1
|
Ding L, Zhou R, Yu T, Yang H, He X, Gao H, Wang J, Yuan Y, Wang J, Wang Z, Qi H, Li J, Feng W, Li X, Liu C, Han S, Zeng X, Zhao YYS, Liu G, Wan W, Zhang Y, Wang S, Li L, Deng Z, Liu J, Hu G, Zhao R, Zhang K. Lunar rock investigation and tri-aspect characterization of lunar farside regolith by a digital twin. Nat Commun 2024; 15:2098. [PMID: 38459034 PMCID: PMC11258293 DOI: 10.1038/s41467-024-46233-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/08/2022] [Accepted: 02/20/2024] [Indexed: 03/10/2024] Open
Abstract
Yutu-2 rover conducted an exciting expedition on the 41st lunar day to investigate a fin-shaped rock at Longji site (45.44°S, 177.56°E) by extending its locomotion margin on perilous peaks. The varied locomotion encountered, especially multi-form wheel slippage, during the journey to the target rock, established unique conditions for a fin-grained lunar regolith analysis regarding bearing, shear and lateral properties based on terramechanics. Here, we show a tri-aspect characterization of lunar regolith and infer the rock's origin using a digital twin. We estimate internal friction angle within 21.5°-42.0° and associated cohesion of 520-3154 Pa in the Chang'E-4 operational site. These findings suggest shear characteristics similar to Apollo 12 mission samples but notably higher cohesion compared to regolith investigated on most nearside lunar missions. We estimate external friction angle in lateral properties to be within 8.3°-16.5°, which fills the gaps of the lateral property estimation of the lunar farside regolith and serves as a foundational parameter for subsequent engineering verifications. Our in-situ spectral investigations of the target rock unveil its composition of iron/magnesium-rich low-calcium pyroxene, linking it to the Zhinyu crater (45.34°S, 176.15°E) ejecta. Our results indicate that the combination of in-situ measurements with robotics technology in planetary exploration reveal the possibility of additional source regions contributing to the local materials at the Chang'E-4 site, implying a more complicated geological history in the vicinity.
Collapse
Affiliation(s)
- Liang Ding
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China.
| | - Ruyi Zhou
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
| | - Tianyi Yu
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Huaiguang Yang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
| | - Ximing He
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Haibo Gao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China.
| | - Juntao Wang
- Center for Lunar and Planetary Sciences, Institute of Geochemistry, Chinese Academy of Science, Guiyang, 550081, China
- CAS Center for Excellence in Comparative Planetology, Hefei, 230026, China
| | - Ye Yuan
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
| | - Jia Wang
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Zhengyin Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
| | - Huanan Qi
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
| | - Jian Li
- Beijing Aerospace Control Center, Beijing, 100094, China.
| | - Wenhao Feng
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
| | - Xin Li
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Chuankai Liu
- Beijing Aerospace Control Center, Beijing, 100094, China
- Key Laboratory of Science and Technology on Aerospace Flight Dynamics, Beijing, 100094, China
| | - Shaojin Han
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Xiaojia Zeng
- Center for Lunar and Planetary Sciences, Institute of Geochemistry, Chinese Academy of Science, Guiyang, 550081, China
- CAS Center for Excellence in Comparative Planetology, Hefei, 230026, China
| | - Yu-Yan Sara Zhao
- Research Center for Planetary Science, College of Earth Science, Chengdu University of Technology, Chengdu, 610059, China
| | - Guangjun Liu
- Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada
| | - Wenhui Wan
- State Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100101, China
| | - Yuedong Zhang
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Saijin Wang
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Lichun Li
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Zongquan Deng
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
| | - Jianzhong Liu
- Center for Lunar and Planetary Sciences, Institute of Geochemistry, Chinese Academy of Science, Guiyang, 550081, China.
- CAS Center for Excellence in Comparative Planetology, Hefei, 230026, China.
| | - Guolin Hu
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Rui Zhao
- Beijing Aerospace Control Center, Beijing, 100094, China
| | - Kuan Zhang
- Beijing Aerospace Control Center, Beijing, 100094, China
| |
Collapse
|
2
|
Shafaei SM, Mousazadeh H. Amelioration of Energy Dissipation Through Robotic Evacuation Process of Solid Bulk Materials: Effectiveness of Wheel Slip Control System. ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2022. [DOI: 10.1007/s13369-022-07371-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
|
3
|
Candela A, Wettergreen D. An Approach to Science and Risk-Aware Planetary Rover Exploration. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3191949] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Alberto Candela
- Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA
| | | |
Collapse
|
4
|
Stack KM, Dietrich WE, Lamb MP, Sullivan RJ, Christian JR, Newman CE, O’Connell‐Cooper CD, Sneed JW, Day M, Baker M, Arvidson RE, Fedo CM, Khan S, Williams RME, Bennett KA, Bryk AB, Cofield S, Edgar LA, Fox VK, Fraeman AA, House CH, Rubin DM, Sun VZ, Van Beek JK. Orbital and In-Situ Investigation of Periodic Bedrock Ridges in Glen Torridon, Gale Crater, Mars. JOURNAL OF GEOPHYSICAL RESEARCH. PLANETS 2022; 127:e2021JE007096. [PMID: 35865672 PMCID: PMC9286800 DOI: 10.1029/2021je007096] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/18/2021] [Revised: 05/03/2022] [Accepted: 05/07/2022] [Indexed: 06/15/2023]
Abstract
Gale crater, the field site for NASA's Mars Science Laboratory Curiosity rover, contains a diverse and extensive record of aeolian deposition and erosion. This study focuses on a series of regularly spaced, curvilinear, and sometimes branching bedrock ridges that occur within the Glen Torridon region on the lower northwest flank of Aeolis Mons, the central mound within Gale crater. During Curiosity's exploration of Glen Torridon between sols ∼2300-3080, the rover drove through this field of ridges, providing the opportunity for in situ observation of these features. This study uses orbiter and rover data to characterize ridge morphology, spatial distribution, compositional and material properties, and association with other aeolian features in the area. Based on these observations, we find that the Glen Torridon ridges are consistent with an origin as wind-eroded bedrock ridges, carved during the exhumation of Mount Sharp. Erosional features like the Glen Torridon ridges observed elsewhere on Mars, termed periodic bedrock ridges (PBRs), have been interpreted to form transverse to the dominant wind direction. The size and morphology of the Glen Torridon PBRs are consistent with transverse formative winds, but the orientation of nearby aeolian bedforms and bedrock erosional features raise the possibility of PBR formation by a net northeasterly wind regime. Although several formation models for the Glen Torridon PBRs are still under consideration, and questions persist about the nature of PBR-forming paleowinds, the presence of PBRs at this site provides important constraints on the depositional and erosional history of Gale crater.
Collapse
Affiliation(s)
- Kathryn M. Stack
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | - William E. Dietrich
- Department of Earth and Planetary ScienceUniversity of California, BerkeleyBerkeleyCAUSA
| | - Michael P. Lamb
- Division of Geological and Planetary SciencesCalifornia Institute of TechnologyPasadenaCAUSA
| | - Robert J. Sullivan
- Cornell Center for Astrophysics & Planetary ScienceCornell UniversityIthacaNYUSA
| | - John R. Christian
- Department of Earth and Planetary SciencesWashington University in St. LouisSt. LouisMOUSA
| | | | | | - Jonathan W. Sneed
- Department of Earth, Planetary, and Space SciencesUniversity of California, Los AngelesLos AngelesCAUSA
| | - Mackenzie Day
- Department of Earth, Planetary, and Space SciencesUniversity of California, Los AngelesLos AngelesCAUSA
| | - Mariah Baker
- Center for Earth & Planetary StudiesNational Air & Space MuseumSmithsonian InstitutionWashingtonDCUSA
| | - Raymond E. Arvidson
- Department of Earth and Planetary SciencesWashington University in St. LouisSt. LouisMOUSA
| | - Christopher M. Fedo
- Department of Earth and Planetary SciencesUniversity of Tennessee, KnoxvilleKnoxvilleTNUSA
| | - Sabrina Khan
- Department of Earth, Atmospheric, and Planetary SciencesMassachusetts Institute of TechnologyCambridgeMAUSA
| | | | | | - Alexander B. Bryk
- Department of Earth and Planetary ScienceUniversity of California, BerkeleyBerkeleyCAUSA
| | - Shannon Cofield
- U.S. Department of the InteriorBureau of Ocean Energy ManagementWashingtonDCUSA
| | - Lauren A. Edgar
- Astrogeology Science CenterU.S. Geological SurveyFlagstaffAZUSA
| | - Valerie K. Fox
- Earth and Environmental SciencesUniversity of MinnesotaMinneapolisMNUSA
| | - Abigail A. Fraeman
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | | | - David M. Rubin
- Earth and Planetary SciencesUniversity of California, Santa CruzSanta CruzCAUSA
| | - Vivian Z. Sun
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | - Jason K. Van Beek
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| |
Collapse
|
5
|
Slip Estimation Model for Planetary Rover Using Gaussian Process Regression. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12094789] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/04/2022]
Abstract
Monitoring the rover slip is important; however, a certain level of estimation uncertainty is inevitable. In this paper, we establish slip estimation models for China’s Mars rover, Zhurong, using Gaussian process regression (GPR). The model was able to predict not only the average value of the longitudinal (slip_x) and lateral slip (slip_y), but also the maximum possible value that slip_x and slip_y could reach. The training data were collected on two simulated soils, TYII-2 and JLU Mars-2, and the GA-BP algorithm was applied as a comparison. The analysis results demonstrated that the soil type and dataset source had a direct impact on the applicability of the slip model on Mars conditions. The properties of the Martian soil near the Zhurong landing site were closer to the JLU Mars-2 simulated soil. The proposed GPR model had high estimation accuracy and estimation potential in slip value, and a 95% confidence interval that the rover could reach during motion. This work was part of a research effort aimed at ensuring the safety of Zhurong. The slip value may be used in subsequent path tracking research, and the slip confidence interval will be able to help guide path planning.
Collapse
|
6
|
Vasavada AR. Mission Overview and Scientific Contributions from the Mars Science Laboratory Curiosity Rover After Eight Years of Surface Operations. SPACE SCIENCE REVIEWS 2022; 218:14. [PMID: 35399614 PMCID: PMC8981195 DOI: 10.1007/s11214-022-00882-7] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/20/2021] [Accepted: 03/21/2022] [Indexed: 06/14/2023]
Abstract
UNLABELLED NASA's Mars Science Laboratory mission, with its Curiosity rover, has been exploring Gale crater (5.4° S, 137.8° E) since 2012 with the goal of assessing the potential of Mars to support life. The mission has compiled compelling evidence that the crater basin accumulated sediment transported by marginal rivers into lakes that likely persisted for millions of years approximately 3.6 Ga ago in the early Hesperian. Geochemical and mineralogical assessments indicate that environmental conditions within this timeframe would have been suitable for sustaining life, if it ever were present. Fluids simultaneously circulated in the subsurface and likely existed through the dry phases of lake bed exposure and aeolian deposition, conceivably creating a continuously habitable subsurface environment that persisted to less than 3 Ga in the early Amazonian. A diversity of organic molecules has been preserved, though degraded, with evidence for more complex precursors. Solid samples show highly variable isotopic abundances of sulfur, chlorine, and carbon. In situ studies of modern wind-driven sediment transport and multiple large and active aeolian deposits have led to advances in understanding bedform development and the initiation of saltation. Investigation of the modern atmosphere and environment has improved constraints on the timing and magnitude of atmospheric loss, revealed the presence of methane and the crater's influence on local meteorology, and provided measurements of high-energy radiation at Mars' surface in preparation for future crewed missions. Rover systems and science instruments remain capable of addressing all key scientific objectives. Emphases on advance planning, flexibility, operations support work, and team culture have allowed the mission team to maintain a high level of productivity in spite of declining rover power and funding. SUPPLEMENTARY INFORMATION The online version contains supplementary material available at 10.1007/s11214-022-00882-7.
Collapse
Affiliation(s)
- Ashwin R. Vasavada
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA USA
| |
Collapse
|
7
|
Abstract
SUMMARYWheel slip prediction on rough terrain is crucial for secure, long-term operations of planetary exploration rovers. Although rough, unstructured terrain hampers mobility, prediction by modeling wheel–terrain interactions remains difficult owing to unclear terrain conditions and complexities of terramechanics models. This study proposes a vision-based approach with machine learning for predicting wheel slip risk by estimating the slope from 3D information and classifying terrain types from image information. It considers the slope estimation accuracy for risk prediction under sharp increases in wheel slip due to inclined ground. Experimental results obtained with a rover testbed on several terrain types validate this method.
Collapse
|
8
|
Rankin A, Maimone M, Biesiadecki J, Patel N, Levine D, Toupet O. Mars curiosity rover mobility trends during the first 7 years. J FIELD ROBOT 2021. [DOI: 10.1002/rob.22011] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Arturo Rankin
- Mobility and Robotic Systems Jet Propulsion Laboratory California Institute of Technology Pasadena California USA
| | - Mark Maimone
- Mobility and Robotic Systems Jet Propulsion Laboratory California Institute of Technology Pasadena California USA
| | - Jeffrey Biesiadecki
- Mobility and Robotic Systems Jet Propulsion Laboratory California Institute of Technology Pasadena California USA
| | - Nikunj Patel
- Engineering Operations for Surface Missions Jet Propulsion Laboratory California Institute of Technology Pasadena California USA
| | - Dan Levine
- Mobility and Robotic Systems Jet Propulsion Laboratory California Institute of Technology Pasadena California USA
| | - Olivier Toupet
- Mobility and Robotic Systems Jet Propulsion Laboratory California Institute of Technology Pasadena California USA
| |
Collapse
|
9
|
A New Sensor for Robotic Mars Rovers in Sandy Terrains Predicting Critical Soil Flow Using the Spiral Soil Flow Model. ROBOTICA 2020. [DOI: 10.1017/s0263574720000405] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
SUMMARYThe current contribution presents a new sinkage sensor specified for an unmanned ground vehicle to find the exact sinkage zone of a wheel interacting with the soil particles. This sensor will be wrapped around the wheel, and consequently, contact analog outputs will be used in soil deposition and bulldozing effect prediction. Furthermore, the new sensor will be used for a novel soil flow calculation estimating the total mass variation of the control volume of soil particles beneath the wheel. Accordingly, the spiral model simulating the displacement of the particle is implemented to calculate the soil deposition.
Collapse
|
10
|
Abstract
One of the major challenges faced by planetary exploration rovers today is the negotiation of difficult terrain, such as fine granular regolith commonly found on the Moon and Mars. Current testing methods on Earth fail to account for the effect of reduced gravity on the soil itself. This work characterizes the effects of reduced gravity on wheel–soil interactions between an ExoMars rover wheel prototype and a martian soil simulant aboard parabolic flights producing effective martian and lunar gravitational accelerations. These experiments are the first to collect wheel–soil interaction imagery and force/torque sensor data alongside wheel sinkage data. Results from reduced-gravity flights are compared with on-ground experiments with all parameters equal, including wheel load, such that the only difference between the experiments is the effect of gravity on the soil itself. In lunar gravity, a statistically significant average reduction in traction of 20% is observed compared with 1 g, and in martian gravity an average traction reduction of 5–10% is observed. Subsurface soil imaging shows that soil mobilization increases as gravity decreases, suggesting a deterioration in soil strength, which could be the cause of the reduction in traction. Statistically significant increases in wheel sinkage in both martian and lunar gravity provide additional evidence for decreased soil strength. All of these observations (decreased traction, increased soil mobilization, and increased sinkage) hinder a rover’s ability to drive, and should be considered when interpreting results from reduced-load mobility tests conducted on Earth.
Collapse
Affiliation(s)
- Parna Niksirat
- Department of Electrical and Computer Engineering, Concordia University, Montreal, QC, Canada
| | - Adriana Daca
- Department of Electrical and Computer Engineering, Concordia University, Montreal, QC, Canada
| | - Krzysztof Skonieczny
- Department of Electrical and Computer Engineering, Concordia University, Montreal, QC, Canada
| |
Collapse
|
11
|
Inotsume H, Kubota T, Wettergreen D. Robust Path Planning for Slope Traversing Under Uncertainty in Slip Prediction. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2975756] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
|
12
|
Lamarre O, Limoyo O, Marić F, Kelly J. The Canadian Planetary Emulation Terrain Energy-Aware Rover Navigation Dataset. Int J Rob Res 2020. [DOI: 10.1177/0278364920908922] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Future exploratory missions to the Moon and to Mars will involve solar-powered rovers; careful vehicle energy management is critical to the success of such missions. This article describes a unique dataset gathered by a small, four-wheeled rover at a planetary analog test facility in Canada. The rover was equipped with a suite of sensors designed to enable the study of energy-aware navigation and path planning algorithms. The sensors included a colour omnidirectional stereo camera, a monocular camera, an inertial measurement unit, a pyranometer, drive power consumption monitors, wheel encoders, and a GPS receiver. In total, the rover drove more than 1.2 km over varied terrain at the analog test site. All data is presented in human-readable text files and as standard-format images; additional Robot Operating System (ROS) parsing tools and several georeferenced aerial maps of the test environment are also included. A series of potential research use cases is described.
Collapse
Affiliation(s)
- Olivier Lamarre
- Space & Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto Institute for Aerospace Studies, Canada
| | - Oliver Limoyo
- Space & Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto Institute for Aerospace Studies, Canada
| | - Filip Marić
- Space & Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto Institute for Aerospace Studies, Canada
- Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Croatia
| | - Jonathan Kelly
- Space & Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto Institute for Aerospace Studies, Canada
| |
Collapse
|
13
|
Reid W, Fitch R, Göktoğan AH, Sukkarieh S. Sampling‐based hierarchical motion planning for a reconfigurable wheel‐on‐leg planetary analogue exploration rover. J FIELD ROBOT 2019. [DOI: 10.1002/rob.21894] [Citation(s) in RCA: 16] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- William Reid
- Jet Propulsion Laboratory California Institute of Technology Pasadena California
| | - Robert Fitch
- School of Mechanical and Mechatronic Engineering, Faculty of Engineering & Information Technology University of Technology Sydney Sydney New South Wales Australia
| | - Ali H. Göktoğan
- Australian Centre for Field Robotics The University of Sydney Sydney New South Wales Australia
| | - Salah Sukkarieh
- Australian Centre for Field Robotics The University of Sydney Sydney New South Wales Australia
| |
Collapse
|
14
|
Distribution and Morphologies of Transverse Aeolian Ridges in ExoMars 2020 Rover Landing Site. REMOTE SENSING 2019. [DOI: 10.3390/rs11080912] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
Aeolian processes are believed to play a major role in the landscape evolution of Mars. Investigations on Martian aeolian landforms such as ripples, transverse aeolian ridges (TARs), and dunes, and aeolian sediment flux measurements are important to enhance our understanding of past and present wind regimes, the ongoing dust cycle, landscape evolution, and geochemistry. These aeolian bedforms are often comprised of loose sand and sharply undulating topography and thus pose a threat to mobility and maneuvers of Mars rovers. Here we present a first-hand account of the distribution, morphologies, and morphometrics of TARs in Oxia Planum, the recently selected ExoMars 2020 Rover landing site. The gridded mapping was performed for contiguous stretches of TARs within all the landing ellipses using 57 sub-meter high resolution imaging science experiment (HiRISE) scenes. We also provide the morphological descriptions for all types of TARs present within the landing ellipses. We use HiRISE digital terrain models (DTMs) along with the images to derive morphometric information for TARs in Oxia Planum. In general, the average areal TAR coverage was found to be 5.4% (±4.9% standard deviation), increasing from west to east within the landing ellipses. We report the average TAR morphometrics in the form of crest–ridge width (131.1 ± 106.2 m), down-wind TAR length (17.6 ± 10.1 m), wavelength (37.3 ± 11.6 m), plan view aspect ratio (7.1 ± 2.3), inter-bedform spacing (2.1 ± 1.1), slope (10.6° ± 6.1°), predominant orientations (NE-SW and E-W), and height (1.2 ± 0.8 m). While simple TARs are predominant, we report other TAR morphologies such as forked TAR, wavy TAR with associated smaller secondary ripples, barchan-like TAR, networked TAR, and mini-TARs from the region. Our results can help in planning the rover traverses in terms of both safe passage and scientific returns favoring aeolian research, particularly improving our understanding of TARs.
Collapse
|
15
|
Kolvenbach H, Bartschi C, Wellhausen L, Grandia R, Hutter M. Haptic Inspection of Planetary Soils With Legged Robots. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2896732] [Citation(s) in RCA: 22] [Impact Index Per Article: 4.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
|
16
|
Skonieczny K, Shukla DK, Faragalli M, Cole M, Iagnemma KD. Data-driven mobility risk prediction for planetary rovers. J FIELD ROBOT 2018. [DOI: 10.1002/rob.21833] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Krzysztof Skonieczny
- Department of Electrical and Computer Engineering; Concordia University; Montreal Quebec Canada
| | - Dhara K. Shukla
- Department of Electrical and Computer Engineering; Concordia University; Montreal Quebec Canada
| | | | - Matthew Cole
- Mission Control Space Services Inc.; Ottawa Ontario Canada
| | - Karl D. Iagnemma
- Department of Mechanical Engineering; Massachusetts Intitute of Technology; Cambridge Massachusetts
| |
Collapse
|
17
|
Cunningham C, Nesnas IA, Whittaker WL. Improving slip prediction on Mars using thermal inertia measurements. Auton Robots 2018. [DOI: 10.1007/s10514-018-9796-4] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
|
18
|
Gonzalez R, Iagnemma K. Slippage estimation and compensation for planetary exploration rovers. State of the art and future challenges. J FIELD ROBOT 2017. [DOI: 10.1002/rob.21761] [Citation(s) in RCA: 45] [Impact Index Per Article: 6.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Ramon Gonzalez
- Robotic Mobility Group; Massachusetts Institute of Technology, Cambridge, Massachusetts
| | - Karl Iagnemma
- Robotic Mobility Group; Massachusetts Institute of Technology, Cambridge, Massachusetts
| |
Collapse
|
19
|
Gonzalez R, Apostolopoulos D, Iagnemma K. Slippage and immobilization detection for planetary exploration rovers via machine learning and proprioceptive sensing. J FIELD ROBOT 2017. [DOI: 10.1002/rob.21736] [Citation(s) in RCA: 36] [Impact Index Per Article: 5.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
20
|
Abstract
The scientific objectives of the ExoMars rover are designed to answer several key questions in the search for life on Mars. In particular, the unique subsurface drill will address some of these, such as the possible existence and stability of subsurface organics. PanCam will establish the surface geological and morphological context for the mission, working in collaboration with other context instruments. Here, we describe the PanCam scientific objectives in geology, atmospheric science, and 3-D vision. We discuss the design of PanCam, which includes a stereo pair of Wide Angle Cameras (WACs), each of which has an 11-position filter wheel and a High Resolution Camera (HRC) for high-resolution investigations of rock texture at a distance. The cameras and electronics are housed in an optical bench that provides the mechanical interface to the rover mast and a planetary protection barrier. The electronic interface is via the PanCam Interface Unit (PIU), and power conditioning is via a DC-DC converter. PanCam also includes a calibration target mounted on the rover deck for radiometric calibration, fiducial markers for geometric calibration, and a rover inspection mirror. Key Words: Mars—ExoMars—Instrumentation—Geology—Atmosphere—Exobiology—Context. Astrobiology 17, 511–541.
Collapse
|
21
|
Vago JL, Westall F. Habitability on Early Mars and the Search for Biosignatures with the ExoMars Rover. ASTROBIOLOGY 2017; 17:471-510. [PMID: 31067287 PMCID: PMC5685153 DOI: 10.1089/ast.2016.1533] [Citation(s) in RCA: 132] [Impact Index Per Article: 18.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/11/2016] [Accepted: 03/05/2017] [Indexed: 05/19/2023]
Abstract
The second ExoMars mission will be launched in 2020 to target an ancient location interpreted to have strong potential for past habitability and for preserving physical and chemical biosignatures (as well as abiotic/prebiotic organics). The mission will deliver a lander with instruments for atmospheric and geophysical investigations and a rover tasked with searching for signs of extinct life. The ExoMars rover will be equipped with a drill to collect material from outcrops and at depth down to 2 m. This subsurface sampling capability will provide the best chance yet to gain access to chemical biosignatures. Using the powerful Pasteur payload instruments, the ExoMars science team will conduct a holistic search for traces of life and seek corroborating geological context information. Key Words: Biosignatures-ExoMars-Landing sites-Mars rover-Search for life. Astrobiology 17, 471-510.
Collapse
|
22
|
Francis R, Estlin T, Doran G, Johnstone S, Gaines D, Verma V, Burl M, Frydenvang J, Montaño S, Wiens RC, Schaffer S, Gasnault O, DeFlores L, Blaney D, Bornstein B. AEGIS autonomous targeting for ChemCam on Mars Science Laboratory: Deployment and results of initial science team use. Sci Robot 2017; 2:2/7/eaan4582. [PMID: 33157897 DOI: 10.1126/scirobotics.aan4582] [Citation(s) in RCA: 52] [Impact Index Per Article: 7.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/15/2017] [Accepted: 05/31/2017] [Indexed: 11/02/2022]
Abstract
Limitations on interplanetary communications create operations latencies and slow progress in planetary surface missions, with particular challenges to narrow-field-of-view science instruments requiring precise targeting. The AEGIS (Autonomous Exploration for Gathering Increased Science) autonomous targeting system has been in routine use on NASA's Curiosity Mars rover since May 2016, selecting targets for the ChemCam remote geochemical spectrometer instrument. AEGIS operates in two modes; in autonomous target selection, it identifies geological targets in images from the rover's navigation cameras, choosing for itself targets that match the parameters specified by mission scientists the most, and immediately measures them with ChemCam, without Earth in the loop. In autonomous pointing refinement, the system corrects small pointing errors on the order of a few milliradians in observations targeted by operators on Earth, allowing very small features to be observed reliably on the first attempt. AEGIS consistently recognizes and selects the geological materials requested of it, parsing and interpreting geological scenes in tens to hundreds of seconds with very limited computing resources. Performance in autonomously selecting the most desired target material over the last 2.5 kilometers of driving into previously unexplored terrain exceeds 93% (where ~24% is expected without intelligent targeting), and all observations resulted in a successful geochemical observation. The system has substantially reduced lost time on the mission and markedly increased the pace of data collection with ChemCam. AEGIS autonomy has rapidly been adopted as an exploration tool by the mission scientists and has influenced their strategy for exploring the rover's environment.
Collapse
Affiliation(s)
- R Francis
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA.
| | - T Estlin
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - G Doran
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - S Johnstone
- Los Alamos National Laboratory, Los Alamos, NM 87545, USA
| | - D Gaines
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - V Verma
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - M Burl
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | | | - S Montaño
- Los Alamos National Laboratory, Los Alamos, NM 87545, USA
| | - R C Wiens
- Los Alamos National Laboratory, Los Alamos, NM 87545, USA
| | | | - O Gasnault
- Institut de Recherche en Astrophysique et Planétologie, Toulouse, France
| | - L DeFlores
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - D Blaney
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - B Bornstein
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| |
Collapse
|