier U.S.A. reports of a bow shock wave developed as the solar wind interacts with these planets. Mars 2 and 3 magnetometer experiments report the existence of an intrinsic planetary magnetic field, sufficiently strong to form a magnetopause, deflecting the solar wind around the planet and its ionosphere. This is in contrast to the case for Venus, where it is assumed to be the ionosphere and processes therein which are responsible for the solar wind deflection. An empirical relationship appears to exist between planetary dipole magnetic moments and their angular momentum for Moon, Mars, Venus, Earth and Jupiter. Implications for the magnetic fields of Mercury and Saturn are discussed.Paper presented at the Lunar Science Institute Conference on Geophysical and Geochemical Exploration of the Moon and Planets, January 10–12, 1973     

On the classification of comet plasma tails

The investigation of plasma tails of comets is an important part of comet research. Different classifications of plasma tails of comets are proposed. Plasma acceleration in the tails is investigated in sufficient detail. Several cometary forms are explained. Plasma tails of Mars and Venus were observed during the first studies of these planets. They are associated with the capture of ionized atoms and exosphere molecules by the solar wind magnetized plasma flow. Distinct plasma tails of Mars and Venus are caused by the mass loading of the solar wind with heavy ions. It was shown that the transverse dimension of the tails of Mars, Venus, and comets can be quite accurately determined by production rate of the obstacle to the solar wind flow. While plasma tails of Mars and Venus are investigated by in situ measurements from spacecraft, observations of comet tails from the Earth make it possible to see the entire object under study and to monitor changes in its structure. A certain similarity of cometary and planetary tails can be explained by the nonmagnetic nature of both types of bodies. Thus, it is reasonable to suppose that investigations of plasma tails of comets can supplement the information obtained by in situ methods of the study of the planets. In this paper, plasma tails of comets, presumably analogous to the plasma tails of Mars and Venus, have been identified on modern photographs of comets (more than 1500 photographs viewed). Only quasi-steady laminar tails are considered. They are divided into two types: double structures and outflows. The paper attempts to define the 3D structure of double structures and to determine certain characteristics of outflows.     

PREDICTING MARTIAN AND VENUSIAN METEOR SHOWER ACTIVITY

Based on the number of planet-approaching cometary orbits at Mars and Venus relative to the Earth, there should be ample opportunities for observing meteor activity at those two planets. The ratio of planet-approaching Jupiter family comets (JFCs) at Mars, Earth, and Venus is 4:2:1 indicating that JFC-related outbursts would be more frequent at Mars than the Earth. The relative numbers of planet-approaching Halley-type comets (HTCs) implies that the respective levels of annual meteor activity at those three planets are similar. We identify several instances where near-comet outbursts (Jenniskens, P.: 1995, Astron. Astrophys. 295, 206–235) may occur. A possible double outburst of this type at Venus related to 45P/Honda-Mrkos-Padjusakova may be observable by the ESA Venus Express spacecraft in the summer of 2006. Similarly, the Japanese Planet-C Venus orbiter may observe an outburst related to 27P/Crommelin’s perihelion passage in July 2011. Several additional opportunities exist to observe such outbursts at Mars from 2019 to 2026 associated with comets 38P/Stephan-Oterma, 13P/Olbers and 114P/Wiseman-Skiff.     

Plasma environment of Jupiter family comets

As any comet nears the Sun, gas sublimes from the nucleus taking dust with it. Jupiter family comets are no exception. The neutral gas becomes ionized, and the interaction of a comet with the solar wind starts with ion pickup. This key process is also important in other solar system contexts wherever neutral particles become ionized and injected into a flowing plasma such as at Mars, Venus, Io, Titan and interstellar neutrals in the solar wind. At comets, ion pickup removes momentum and energy from the solar wind and puts it into cometary particles, which are then thermalised via plasma waves. Here we review what comets have shown us about how this process operates, and briefly look at how this can be applied in other contexts. We review the processes of pitch angle and energy scattering of the pickup ions, and the boundaries and regions in the comet-solar wind interaction. We use in-situ measurements from the four comets visited to date by spacecraft carrying plasma instrumentation: 21P/Giacobini-Zinner, 1P/Halley, 26P/Grigg-Skjellerup and 19P/Borrelly, to illustrate the process in action. While, of these, comet Halley is not a Jupiter class comet, it has told us the most about cometary plasma environments. The other comets, which are from the Jupiter family, give an interesting comparison as they have lower gas production rates and less-developed interactions. We examine the prospects for Rosetta at comet Churyumov-Gerasimenko, another Jupiter family comet where a wide range of gas production rates will be studied.     

Far-infrared and submillimeter observations of the planets

New broadband observations in several passbands between 30 and 500 μm of Mercury, Venus, Mars, Jupiter, Saturn, and Uranus are presented. The best agreement between the data and various thermal models of Mars, Jupiter, and Uranus is obtained with a slightly cooler absolute temperature scale than that previously adopted by Armstrong et al. (1972). The effective temperature of Uranus is 58 ± 2°K, which is in agreement with its solar equilibrium temperature. The existence of an internal energy source of Saturn has been reconfirmed and must lie within the range of 0.9 to 3.2 times the absorbed solar flux. A depression exists in the spectra of Jupiter, Saturn, and Uranus between 80 and 300 μm, which may be a result of NH₃ opacity.     

Solar Cycle Effects on the Dynamics of Jupiter’s and Saturn’s Magnetospheres

The giant planetary magnetospheres surrounding Jupiter and Saturn respond in quite different ways, compared to Earth, to changes in upstream solar wind conditions. Spacecraft have visited Jupiter and Saturn during both solar cycle minima and maxima. In this paper we explore the large-scale structure of the interplanetary magnetic field (IMF) upstream of Saturn and Jupiter as a function of solar cycle, deduced from solar wind observations by spacecraft and from models. We show the distributions of solar wind dynamic pressure and IMF azimuthal and meridional angles over the changing solar cycle conditions, detailing how they compare to Parker predictions and to our general understanding of expected heliospheric structure at 5 and 9 AU. We explore how Jupiter’s and Saturn’s magnetospheric dynamics respond to varying solar wind driving over a solar cycle under varying Mach number regimes, and consider how changing dayside coupling can have a direct effect on the nightside magnetospheric response. We also address how solar UV flux variability over a solar cycle influences the plasma and neutral tori in the inner magnetospheres of Jupiter and Saturn, and estimate the solar cycle effects on internally driven magnetospheric dynamics. We conclude by commenting on the effects of the solar cycle in the release of heavy ion plasma into the heliosphere, ultimately derived from the moons of Jupiter and Saturn.     

Planetary brightness temperature measurements at 1.4-mm wavelength

Precise relative measurements of the disk brightness temperatures of Venus, Mars, Jupiter, and Saturn have been made at a mean wavelength of 1.4 mm. The rings of Saturn contribute significantly to the observed total emission. Other results include a better understanding of the properties of the NRAO 11-m antenna near its high frequency limit and of atmospheric degradation of observations in this wavelength range.     

X-rays from Venus observed with Chandra

X-ray observations of Venus are so challenging that the first detection of Venusian X-rays succeeded only in January 2001, with the Chandra satellite. The X-rays from Venus were found to result from fluorescent scattering of solar X-rays in the Venusian thermosphere. An additional component, caused by charge exchange of highly charged heavy ions in the solar wind with atoms in the Venusian exosphere, was suspected, but could not be unambiguously detected. This was hampered by the fact that the observation occurred during solar maximum, when the solar X-ray flux is highest. In order to investigate the presence of an additional charge exchange component, Venus was observed again in March 2006 and October 2007 with Chandra, taking advantage of the fact that the solar X-ray flux had decreased considerably on its way to solar minimum. In fact, these subsequent observations were able to show that also the Venusian exosphere is emitting X-rays, due to its interaction with the solar wind. Here an overview of all the existing X-ray observations of Venus is presented, including first results from the most recent one, which took place after the arrival of Venus Express, providing the first ever opportunity to combine a remote X-ray observation of a planetary exosphere with simultaneous in situ measurements of the solar wind.     

Mass loss from the region of Mars and the asteroid belt

Models of the solar nebula suggest that the mass of solid matter which condensed in the region of Mars and the asteroids was much greater than the amount now present. Bombardment by a primordial population of asteroidal bodies originating near Jupiter's orbit could preferentially remove matter from this region, without significant effects in the Earth's zone. A “critical velocity” exists, for which they can be ejected from the solar system by Jupiter. The minimum perihelion attainable at this velocity lies between the orbits of Mars and the Earth. The lifetimes of Mars-crossing bodies are limited by collisions with Jupiter; Earth-crossers are ejected on a much shorter time scale. The total bombardment flux was at least two orders of magnitude greater in the zone of Mars than in that of the Earth. The flux at Venus and Mercury from this source was negligible. The cratering rate for Mars may have differed greatly from those of the other terrestrial planets for a significant fraction of the age of the solar system.     

Helium on Mars and Venus: EUVE observations and modeling

Long-exposure spectroscopy of Mars and Venus with the Extreme Ultraviolet Explorer (EUVE) has revealed emissions of He 584 Å on both planets and He 537 Å/O⁺ 539 Å and He⁺ 304 Å on Venus. Our knowledge of the solar emission at 584 Å, eddy diffusion in Mars' upper atmosphere, electron energy distributions above Mars' ionopause, and hot oxygen densities in Mars' exosphere has been significantly improved since our analysis of the first EUVE observation of Mars [Krasnopolsky, Gladstone, 1996, Helium on Mars: EUVE and Phobos data and implications for Mars' evolution, J. Geophys. Res. 101, 15,765-15,772]. These new results and a more recent EUVE observation of Mars are the motivation for us to revisit the problem in this paper. We find that the abundance of helium in the upper atmosphere, where the main loss processes occur, is similar to that in the previous paper, though the mixing ratio in the lower and middle atmosphere is now better estimated at 10±6 ppm. Our estimate of the total loss of helium is almost unchanged at 8×¹⁰²³ s⁻¹, because a significant decrease in the loss by electron impact ionization above the ionopause is compensated by a higher loss in collisions with hot oxygen. We neglect the outgassing of helium produced by radioactive decay of U and Th because of the absence of current volcanism and a very low upper limit to the seepage of volcanic gases. The capture of solar wind α-particles is currently the only substantial source of helium on Mars, and its efficiency remains at 0.3. A similar analysis of EUV emissions from Venus results in a helium abundance in the upper atmosphere which is equal to the mean of the abundances measured previously with two optical and two mass spectrometers, and a derived helium mixing ratio in the middle and lower atmosphere of 9±6 ppm. Helium escape by ionization and sweeping out of helium ions by the solar wind above the ionopause is smaller than that calculated by Prather and McElroy [1983, Helium on Venus: implications for uranium and thorium, Science 220, 410-411] by a factor of 3. However, charge exchange of He⁺ ions with CO₂ and N₂ between the exobase and ionopause and collisions with hot oxygen ignored previously add to the total loss which appears to be at the level of 10⁶ cm⁻² s⁻¹ predicted by Prather and McElroy [1983, Science 220, 410-411]. The loss of helium is compensated by outgassing of helium produced by radioactive decay of U and Th and by the capture of the solar wind α-particles with an efficiency of 0.1. We also compare our derived α-particle capture efficiencies for Mars and Venus with observed X-ray emissions resulting from the charge exchange of solar wind heavy ions with the extended atmospheres on both planets [Dennerl et al., 2002, Discovery of X-rays from Venus with Chandra, Astron. Astrophys. 386, 319-330; Dennerl, 2002, Discovery of X-rays from Mars with Chandra, Astron. Astrophys. 394, 1119-1128]. The emissions from both disk and halo on Mars agree with our calculated values; however, we do not see a reasonable explanation for the X-ray halo emission on Venus. The ratio of the charge exchange efficiencies derived from the disk X-ray emissions of Mars and Venus is similar to the ratio of the capture efficiencies for these planets. The surprisingly bright emission of He⁺ at 304 Å observed by EUVE and Venera 11 and 12 suggests that charge exchange in the flow of the solar wind α-particles around the ionopause is much stronger than in the flow of α-particles into the ionosphere.     

Embedded star clusters and the formation of the Oort cloud: II. The effect of the primordial solar nebula

This paper deals with Oort cloud formation while the Sun was in an embedded cluster and surrounded by its primordial nebula. This work is a continuation of Brasser et al. [Brasser, R., Duncan, M., Levison, H., 2006. Icarus 184, 59-82], building on the model presented therein, and adding the aerodynamic drag and gravitational potential of the primordial solar nebula. Results are presented of numerical simulations of comets subject to the gravitational influence of the Sun, Jupiter, Saturn, star cluster and primordial solar nebula; some of the simulations included the gravitational influence of Uranus and Neptune as well. The primordial solar nebula was approximated by the minimum-mass Hayashi model [Hayashi, C., Nakozawa, K., Nakagawa, Y., 1985. In: Black, D.C., Matthews, M.S. (Eds.). Protostars and Planets II. Univ. of Arizona Press, Tucson, AZ] whose inner and outer radii have been truncated at various distances from the Sun. A comet size of 1.7 km was used for most of our simulations. In all of our simulations, the density of the primordial solar nebula decayed exponentially with an e-folding time of 2 Myr. It turns out that when the primordial solar nebula extends much beyond Saturn or Neptune, virtually no material will end up in the Oort cloud (OC) during this phase. Instead, the majority of the material will be on circular orbits inside of Jupiter if the inner edge of the disk is well inside Jupiter's orbit. If the disk's inner edge is beyond Jupiter's orbit, most comets end up on orbits in exterior mean-motion resonances with Saturn when Uranus and Neptune are not present. In those cases where the outer edge of the disk is close to Saturn or Neptune, the fraction of material that ends up in the subsequently formed OC is much less than that found in Brasser et al. [Brasser, R., Duncan, M., Levison, H., 2006. Icarus 184, 59-82] for the same cluster densities. This implies that for comets of roughly 2 km in size, the presence of the primordial solar nebula hinders OC formation. A byproduct of some of our simulations are endresults with a substantial fraction of the comets in the Uranus-Neptune scattered disk. A subsequent followup of this material is planned for the near future. In order to determine the effect of the size of the comets on OC formation efficiency, a set of runs with the same initial conditions but different cometary radii have been performed as well, from which it is determined that the threshold comet size to begin producing significant Oort clouds is roughly 20 km. This implies that the presence of the primordial solar nebula acts as a size-sorting mechanism, with large bodies unaffected by the gas drag and ending up in the OC while small bodies remain trapped in the planetary region, in the models studied.     

UV and IR auroral emission model for the outer planets: Jupiter and Saturn comparison

Planetary aurora display the dynamic behavior of the plasma gas surrounding a planet. The outer planetary aurora are most often observed in the ultraviolet (UV) and the infrared (IR) wavelengths. How the emissions in these different wavelengths are connected with the background physical conditions are not yet well understood. Here we investigate the sensitivity of UV and IR emissions to the incident precipitating auroral electrons and the background atmospheric temperature, and compare the results obtained for Jupiter and Saturn. We develop a model which estimates UV and IR emission rates accounting for UV absorption by hydrocarbons, ion chemistry, and non-LTE effects. Parameterization equations are applied to estimate the ionization and excitation profiles in the H₂ atmosphere caused by auroral electron precipitation. The dependences of UV and IR emissions on electron flux are found to be similar at Jupiter and Saturn. However, the dependences of the emissions on electron energy are different at the two planets, especially for low energy (<10 keV) electrons; the UV and IR emissions both decrease with decreasing electron energy, but this effect in the IR is less at Saturn than at Jupiter. The temperature sensitivity of the IR emission is also greater at Saturn than at Jupiter. These dependences are interpreted as results of non-LTE effects on the atmospheric temperature and density profiles. The different dependences of the UV and IR emissions on temperature and electron energy at Saturn may explain the different appearance of polar emissions observed at UV and IR wavelengths, and the differences from those observed at Jupiter. These results lead to the prediction that the differences between the IR and UV aurora at Saturn may be more significant than those at Jupiter. We consider in particular the occurrence of bright polar infrared emissions at Saturn and quantitatively estimate the conditions for such IR-only emissions to appear.     

Developments in Jovian Radio Emissions Tomography and Observations Techniques

Jupiter radio emission is known to be the most powerful nonthermal planetary radiation. In recent years specifically space-based observations allow us to permanently cover a large frequency band(from 100 kHz up to 40 MHz combined with ground-based telescopes)of the Jovian spectrum. The Plasma and Wave Science experiment onboard Galileo enables the observation of Jovian kilometric and hectometric emissions; Wind/WAVES and ground-based telescopes (mainly Decametric Array in Nancay, France, and UTR-2 in Kharkov, Ukraine) cover also hectometric and mainly decametric emissions. Specific geometrical configurations between Cassini approaching Jupiter and Wind spacecraft orbiting Earth, with Galileo orbiting Jupiter and Wind, in combination with ground-based observations provide a new approach to perform Jovian radio tomography. The tomography technique is used to analyze ray paths of Jovian radio emission observed in different directions (e.g. solar and anti-solar direction) and for different declination of Earth. The developments of Jovian radio emission tomography in recent years treated refraction effects and its connection to the local magnetic field in the radio source as well as the radio wave propagation through the Io torus and the terrestrial ionosphere. Most recently ground-based multi-site and simultaneous Jupiter decametric radio observations by means of digital spectropolarimeter and waveform receiver provide the basis of a new data analysis treatment. The above addressed topics are without exemption deeply connected to the plasma structures the radio waves are generated in and propagating through. This revised version was published online in July 2006 with corrections to the Cover Date.     

First evidence of IMF control of Jovian magnetospheric boundary locations: Cassini and Galileo magnetic field measurements compared

The Cassini spacecraft, en route to Saturn, passed close to Jupiter while the Galileo spacecraft was completing its 28th and 29th orbits of Jupiter, thus offering a unique opportunity for direct study of the solar wind-Jovian interaction. Here evidence is given of response of the Jovian magnetopause and bow shock positions to changes of the north-south component of the solar wind magnetic field, a phenomenon long known to occur in equivalent circumstances at Earth. The period analyzed starts with the passage over Cassini of an interplanetary shock far upstream of Jupiter. The shock's arrival at Galileo on the dusk-flank of the magnetosphere caused Galileo to exit into the solar wind. Using inter-spacecraft timing based on the time delay established from the shock arrival at each spacecraft, we point out that Galileo's position with respect to the Jovian bow shock appears to correlate with changes in the disturbed north-south reversing field seen behind the shock. We specifically rule out the alternative of changes in the shape of the bow shock with rotations of the interplanetary magnetic field as the cause.     

Study of solar system planetary lightning with LOFAR

Radio signatures of lightning discharges have been detected by the Voyager spacecraft near Saturn and Uranus up to 40 MHz. Corresponding flux densities at the distance of the Earth are up to 1000 Jansky (Jy) for Saturn (1 event per minute above 50 Jy, with 30–300 ms duration) and up to a few tens of Jansky for Uranus. Low Frequency ARray LOFAR will allow us to detect and monitor the lightning activity at these two planets. Imaging will allow us to locate lightning sources on Saturn's disk (even if with moderate accuracy), which could then be correlated to optical imaging of clouds. Such observations could provide new information on electrification processes, atmospheric dynamics, composition, and geographical and seasonal variations, compared to the Earth. In addition, lightning may play a role in the atmospheric chemistry, through the production of non-equilibrium trace organic constituents potentially important for biological processes. LOFAR observations can also help us to assess the existence of lightning at Neptune (marginally detected by Voyager), at Venus (where their existence is very controversial), and at Mars (possibly resulting from dust cloud charging). At Jupiter, low-altitude ionospheric layers of meteoritic origin and/or intrinsically long discharge duration seem to prevent the emission and escape of high-frequency radio waves associated with lightning. LOFAR thus presents good possibilities for the detection and study of solar system planetary lightning; we also discuss its relevance to bring new information on Terrestrial lightning-related upper atmosphere transient phenomena (sprites, TIPPs…). Instrumental constraints are outlined.     

Source regions and timescales for the delivery of water to the Earth

Abstract— In the primordial solar system, the most plausible sources of the water accreted by the Earth were in the outer asteroid belt, in the giant planet regions, and in the Kuiper Belt. We investigate the implications on the origin of Earth's water of dynamical models of primordial evolution of solar system bodies and check them with respect to chemical constraints. We find that it is plausible that the Earth accreted water all along its formation, from the early phases when the solar nebula was still present to the late stages of gas‐free sweepup of scattered planetesimals. Asteroids and the comets from the Jupiter‐Saturn region were the first water deliverers, when the Earth was less than half its present mass. The bulk of the water presently on Earth was carried by a few planetary embryos, originally formed in the outer asteroid belt and accreted by the Earth at the final stage of its formation. Finally, a late veneer, accounting for at most 10% of the present water mass, occurred due to comets from the Uranus‐Neptune region and from the Kuiper Belt. The net result of accretion from these several reservoirs is that the water on Earth had essentially the D/H ratio typical of the water condensed in the outer asteroid belt. This is in agreement with the observation that the D/H ratio in the oceans is very close to the mean value of the D/H ratio of the water inclusions in carbonaceous chondrites.     

Magnetically-Driven Planetary Radio Emissions and Application to Extrasolar Planets

At least six intense nonthermal planetary radio emissions are known in our solar system: the auroral radio emissions from the Earth, Jupiter, Saturn, Uranus and Neptune, and the radio bursts from the Io-Jupiter flux tube. The former are thought to be driven by the solar wind flow pressure or energy flux on the magnetospheric cross-section, while the latter is a consequence of the Io-Jupiter electrodynamic interaction. Although in the solar wind, the flow ram pressure largely dominates the magnetic one, we suggest that the incident magnetic energy flux is the driving factor for all these six radio emissions, and that it can be estimated in the same way in all cases. Consequences for the possible radio emission from extrasolar planets are examined. ‘Hot Jupiters’, if they are magnetized, might possess a radio emission several orders of magnitude stronger than the Jovian one, detectable with large ground-based low-frequency arrays. On the other hand, `giants' analogous to the Io-Jupiter interaction in the form of a pair star/hot-Jupiter are unlikely to produce intense radio emissions, unless the star is very strongly magnetized. This revised version was published online in July 2006 with corrections to the Cover Date.     

Formation of terrestrial planets in a dissipating gas disk with Jupiter and Saturn

We have performed N-body simulations on final accretion stage of terrestrial planets, including the eccentricity and inclination damping effect due to tidal interaction with a gas disk. We investigated the dependence on a depletion time scale of the disk, and the effect of secular perturbations by Jupiter and Saturn. In the final stage, terrestrial planets are formed through coagulation of protoplanets of about the size of Mars. They would collide and grow in a decaying gas disk. Kominami and Ida [Icarus 157 (2002) 43-56] showed that it is plausible that Earth-sized, low-eccentricity planets are formed in a mostly depleted gas disk. In this paper, we investigate the formation of planets in a decaying gas disk with various depletion time scales, assuming disk surface density of gas component decays exponentially with time scale of τ_gas. Fifteen protoplanets with are initially distributed in the terrestrial planet regions. We found that Earth-sized planets with low eccentricities are formed, independent of initial gas surface density, when the condition (τ_cross+τ_growth)/2?τ_gas?τ_cross is satisfied, where τ_cross is the time scale for initial protoplanets to start orbit crossing in a gas-free case and τ_growth is the time scale for Earth-sized planets to accrete during the orbit crossing stage. In the cases satisfying the above condition, the final masses and eccentricities of the largest planets are consistent with those of Earth and Venus. However, four or five protoplanets with the initial mass remain. In the final stage of terrestrial planetary formation, it is likely that Jupiter and Saturn have already been formed. When Jupiter and Saturn are included, their secular perturbations pump up eccentricities of protoplanets and tend to reduce the number of final planets in the terrestrial planet regions. However, we found that the reduction is not significant. The perturbations also shorten τ_cross. If the eccentricities of Jupiter and Saturn are comparable to or larger than present values (∼0.05), τ_cross become too short to satisfy the above condition. As a result, eccentricities of the planets cannot be damped to the observed value of Earth and Venus. Hence, for the formation of terrestrial planets, it is preferable that the secular perturbations from Jupiter and Saturn do not have significant effect upon the evolution. Such situation may be reproduced by Jupiter and Saturn not being fully grown, or their eccentricities being smaller than the present values during the terrestrial planets' formation. However, in such cases, we need some other mechanism to eliminate the problem that numerous Mars-sized planets remain uncollided.