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Ryan C, Haist T, Laskin G, Schröder S, Reichelt S. Technology Selection for Inline Topography Measurement with Rover-Borne Laser Spectrometers. SENSORS (BASEL, SWITZERLAND) 2024; 24:2872. [PMID: 38732976 PMCID: PMC11086144 DOI: 10.3390/s24092872] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/18/2024] [Revised: 04/22/2024] [Accepted: 04/25/2024] [Indexed: 05/13/2024]
Abstract
This work studies enhancing the capabilities of compact laser spectroscopes integrated into space-exploration rovers by adding 3D topography measurement techniques. Laser spectroscopy enables the in situ analysis of sample composition, aiding in the understanding of the geological history of extraterrestrial bodies. To complement spectroscopic data, the inclusion of 3D imaging is proposed to provide unprecedented contextual information. The morphological information aids material characterization and hence the constraining of rock and mineral histories. Assigning height information to lateral pixels creates topographies, which offer a more complete spatial dataset than contextual 2D imaging. To aid the integration of 3D measurement into future proposals for rover-based laser spectrometers, the relevant scientific, rover, and sample constraints are outlined. The candidate 3D technologies are discussed, and estimates of performance, weight, and power consumptions guide the down-selection process in three application examples. Technology choice is discussed from different perspectives. Inline microscopic fringe-projection profilometry, incoherent digital holography, and multiwavelength digital holography are found to be promising candidates for further development.
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Affiliation(s)
- Conor Ryan
- Institute for Applied Optics (ITO), University of Stuttgart, 70569 Stuttgart, Germany
- Institute of Optical Sensor Systems, German Aerospace Center, 12489 Berlin, Germany
| | - Tobias Haist
- Institute for Applied Optics (ITO), University of Stuttgart, 70569 Stuttgart, Germany
| | - Gennadii Laskin
- Department of Production Control, Fraunhofer Institute for Physical Measurement Techniques IPM, 79110 Freiburg, Germany
| | - Susanne Schröder
- Institute of Optical Sensor Systems, German Aerospace Center, 12489 Berlin, Germany
| | - Stephan Reichelt
- Institute for Applied Optics (ITO), University of Stuttgart, 70569 Stuttgart, Germany
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2
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Verma V, Maimone MW, Gaines DM, Francis R, Estlin TA, Kuhn SR, Rabideau GR, Chien SA, McHenry MM, Graser EJ, Rankin AL, Thiel ER. Autonomous robotics is driving Perseverance rover's progress on Mars. Sci Robot 2023; 8:eadi3099. [PMID: 37494463 DOI: 10.1126/scirobotics.adi3099] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/17/2023] [Accepted: 06/29/2023] [Indexed: 07/28/2023]
Abstract
NASA's Perseverance rover uses robotic autonomy to achieve its mission goals on Mars. Its self-driving autonomous navigation system (AutoNav) has been used to evaluate 88% of the 17.7-kilometer distance traveled during its first Mars year of operation. Previously, the maximum total autonomous distance evaluated was 2.4 kilometers by the Opportunity rover during its 14-year lifetime. AutoNav has set multiple planetary rover records, including the greatest distance driven without human review (699.9 meters) and the greatest single-day drive distance (347.7 meters). The Autonomous Exploration for Gathering Increased Science (AEGIS) system analyzes wide-angle imagery onboard to autonomously select targets for observations by the SuperCam instrument, a multimode sensor suite capable of millimeter-scale geochemical and mineralogical analysis. AEGIS enables observations of scientifically interesting targets during or immediately after long drives without the need for ground communication. OnBoard Planner (OBP) is a scheduling capability planned for operational use in September 2023 that has the potential to reduce energy usage by up to 20% and complete drive and arm-contact science campaigns in 25% fewer days on Mars. This paper presents an overview of the AutoNav, AEGIS, and OBP capabilities used on Perseverance.
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Affiliation(s)
- Vandi Verma
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Mark W Maimone
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Daniel M Gaines
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Raymond Francis
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Tara A Estlin
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Stephen R Kuhn
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Gregg R Rabideau
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Steve A Chien
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Michael M McHenry
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Evan J Graser
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Arturo L Rankin
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Ellen R Thiel
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
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3
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Durnez C, Virmontois C, Panuel P, Antonsanti A, Goiffon V, Estribeau M, Saint-Pé O, Lalucaa V, Berdin E, Larnaudie F, Belloir JM, Codreanu C, Chavanne L. Evaluation of Microlenses, Color Filters, and Polarizing Filters in CIS for Space Applications. SENSORS (BASEL, SWITZERLAND) 2023; 23:5884. [PMID: 37447732 PMCID: PMC10346426 DOI: 10.3390/s23135884] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/03/2023] [Revised: 05/12/2023] [Accepted: 05/17/2023] [Indexed: 07/15/2023]
Abstract
For the last two decades, the CNES optoelectronics detection department and partners have evaluated space environment effects on a large panel of CMOS image sensors (CIS) from a wide range of commercial foundries and device providers. Many environmental tests have been realized in order to provide insights into detection chain degradation in modern CIS for space applications. CIS technology has drastically improved in the last decade, reaching very high performances in terms of quantum efficiency (QE) and spectral selectivity. These improvements are obtained thanks to the introduction of various components in the pixel optical stack, such as microlenses, color filters, and polarizing filters. However, since these parts have been developed only for commercial applications suitable for on-ground environment, it is crucial to evaluate if these technologies can handle space environments for future space imaging missions. There are few results on that robustness in the literature. The objective of this article is to give an overview of CNES and partner experiments from numerous works, showing that the performance gain from the optical stack is greater than the degradation induced by the space environment. Consequently, optical stacks can be used for space missions because they are not the main contributor to the degradation in the detection chain.
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Affiliation(s)
- Clémentine Durnez
- Centre National D’Etudes Spatiales (CNES), 18 Avenue Edouard Belin, 31400 Toulouse, France
| | - Cédric Virmontois
- Centre National D’Etudes Spatiales (CNES), 18 Avenue Edouard Belin, 31400 Toulouse, France
| | - Pierre Panuel
- Centre National D’Etudes Spatiales (CNES), 18 Avenue Edouard Belin, 31400 Toulouse, France
| | - Aubin Antonsanti
- Centre National D’Etudes Spatiales (CNES), 18 Avenue Edouard Belin, 31400 Toulouse, France
- Department of Electronics, Optronics and Signal Processing (DEOS), Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), 10 Avenue Edouard Belin, 31400 Toulouse, France
| | - Vincent Goiffon
- Department of Electronics, Optronics and Signal Processing (DEOS), Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), 10 Avenue Edouard Belin, 31400 Toulouse, France
| | - Magali Estribeau
- Department of Electronics, Optronics and Signal Processing (DEOS), Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), 10 Avenue Edouard Belin, 31400 Toulouse, France
| | - Olivier Saint-Pé
- Airbus Defence and Space, 31 Rue des Cosmonautes, 31400 Toulouse, France
| | - Valérian Lalucaa
- Centre National D’Etudes Spatiales (CNES), 18 Avenue Edouard Belin, 31400 Toulouse, France
| | - Erick Berdin
- Airbus Defence and Space, 31 Rue des Cosmonautes, 31400 Toulouse, France
| | - Franck Larnaudie
- Airbus Defence and Space, 31 Rue des Cosmonautes, 31400 Toulouse, France
| | - Jean-Marc Belloir
- Centre National D’Etudes Spatiales (CNES), 18 Avenue Edouard Belin, 31400 Toulouse, France
| | - Catalin Codreanu
- Centre National D’Etudes Spatiales (CNES), 18 Avenue Edouard Belin, 31400 Toulouse, France
| | - Ludovic Chavanne
- Centre National D’Etudes Spatiales (CNES), 18 Avenue Edouard Belin, 31400 Toulouse, France
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4
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Development of a Lizard-Inspired Robot for Mars Surface Exploration. Biomimetics (Basel) 2023; 8:biomimetics8010044. [PMID: 36810375 PMCID: PMC9944875 DOI: 10.3390/biomimetics8010044] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/11/2022] [Revised: 01/14/2023] [Accepted: 01/16/2023] [Indexed: 01/20/2023] Open
Abstract
Exploring Mars is beneficial to increasing our knowledge, understanding the possibility of ancient microbial life there, and discovering new resources beyond the Earth to prepare for future human missions to Mars. To assist ambitious uncrewed missions to Mars, specific types of planetary rovers have been developed for performing tasks on Mars' surface. Due to the fact that the surface is composed of granular soils and rocks of various sizes, contemporary rovers can have difficulties in moving on soft soils and climbing over rocks. To overcome such difficulties, this research develops a quadruped creeping robot inspired by the locomotion characteristics of the desert lizard. This biomimetic robot features a flexible spine, which allows swinging movements during locomotion. The leg structure utilizes a four-linkage mechanism, which ensures a steady lifting motion. The foot consists of an active ankle and a round pad with four flexible toes that are effective in grasping soils and rocks. To determine robot motions, kinematic models relating to foot, leg, and spine are established. Moreover, the coordinated motions between the trunk spine and leg are numerically verified. In addition, the mobility on granular soils and rocky surface are experimentally demonstrated, which can imply that this biomimetic robot is suitable for Mars surface terrains.
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Murdoch N, Stott AE, Gillier M, Hueso R, Lemmon M, Martinez G, Apéstigue V, Toledo D, Lorenz RD, Chide B, Munguira A, Sánchez-Lavega A, Vicente-Retortillo A, Newman CE, Maurice S, de la Torre Juárez M, Bertrand T, Banfield D, Navarro S, Marin M, Torres J, Gomez-Elvira J, Jacob X, Cadu A, Sournac A, Rodriguez-Manfredi JA, Wiens RC, Mimoun D. The sound of a Martian dust devil. Nat Commun 2022; 13:7505. [PMID: 36513637 PMCID: PMC9747922 DOI: 10.1038/s41467-022-35100-z] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2022] [Accepted: 11/18/2022] [Indexed: 12/15/2022] Open
Abstract
Dust devils (convective vortices loaded with dust) are common at the surface of Mars, particularly at Jezero crater, the landing site of the Perseverance rover. They are indicators of atmospheric turbulence and are an important lifting mechanism for the Martian dust cycle. Improving our understanding of dust lifting and atmospheric transport is key for accurate simulation of the dust cycle and for the prediction of dust storms, in addition to being important for future space exploration as grain impacts are implicated in the degradation of hardware on the surface of Mars. Here we describe the sound of a Martian dust devil as recorded by the SuperCam instrument on the Perseverance rover. The dust devil encounter was also simultaneously imaged by the Perseverance rover's Navigation Camera and observed by several sensors in the Mars Environmental Dynamics Analyzer instrument. Combining these unique multi-sensorial data with modelling, we show that the dust devil was around 25 m large, at least 118 m tall, and passed directly over the rover travelling at approximately 5 m s-1. Acoustic signals of grain impacts recorded during the vortex encounter provide quantitative information about the number density of particles in the vortex. The sound of a Martian dust devil was inaccessible until SuperCam microphone recordings. This chance dust devil encounter demonstrates the potential of acoustic data for resolving the rapid wind structure of the Martian atmosphere and for directly quantifying wind-blown grain fluxes on Mars.
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Affiliation(s)
- N. Murdoch
- grid.508721.9Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), Université de Toulouse, Toulouse, France
| | - A. E. Stott
- grid.508721.9Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), Université de Toulouse, Toulouse, France
| | - M. Gillier
- grid.508721.9Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), Université de Toulouse, Toulouse, France
| | - R. Hueso
- grid.11480.3c0000000121671098Física Aplicada, Escuela de Ingeniería de Bilbao, Universidad del País Vasco (UPV/EHU), Bilbao, Spain
| | - M. Lemmon
- grid.296797.40000 0004 6023 5450Space Science Institute, Boulder, CO 80301 USA
| | - G. Martinez
- grid.410493.b0000 0000 8634 1877Lunar and Planetary Institute, Universities Space Research Association, Houston, TX USA ,grid.214458.e0000000086837370Department of Climate and Space Sciences and Engineering, University of Michigan, Ann Arbor, MI USA
| | - V. Apéstigue
- grid.15312.340000 0004 1794 1528Instituto Nacional de Técnica Aeroespacial, Madrid, Spain
| | - D. Toledo
- grid.15312.340000 0004 1794 1528Instituto Nacional de Técnica Aeroespacial, Madrid, Spain
| | - R. D. Lorenz
- grid.474430.00000 0004 0630 1170Space Exploration Sector, Johns Hopkins Applied Physics Laboratory, Laurel, MD USA
| | - B. Chide
- grid.148313.c0000 0004 0428 3079Space and Planetary Exploration Team, Los Alamos National Laboratory, Los Alamos, NM USA
| | - A. Munguira
- grid.11480.3c0000000121671098Física Aplicada, Escuela de Ingeniería de Bilbao, Universidad del País Vasco (UPV/EHU), Bilbao, Spain
| | - A. Sánchez-Lavega
- grid.11480.3c0000000121671098Física Aplicada, Escuela de Ingeniería de Bilbao, Universidad del País Vasco (UPV/EHU), Bilbao, Spain
| | | | | | - S. Maurice
- grid.15781.3a0000 0001 0723 035XInstitut de Recherche en Astrophysique et Planétologie, Université de Toulouse 3 Paul Sabatier, CNRS, CNES, Toulouse, France
| | - M. de la Torre Juárez
- grid.20861.3d0000000107068890Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA USA
| | - T. Bertrand
- grid.482824.00000 0004 0370 8434Laboratoire d’Etudes Spatiales et d’Instrumentation en Astrophysique (LESIA), Observatoire de Paris, Université PSL, CNRS, Sorbonne Université, Univ. Paris Diderot, Sorbonne Paris Cité, 5 place Jules Janssen, 92195 Meudon, France
| | - D. Banfield
- grid.5386.8000000041936877XCornell University, Ithaca, NY USA ,grid.419075.e0000 0001 1955 7990NASA AMES Research Center, Moffett Field, CA USA
| | - S. Navarro
- grid.462011.00000 0001 2199 0769Centro de Astrobiología (INTA-CSIC), Madrid, Spain
| | - M. Marin
- grid.462011.00000 0001 2199 0769Centro de Astrobiología (INTA-CSIC), Madrid, Spain
| | - J. Torres
- grid.462011.00000 0001 2199 0769Centro de Astrobiología (INTA-CSIC), Madrid, Spain
| | - J. Gomez-Elvira
- grid.15312.340000 0004 1794 1528Instituto Nacional de Técnica Aeroespacial, Madrid, Spain
| | - X. Jacob
- grid.15781.3a0000 0001 0723 035XInstitut de Mécanique des Fluides, Université de Toulouse III Paul Sabatier, INP, CNRS, Toulouse, France
| | - A. Cadu
- grid.508721.9Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), Université de Toulouse, Toulouse, France
| | - A. Sournac
- grid.508721.9Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), Université de Toulouse, Toulouse, France
| | | | - R. C. Wiens
- grid.169077.e0000 0004 1937 2197Earth, Atmospheric, and Planetary Sciences, Purdue University, West Lafayette, IN USA
| | - D. Mimoun
- grid.508721.9Institut Supérieur de l’Aéronautique et de l’Espace (ISAE-SUPAERO), Université de Toulouse, Toulouse, France
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6
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Andolfo S, Petricca F, Genova A. Precise pose estimation of the NASA Mars 2020 Perseverance rover through a stereo‐vision‐based approach. J FIELD ROBOT 2022. [DOI: 10.1002/rob.22138] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/03/2022]
Affiliation(s)
- Simone Andolfo
- Department of Mechanical and Aerospace Engineering Sapienza University of Rome Rome Italy
| | - Flavio Petricca
- Department of Mechanical and Aerospace Engineering Sapienza University of Rome Rome Italy
| | - Antonio Genova
- Department of Mechanical and Aerospace Engineering Sapienza University of Rome Rome Italy
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7
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Bell JF, Maki JN, Alwmark S, Ehlmann BL, Fagents SA, Grotzinger JP, Gupta S, Hayes A, Herkenhoff KE, Horgan BHN, Johnson JR, Kinch KB, Lemmon MT, Madsen MB, Núñez JI, Paar G, Rice M, Rice JW, Schmitz N, Sullivan R, Vaughan A, Wolff MJ, Bechtold A, Bosak T, Duflot LE, Fairén AG, Garczynski B, Jaumann R, Merusi M, Million C, Ravanis E, Shuster DL, Simon J, St. Clair M, Tate C, Walter S, Weiss B, Bailey AM, Bertrand T, Beyssac O, Brown AJ, Caballo-Perucha P, Caplinger MA, Caudill CM, Cary F, Cisneros E, Cloutis EA, Cluff N, Corlies P, Crawford K, Curtis S, Deen R, Dixon D, Donaldson C, Barrington M, Ficht M, Fleron S, Hansen M, Harker D, Howson R, Huggett J, Jacob S, Jensen E, Jensen OB, Jodhpurkar M, Joseph J, Juarez C, Kah LC, Kanine O, Kristensen J, Kubacki T, Lapo K, Magee A, Maimone M, Mehall GL, Mehall L, Mollerup J, Viúdez-Moreiras D, Paris K, Powell KE, Preusker F, Proton J, Rojas C, Sallurday D, Saxton K, Scheller E, Seeger CH, Starr M, Stein N, Turenne N, Van Beek J, Winhold AG, Yingling R. Geological, multispectral, and meteorological imaging results from the Mars 2020 Perseverance rover in Jezero crater. SCIENCE ADVANCES 2022; 8:eabo4856. [PMID: 36417517 PMCID: PMC9683734 DOI: 10.1126/sciadv.abo4856] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/15/2022] [Accepted: 10/20/2022] [Indexed: 06/15/2023]
Abstract
Perseverance's Mastcam-Z instrument provides high-resolution stereo and multispectral images with a unique combination of spatial resolution, spatial coverage, and wavelength coverage along the rover's traverse in Jezero crater, Mars. Images reveal rocks consistent with an igneous (including volcanic and/or volcaniclastic) and/or impactite origin and limited aqueous alteration, including polygonally fractured rocks with weathered coatings; massive boulder-forming bedrock consisting of mafic silicates, ferric oxides, and/or iron-bearing alteration minerals; and coarsely layered outcrops dominated by olivine. Pyroxene dominates the iron-bearing mineralogy in the fine-grained regolith, while olivine dominates the coarse-grained regolith. Solar and atmospheric imaging observations show significant intra- and intersol variations in dust optical depth and water ice clouds, as well as unique examples of boundary layer vortex action from both natural (dust devil) and Ingenuity helicopter-induced dust lifting. High-resolution stereo imaging also provides geologic context for rover operations, other instrument observations, and sample selection, characterization, and confirmation.
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Affiliation(s)
- James F. Bell
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | - Justin N. Maki
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Sanna Alwmark
- Niels Bohr Institute, University of Copenhagen, 2100 Copenhagen, Denmark
- Department of Geology, Lund University, 22362 Lund, Sweden
| | - Bethany L. Ehlmann
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Sarah A. Fagents
- Hawai’i Institute of Geophysics and Planetology, University of Hawaii, Honolulu, HI 96822, USA
| | | | - Sanjeev Gupta
- Department of Earth Science and Engineering, Imperial College London, London, UK
| | - Alexander Hayes
- Department of Astronomy, Cornell University, Ithaca, NY 14850, USA
| | | | - Briony H. N. Horgan
- Department of Earth, Atmospheric, and Planetary Sciences, Purdue University, West Lafayette, IN 47907, USA
| | - Jeffrey R. Johnson
- Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA
| | - Kjartan B. Kinch
- Niels Bohr Institute, University of Copenhagen, 2100 Copenhagen, Denmark
| | | | - Morten B. Madsen
- Niels Bohr Institute, University of Copenhagen, 2100 Copenhagen, Denmark
| | - Jorge I. Núñez
- Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA
| | | | - Melissa Rice
- Western Washington University, Bellingham, WA 98225, USA
| | - James W. Rice
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | | | - Robert Sullivan
- Department of Astronomy, Cornell University, Ithaca, NY 14850, USA
| | - Alicia Vaughan
- USGS Astrogeology Science Center, Flagstaff, AZ 86001, USA
| | | | - Andreas Bechtold
- Department of Lithospheric Research, University of Vienna, 1090 Vienna, Austria
- Austrian Academy of Sciences, Vienna 1010, Austria
| | - Tanja Bosak
- Department of Earth, Atmospheric and Planetary Sciences, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | | | - Alberto G. Fairén
- Department of Astronomy, Cornell University, Ithaca, NY 14850, USA
- Astrobiology Center (CSIC-INTA), Madrid, Spain
| | - Brad Garczynski
- Department of Earth, Atmospheric, and Planetary Sciences, Purdue University, West Lafayette, IN 47907, USA
| | - Ralf Jaumann
- Institute for Geological Sciences, Freie Universitaet Berlin, 14195 Berlin, Germany
| | - Marco Merusi
- Niels Bohr Institute, University of Copenhagen, 2100 Copenhagen, Denmark
| | | | - Eleni Ravanis
- Hawai’i Institute of Geophysics and Planetology, University of Hawaii, Honolulu, HI 96822, USA
| | - David L. Shuster
- Department of Earth and Planetary Science, University of California, Berkeley, Berkeley, CA 94720, USA
| | - Justin Simon
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | | | - Christian Tate
- Department of Astronomy, Cornell University, Ithaca, NY 14850, USA
| | - Sebastian Walter
- Institute for Geological Sciences, Freie Universitaet Berlin, 14195 Berlin, Germany
| | - Benjamin Weiss
- Department of Earth, Atmospheric and Planetary Sciences, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Alyssa M. Bailey
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | | | - Olivier Beyssac
- Institut de Minéralogie, Physique des Matériaux et Cosmochimie, CNRS, Muséum National d’Histoire Naturelle, Sorbonne University, Paris 75005, France
| | | | | | | | | | - Francesca Cary
- Hawai’i Institute of Geophysics and Planetology, University of Hawaii, Honolulu, HI 96822, USA
| | - Ernest Cisneros
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | | | - Nathan Cluff
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | - Paul Corlies
- Department of Astronomy, Cornell University, Ithaca, NY 14850, USA
| | - Kelsie Crawford
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | - Sabrina Curtis
- Western Washington University, Bellingham, WA 98225, USA
| | - Robert Deen
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Darian Dixon
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | | | - Megan Barrington
- Department of Astronomy, Cornell University, Ithaca, NY 14850, USA
| | - Michelle Ficht
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | | | | | - David Harker
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | - Rachel Howson
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | - Joshua Huggett
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | - Samantha Jacob
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | - Elsa Jensen
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | - Ole B. Jensen
- Niels Bohr Institute, University of Copenhagen, 2100 Copenhagen, Denmark
| | - Mohini Jodhpurkar
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | - Jonathan Joseph
- Department of Astronomy, Cornell University, Ithaca, NY 14850, USA
| | | | - Linda C. Kah
- Department of Earth and Planetary Sciences, University of Tennessee, Knoxville, TN 37916, USA
| | - Oak Kanine
- California Institute of Technology, Pasadena, CA 91125, USA
| | | | - Tex Kubacki
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | - Kristiana Lapo
- Western Washington University, Bellingham, WA 98225, USA
| | - Angela Magee
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | | | - Greg L. Mehall
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | - Laura Mehall
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | - Jess Mollerup
- Western Washington University, Bellingham, WA 98225, USA
| | - Daniel Viúdez-Moreiras
- Astrobiology Center (CSIC-INTA), Madrid, Spain
- National Institute for Aerospace Technology, Madrid, Spain
| | - Kristen Paris
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | - Kathryn E. Powell
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | | | | | - Corrine Rojas
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
| | | | - Kim Saxton
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Eva Scheller
- California Institute of Technology, Pasadena, CA 91125, USA
| | | | - Mason Starr
- Malin Space Science Systems Inc., San Diego, CA 92121, USA
| | - Nathan Stein
- California Institute of Technology, Pasadena, CA 91125, USA
| | | | - Jason Van Beek
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - Andrew G. Winhold
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85281, USA
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8
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Kuang B, Gu C, Rana ZA, Zhao Y, Sun S, Nnabuife SG. Semantic Terrain Segmentation in the Navigation Vision of Planetary Rovers-A Systematic Literature Review. SENSORS (BASEL, SWITZERLAND) 2022; 22:8393. [PMID: 36366089 PMCID: PMC9658012 DOI: 10.3390/s22218393] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/03/2022] [Revised: 10/26/2022] [Accepted: 10/30/2022] [Indexed: 06/16/2023]
Abstract
Background: The planetary rover is an essential platform for planetary exploration. Visual semantic segmentation is significant in the localization, perception, and path planning of the rover autonomy. Recent advances in computer vision and artificial intelligence brought about new opportunities. A systematic literature review (SLR) can help analyze existing solutions, discover available data, and identify potential gaps. Methods: A rigorous SLR has been conducted, and papers are selected from three databases (IEEE Xplore, Web of Science, and Scopus) from the start of records to May 2022. The 320 candidate studies were found by searching with keywords and bool operators, and they address the semantic terrain segmentation in the navigation vision of planetary rovers. Finally, after four rounds of screening, 30 papers were included with robust inclusion and exclusion criteria as well as quality assessment. Results: 30 studies were included for the review, and sub-research areas include navigation (16 studies), geological analysis (7 studies), exploration efficiency (10 studies), and others (3 studies) (overlaps exist). Five distributions are extendedly depicted (time, study type, geographical location, publisher, and experimental setting), which analyzes the included study from the view of community interests, development status, and reimplementation ability. One key research question and six sub-research questions are discussed to evaluate the current achievements and future gaps. Conclusions: Many promising achievements in accuracy, available data, and real-time performance have been promoted by computer vision and artificial intelligence. However, a solution that satisfies pixel-level segmentation, real-time inference time, and onboard hardware does not exist, and an open, pixel-level annotated, and the real-world data-based dataset is not found. As planetary exploration projects progress worldwide, more promising studies will be proposed, and deep learning will bring more opportunities and contributions to future studies. Contributions: This SLR identifies future gaps and challenges by proposing a methodical, replicable, and transparent survey, which is the first review (also the first SLR) for semantic terrain segmentation in the navigation vision of planetary rovers.
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Affiliation(s)
- Boyu Kuang
- Centre for Computational Engineering Sciences (CES), Cranfield University, Cranfield MK43 0AL, UK
| | - Chengzhen Gu
- Supply Chain Research Centre, Cranfield School of Management, Cranfield University, Cranfield MK43 0AL, UK
| | - Zeeshan A. Rana
- Centre for Aeronautics, Cranfield University, Cranfield MK43 0AL, UK
| | - Yifan Zhao
- Centre for Life-Cycle Engineering and Management, Cranfield University, Cranfield MK43 0AL, UK
| | - Shuang Sun
- College of Aviation Engineering, Civil Aviation University of China, 2898 Jinbei Road, Dongli District, Tianjin 300300, China
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9
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Lemmon MT, Smith MD, Viudez‐Moreiras D, de la Torre‐Juarez M, Vicente‐Retortillo A, Munguira A, Sanchez‐Lavega A, Hueso R, Martinez G, Chide B, Sullivan R, Toledo D, Tamppari L, Bertrand T, Bell JF, Newman C, Baker M, Banfield D, Rodriguez‐Manfredi JA, Maki JN, Apestigue V. Dust, Sand, and Winds Within an Active Martian Storm in Jezero Crater. GEOPHYSICAL RESEARCH LETTERS 2022; 49:e2022GL100126. [PMID: 36245893 PMCID: PMC9540647 DOI: 10.1029/2022gl100126] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/20/2022] [Revised: 08/19/2022] [Accepted: 08/22/2022] [Indexed: 06/16/2023]
Abstract
Rovers and landers on Mars have experienced local, regional, and planetary-scale dust storms. However, in situ documentation of active lifting within storms has remained elusive. Over 5-11 January 2022 (LS 153°-156°), a dust storm passed over the Perseverance rover site. Peak visible optical depth was ∼2, and visibility across the crater was briefly reduced. Pressure amplitudes and temperatures responded to the storm. Winds up to 20 m s-1 rotated around the site before the wind sensor was damaged. The rover imaged 21 dust-lifting events-gusts and dust devils-in one 25-min period, and at least three events mobilized sediment near the rover. Rover tracks and drill cuttings were extensively modified, and debris was moved onto the rover deck. Migration of small ripples was seen, but there was no large-scale change in undisturbed areas. This work presents an overview of observations and initial results from the study of the storm.
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Affiliation(s)
| | - M. D. Smith
- NASA Goddard Space Flight CenterGreenbeltMDUSA
| | | | | | | | - A. Munguira
- Física Aplicada, Escuela de Ingeniería de BilbaoUPV/EHUBilbaoSpain
| | | | - R. Hueso
- Física Aplicada, Escuela de Ingeniería de BilbaoUPV/EHUBilbaoSpain
| | | | - B. Chide
- Space and Planetary Exploration TeamLos Alamos National LaboratoryLos AlamosNMUSA
| | | | - D. Toledo
- Instituto Nacional de Técnica AerospacialMadridSpain
| | - L. Tamppari
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | | | | | | | - M. Baker
- Smithsonian National Air and Space MuseumWashingtonDCUSA
| | | | | | - J. N. Maki
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | - V. Apestigue
- Instituto Nacional de Técnica AerospacialMadridSpain
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10
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Lemmon MT, Toledo D, Apestigue V, Arruego I, Wolff MJ, Patel P, Guzewich S, Colaprete A, Vicente‐Retortillo Á, Tamppari L, Montmessin F, de la Torre Juarez M, Maki J, McConnochie T, Brown A, Bell JF. Hexagonal Prisms Form in Water-Ice Clouds on Mars, Producing Halo Displays Seen by Perseverance Rover. GEOPHYSICAL RESEARCH LETTERS 2022; 49:e2022GL099776. [PMID: 36245894 PMCID: PMC9539710 DOI: 10.1029/2022gl099776] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/31/2022] [Revised: 08/18/2022] [Accepted: 08/22/2022] [Indexed: 06/16/2023]
Abstract
Observations by several cameras on the Perseverance rover showed a 22° scattering halo around the Sun over several hours during northern midsummer (solar longitude 142°). Such a halo has not previously been seen beyond Earth. The halo occurred during the aphelion cloud belt season and the cloudiest time yet observed from the Perseverance site. The halo required crystalline water-ice cloud particles in the form of hexagonal columns large enough for refraction to be significant, at least 11 μm in diameter and length. From a possible 40-50 km altitude, and over the 3.3 hr duration of the halo, particles could have fallen 3-12 km, causing downward transport of water and dust. Halo-forming clouds are likely rare due to the high supersaturation of water that is required but may be more common in northern subtropical regions during northern midsummer.
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Affiliation(s)
| | - D. Toledo
- Instituto Nacional de Técnica AerospacialMadridSpain
| | - V. Apestigue
- Instituto Nacional de Técnica AerospacialMadridSpain
| | - I. Arruego
- Instituto Nacional de Técnica AerospacialMadridSpain
| | | | - P. Patel
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
- Mullard Space Science LaboratoryUniversity College LondonLondonUK
| | - S. Guzewich
- NASA Goddard Space Flight CenterGreenbeltMDUSA
| | | | | | - L. Tamppari
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | | | | | - J. Maki
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | | | - A. Brown
- Plancius ResearchSeverna ParkMDUSA
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11
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Farley KA, Stack KM, Shuster DL, Horgan BHN, Hurowitz JA, Tarnas JD, Simon JI, Sun VZ, Scheller EL, Moore KR, McLennan SM, Vasconcelos PM, Wiens RC, Treiman AH, Mayhew LE, Beyssac O, Kizovski TV, Tosca NJ, Williford KH, Crumpler LS, Beegle LW, Bell JF, Ehlmann BL, Liu Y, Maki JN, Schmidt ME, Allwood AC, Amundsen HEF, Bhartia R, Bosak T, Brown AJ, Clark BC, Cousin A, Forni O, Gabriel TSJ, Goreva Y, Gupta S, Hamran SE, Herd CDK, Hickman-Lewis K, Johnson JR, Kah LC, Kelemen PB, Kinch KB, Mandon L, Mangold N, Quantin-Nataf C, Rice MS, Russell PS, Sharma S, Siljeström S, Steele A, Sullivan R, Wadhwa M, Weiss BP, Williams AJ, Wogsland BV, Willis PA, Acosta-Maeda TA, Beck P, Benzerara K, Bernard S, Burton AS, Cardarelli EL, Chide B, Clavé E, Cloutis EA, Cohen BA, Czaja AD, Debaille V, Dehouck E, Fairén AG, Flannery DT, Fleron SZ, Fouchet T, Frydenvang J, Garczynski BJ, Gibbons EF, Hausrath EM, Hayes AG, Henneke J, Jørgensen JL, Kelly EM, Lasue J, Le Mouélic S, Madariaga JM, Maurice S, Merusi M, Meslin PY, Milkovich SM, Million CC, Moeller RC, Núñez JI, Ollila AM, Paar G, Paige DA, Pedersen DAK, Pilleri P, Pilorget C, Pinet PC, Rice JW, Royer C, Sautter V, Schulte M, Sephton MA, Sharma SK, Sholes SF, Spanovich N, St Clair M, Tate CD, Uckert K, VanBommel SJ, Yanchilina AG, Zorzano MP. Aqueously altered igneous rocks sampled on the floor of Jezero crater, Mars. Science 2022; 377:eabo2196. [PMID: 36007009 DOI: 10.1126/science.abo2196] [Citation(s) in RCA: 15] [Impact Index Per Article: 7.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/08/2023]
Abstract
The Perseverance rover landed in Jezero crater, Mars, to investigate ancient lake and river deposits. We report observations of the crater floor, below the crater's sedimentary delta, finding the floor consists of igneous rocks altered by water. The lowest exposed unit, informally named Séítah, is a coarsely crystalline olivine-rich rock, which accumulated at the base of a magma body. Fe-Mg carbonates along grain boundaries indicate reactions with CO2-rich water, under water-poor conditions. Overlying Séítah is a unit informally named Máaz, which we interpret as lava flows or the chemical complement to Séítah in a layered igneous body. Voids in these rocks contain sulfates and perchlorates, likely introduced by later near-surface brine evaporation. Core samples of these rocks were stored aboard Perseverance for potential return to Earth.
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Affiliation(s)
- K A Farley
- Division of Geological and Planetary Sciences, California Institute of Technology, Pasadena, CA 91125, USA
| | - K M Stack
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - D L Shuster
- Department of Earth and Planetary Science, University of California, Berkeley, Berkeley, CA 94720, USA
| | - B H N Horgan
- Department of Earth, Atmospheric, and Planetary Sciences, Purdue University, West Lafayette, IN 47907, USA
| | - J A Hurowitz
- Department of Geosciences, Stony Brook University, Stony Brook, NY 11794, USA
| | - J D Tarnas
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - J I Simon
- Center for Isotope Cosmochemistry and Geochronology, Astromaterials Research and Exploration Science Division, NASA Johnson Space Center, Houston, TX 77058, USA
| | - V Z Sun
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - E L Scheller
- Division of Geological and Planetary Sciences, California Institute of Technology, Pasadena, CA 91125, USA
| | - K R Moore
- Division of Geological and Planetary Sciences, California Institute of Technology, Pasadena, CA 91125, USA
| | - S M McLennan
- Department of Geosciences, Stony Brook University, Stony Brook, NY 11794, USA
| | - P M Vasconcelos
- School of Earth and Environmental Sciences, University of Queensland, Brisbane, QLD 4072, Australia
| | - R C Wiens
- Planetary Exploration Team, Los Alamos National Laboratory, Los Alamos, NM 87545, USA
| | - A H Treiman
- Lunar and Planetary Institute, Universities Space Research Association, Houston, TX 77058, USA
| | - L E Mayhew
- Department of Geological Sciences, University of Colorado, Boulder, Boulder, CO 80309, USA
| | - O Beyssac
- Institut de Minéralogie, de Physique des Matériaux et de Cosmochimie, Centre National de la Recherche Scientifique, Sorbonne Université, Muséum National d'Histoire Naturelle, 75005 Paris, France
| | - T V Kizovski
- Department of Earth Sciences, Brock University, St. Catharines, ON L2S 3A1, Canada
| | - N J Tosca
- Department of Earth Sciences, University of Cambridge, Cambridge CB2 3EQ, UK
| | - K H Williford
- Blue Marble Space Institute of Science, Seattle, WA 98104, USA
| | - L S Crumpler
- New Mexico Museum of Natural History and Science, Albuquerque, NM 8710, USA
| | - L W Beegle
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - J F Bell
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85287, USA
| | - B L Ehlmann
- Division of Geological and Planetary Sciences, California Institute of Technology, Pasadena, CA 91125, USA
| | - Y Liu
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - J N Maki
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - M E Schmidt
- Department of Earth Sciences, Brock University, St. Catharines, ON L2S 3A1, Canada
| | - A C Allwood
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - H E F Amundsen
- Center for Space Sensors and Systems, University of Oslo, 2007 Kjeller, Norway
| | - R Bhartia
- Photon Systems Inc., Covina, CA 91725, USA
| | - T Bosak
- Department of Earth, Atmospheric and Planetary Sciences, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - A J Brown
- Plancius Research, Severna Park, MD 21146, USA
| | - B C Clark
- Space Science Institute, Boulder, CO 80301, USA
| | - A Cousin
- Institut de Recherche en Astrophysique et Planétologie, Université de Toulouse 3 Paul Sabatier, Centre National de la Recherche Scientifique, Centre National d'Etude Spatiale, 31400 Toulouse, France
| | - O Forni
- Institut de Recherche en Astrophysique et Planétologie, Université de Toulouse 3 Paul Sabatier, Centre National de la Recherche Scientifique, Centre National d'Etude Spatiale, 31400 Toulouse, France
| | - T S J Gabriel
- Astrogeology Science Center, US Geological Survey, Flagstaff, AZ 86001, USA
| | - Y Goreva
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - S Gupta
- Department of Earth Sciences and Engineering, Imperial College London, London SW7 2AZ, UK
| | - S-E Hamran
- Center for Space Sensors and Systems, University of Oslo, 2007 Kjeller, Norway
| | - C D K Herd
- Department of Earth and Atmospheric Sciences, University of Alberta, Edmonton, AB T6G 2E3, Canada
| | - K Hickman-Lewis
- Department of Earth Sciences, The Natural History Museum, London SW7 5BD, UK.,Dipartimento di Scienze Biologiche, Geologiche e Ambientali, Università di Bologna, 40126 Bologna, Italy
| | - J R Johnson
- Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA
| | - L C Kah
- Department of Earth and Planetary Sciences, University of Tennessee, Knoxville, TN 37996, USA
| | - P B Kelemen
- Department of Earth and Environmental Sciences, Lamont Doherty Earth Observatory of Columbia University, Palisades, NY 10964, USA
| | - K B Kinch
- Niels Bohr Institute, University of Copenhagen, 1350 Copenhagen, Denmark
| | - L Mandon
- Laboratoire d'Etudes Spatiales et d'Instrumentation en Astrophysique, Observatoire de Paris, Centre National de la Recherche Scientifique, Sorbonne Université, Université Paris Diderot, 92195 Meudon, France
| | - N Mangold
- Laboratoire de Planétologie et Géosciences, Centre National de la Recherche Scientifique, Nantes Université, Université Angers, 44000 Nantes, France
| | - C Quantin-Nataf
- Laboratoire de Géologie de Lyon: Terre, Université de Lyon, Université Claude Bernard Lyon1, Ecole Normale Supérieure de Lyon, Université Jean Monnet Saint Etienne, Centre National de la Recherche Scientifique, 69622 Villeurbanne, France
| | - M S Rice
- Department of Geology, Western Washington University, Bellingham, WA 98225 USA
| | - P S Russell
- Department of Earth, Planetary, and Space Sciences, University of California, Los Angeles, Los Angeles, CA 90095, USA
| | - S Sharma
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - S Siljeström
- Department of Methodology, Textiles and Medical Technology, Research Institutes of Sweden, 11486 Stockholm, Sweden
| | - A Steele
- Earth and Planetary Laboratory, Carnegie Science, Washington, DC 20015, USA
| | - R Sullivan
- Cornell Center for Astrophysics and Planetary Science, Cornell University, Ithaca, NY 14853, USA
| | - M Wadhwa
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85287, USA
| | - B P Weiss
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA.,Department of Earth, Atmospheric and Planetary Sciences, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - A J Williams
- Department of Geological Sciences, University of Florida, Gainesville, FL 32611, USA
| | - B V Wogsland
- Department of Earth and Planetary Sciences, University of Tennessee, Knoxville, TN 37996, USA
| | - P A Willis
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - T A Acosta-Maeda
- Hawai'i Institute of Geophysics and Planetology, University of Hawai'i at Mānoa, Honolulu, HI 96822, USA
| | - P Beck
- Institut de Planétologie et Astrophysique de Grenoble, Centre National de la Recherche Scientifique, Université Grenoble Alpes, 38000 Grenoble, France
| | - K Benzerara
- Institut de Minéralogie, de Physique des Matériaux et de Cosmochimie, Centre National de la Recherche Scientifique, Sorbonne Université, Muséum National d'Histoire Naturelle, 75005 Paris, France
| | - S Bernard
- Institut de Minéralogie, de Physique des Matériaux et de Cosmochimie, Centre National de la Recherche Scientifique, Sorbonne Université, Muséum National d'Histoire Naturelle, 75005 Paris, France
| | - A S Burton
- NASA Johnson Space Center, Houston, TX 77058, USA
| | - E L Cardarelli
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - B Chide
- Planetary Exploration Team, Los Alamos National Laboratory, Los Alamos, NM 87545, USA
| | - E Clavé
- Centre Lasers Intenses et Applications, Centre National de la Recherche Scientifique, Commissariat à l'Energie Atomique, Université de Bordeaux, 33400 Bordeaux, France
| | - E A Cloutis
- Centre for Terrestrial and Planetary Exploration, University of Winnipeg, Winnipeg, MB R3B 2E9, Canada
| | - B A Cohen
- NASA Goddard Space Flight Center, Greenbelt, MD 20771, USA
| | - A D Czaja
- Department of Geology, University of Cincinnati, Cincinnati, OH 45221, USA
| | - V Debaille
- Laboratoire G-Time, Université Libre de Bruxelles, 1050 Brussels, Belgium
| | - E Dehouck
- Laboratoire de Géologie de Lyon: Terre, Université de Lyon, Université Claude Bernard Lyon1, Ecole Normale Supérieure de Lyon, Université Jean Monnet Saint Etienne, Centre National de la Recherche Scientifique, 69622 Villeurbanne, France
| | - A G Fairén
- Centro de Astrobiología, Consejo Superior de Investigaciones Científicas-Instituto Nacional de Técnica Aeroespacial, 28850 Madrid, Spain.,Department of Astronomy, Cornell University, Ithaca, NY 14853, USA
| | - D T Flannery
- School of Earth and Atmospheric Sciences, Queensland University of Technology, Brisbane, QLD 4001, Australia
| | - S Z Fleron
- Department of Geosciences and Natural Resource Management, University of Copenhagen, 1350 Copenhagen, Denmark
| | - T Fouchet
- Laboratoire d'Etudes Spatiales et d'Instrumentation en Astrophysique, Observatoire de Paris, Centre National de la Recherche Scientifique, Sorbonne Université, Université Paris Diderot, 92195 Meudon, France
| | - J Frydenvang
- Globe Institute, University of Copenhagen, 1350 Copenhagen, Denmark
| | - B J Garczynski
- Department of Earth, Atmospheric, and Planetary Sciences, Purdue University, West Lafayette, IN 47907, USA
| | - E F Gibbons
- Department of Earth and Planetary Sciences, McGill University, Montreal, QC H3A 0E8, Canada
| | - E M Hausrath
- Department of Geoscience, University of Nevada, Las Vegas, Las Vegas, NV 89154, USA
| | - A G Hayes
- Department of Astronomy, Cornell University, Ithaca, NY 14853, USA
| | - J Henneke
- National Space Institute, Technical University of Denmark, 2800 Kongens Lyngby, Denmark
| | - J L Jørgensen
- National Space Institute, Technical University of Denmark, 2800 Kongens Lyngby, Denmark
| | - E M Kelly
- Hawai'i Institute of Geophysics and Planetology, University of Hawai'i at Mānoa, Honolulu, HI 96822, USA
| | - J Lasue
- Institut de Recherche en Astrophysique et Planétologie, Université de Toulouse 3 Paul Sabatier, Centre National de la Recherche Scientifique, Centre National d'Etude Spatiale, 31400 Toulouse, France
| | - S Le Mouélic
- Laboratoire de Planétologie et Géosciences, Centre National de la Recherche Scientifique, Nantes Université, Université Angers, 44000 Nantes, France
| | - J M Madariaga
- Department of Analytical Chemistry, University of the Basque Country, 48940 Leioa, Spain
| | - S Maurice
- Institut de Recherche en Astrophysique et Planétologie, Université de Toulouse 3 Paul Sabatier, Centre National de la Recherche Scientifique, Centre National d'Etude Spatiale, 31400 Toulouse, France
| | - M Merusi
- Niels Bohr Institute, University of Copenhagen, 1350 Copenhagen, Denmark
| | - P-Y Meslin
- Institut de Recherche en Astrophysique et Planétologie, Université de Toulouse 3 Paul Sabatier, Centre National de la Recherche Scientifique, Centre National d'Etude Spatiale, 31400 Toulouse, France
| | - S M Milkovich
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | | | - R C Moeller
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - J I Núñez
- Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA
| | - A M Ollila
- Los Alamos National Laboratory, Los Alamos, NM 87545 USA
| | - G Paar
- Institute for Information and Communication Technologies, Joanneum Research, 8010 Graz, Austria
| | - D A Paige
- Department of Earth, Planetary, and Space Sciences, University of California, Los Angeles, Los Angeles, CA 90095, USA
| | - D A K Pedersen
- National Space Institute, Technical University of Denmark, 2800 Kongens Lyngby, Denmark
| | - P Pilleri
- Institut de Recherche en Astrophysique et Planétologie, Université de Toulouse 3 Paul Sabatier, Centre National de la Recherche Scientifique, Centre National d'Etude Spatiale, 31400 Toulouse, France
| | - C Pilorget
- Institut d'Astrophysique Spatiale, Université Paris-Saclay, 91405 Orsay, France.,Institut Universitaire de France, Paris, France
| | - P C Pinet
- Institut de Recherche en Astrophysique et Planétologie, Université de Toulouse 3 Paul Sabatier, Centre National de la Recherche Scientifique, Centre National d'Etude Spatiale, 31400 Toulouse, France
| | - J W Rice
- School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85287, USA
| | - C Royer
- Institut de Minéralogie, de Physique des Matériaux et de Cosmochimie, Centre National de la Recherche Scientifique, Sorbonne Université, Muséum National d'Histoire Naturelle, 75005 Paris, France
| | - V Sautter
- Institut de Minéralogie, de Physique des Matériaux et de Cosmochimie, Centre National de la Recherche Scientifique, Sorbonne Université, Muséum National d'Histoire Naturelle, 75005 Paris, France
| | - M Schulte
- Mars Exploration Program, Planetary Science Division, NASA Headquarters, Washington, DC 20546, USA
| | - M A Sephton
- Department of Earth Sciences and Engineering, Imperial College London, London SW7 2AZ, UK
| | - S K Sharma
- Hawai'i Institute of Geophysics and Planetology, University of Hawai'i at Mānoa, Honolulu, HI 96822, USA
| | - S F Sholes
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - N Spanovich
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - M St Clair
- Million Concepts, Louisville, KY 40204, USA
| | - C D Tate
- Department of Astronomy, Cornell University, Ithaca, NY 14853, USA
| | - K Uckert
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA
| | - S J VanBommel
- McDonnell Center for the Space Sciences and Department of Earth and Planetary Sciences, Washington University in St. Louis, St. Louis, MO 63130, USA
| | | | - M-P Zorzano
- Department of Astronomy, Cornell University, Ithaca, NY 14853, USA
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12
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An Innovative Pose Determination Algorithm for Planetary Rover Onboard Visual Odometry. AEROSPACE 2022. [DOI: 10.3390/aerospace9070391] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/10/2022]
Abstract
Planetary rovers play a critical role in space exploration missions, where one of the most fundamental algorithms is pose determination. Due to environmental and computational constraints, real-time pose determinations of planetary rovers can only use low-cost techniques, such as visual odometry. In this paper, by employing the angle-based criterion, a novel pose determination algorithm is proposed for visual odometry, which is suitable for any type of central camera. First, the problem is formulated using the Huber kernel function with respect to the angular residuals. Then, an intermediate coordinate system is introduced between the initial estimation and final refinement. In order to avoid being trapped in periodic local minimums, a linear method is used to further align the reference points between the intermediate and camera coordinate systems. Finally, one step refinement is implemented to optimize pose determinations. The theoretical analysis, the synthetic simulations, and the real experiments show that our proposed algorithm can achieve the best accuracies within similar processing times, compared with the most state-of-the-art algorithms, thereby approving the effectiveness of the proposed algorithm used in planetary rover onboard visual odometry.
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13
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Newman CE, Hueso R, Lemmon MT, Munguira A, Vicente-Retortillo Á, Apestigue V, Martínez GM, Toledo D, Sullivan R, Herkenhoff KE, de la Torre Juárez M, Richardson MI, Stott AE, Murdoch N, Sanchez-Lavega A, Wolff MJ, Arruego I, Sebastián E, Navarro S, Gómez-Elvira J, Tamppari L, Viúdez-Moreiras D, Harri AM, Genzer M, Hieta M, Lorenz RD, Conrad P, Gómez F, McConnochie TH, Mimoun D, Tate C, Bertrand T, Bell JF, Maki JN, Rodriguez-Manfredi JA, Wiens RC, Chide B, Maurice S, Zorzano MP, Mora L, Baker MM, Banfield D, Pla-Garcia J, Beyssac O, Brown A, Clark B, Lepinette A, Montmessin F, Fischer E, Patel P, del Río-Gaztelurrutia T, Fouchet T, Francis R, Guzewich SD. The dynamic atmospheric and aeolian environment of Jezero crater, Mars. SCIENCE ADVANCES 2022; 8:eabn3783. [PMID: 35613267 PMCID: PMC9132482 DOI: 10.1126/sciadv.abn3783] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/22/2021] [Accepted: 04/08/2022] [Indexed: 06/15/2023]
Abstract
Despite the importance of sand and dust to Mars geomorphology, weather, and exploration, the processes that move sand and that raise dust to maintain Mars' ubiquitous dust haze and to produce dust storms have not been well quantified in situ, with missions lacking either the necessary sensors or a sufficiently active aeolian environment. Perseverance rover's novel environmental sensors and Jezero crater's dusty environment remedy this. In Perseverance's first 216 sols, four convective vortices raised dust locally, while, on average, four passed the rover daily, over 25% of which were significantly dusty ("dust devils"). More rarely, dust lifting by nonvortex wind gusts was produced by daytime convection cells advected over the crater by strong regional daytime upslope winds, which also control aeolian surface features. One such event covered 10 times more area than the largest dust devil, suggesting that dust devils and wind gusts could raise equal amounts of dust under nonstorm conditions.
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Affiliation(s)
| | | | | | | | | | | | - Germán M. Martínez
- Lunar and Planetary Institute, USRA, Houston, TX, USA
- University of Michigan, Ann Arbor, MI, USA
| | | | | | | | | | | | | | - Naomi Murdoch
- ISAE-SUPAERO, Université de Toulouse, Toulouse, France
| | | | | | | | | | | | | | - Leslie Tamppari
- Jet Propulsion Laboratory–California Institute of Technology, Pasadena, CA, USA
| | | | | | - Maria Genzer
- Finnish Meteorological Institute, Helsinki, Finland
| | - Maria Hieta
- Finnish Meteorological Institute, Helsinki, Finland
| | | | - Pan Conrad
- Carnegie Institution for Science, Washington, DC, USA
| | | | | | - David Mimoun
- ISAE-SUPAERO, Université de Toulouse, Toulouse, France
| | | | | | | | - Justin N. Maki
- Jet Propulsion Laboratory–California Institute of Technology, Pasadena, CA, USA
| | | | - Roger C. Wiens
- Los Alamos National Laboratory, Los Alamos, NM, USA
- Purdue University, West Lafayette, IN, USA
| | | | | | | | - Luis Mora
- Centro de Astrobiologia, INTA, Madrid, Spain
| | - Mariah M. Baker
- Smithsonian National Air and Space Museum, Washington, DC, USA
| | - Don Banfield
- Cornell University, Ithaca, NY, USA
- NASA Ames, Mountain View, CA, USA
| | - Jorge Pla-Garcia
- Space Science Institute, Boulder, CO, USA
- Centro de Astrobiologia, INTA, Madrid, Spain
| | | | | | - Ben Clark
- Space Science Institute, Boulder, CO, USA
| | | | | | | | - Priyaben Patel
- Jet Propulsion Laboratory–California Institute of Technology, Pasadena, CA, USA
- UCL, London, UK
| | | | | | - Raymond Francis
- Jet Propulsion Laboratory–California Institute of Technology, Pasadena, CA, USA
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14
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Abstract
Before the Perseverance rover landing, the acoustic environment of Mars was unknown. Models predicted that: (1) atmospheric turbulence changes at centimetre scales or smaller at the point where molecular viscosity converts kinetic energy into heat1, (2) the speed of sound varies at the surface with frequency2,3 and (3) high-frequency waves are strongly attenuated with distance in CO2 (refs. 2–4). However, theoretical models were uncertain because of a lack of experimental data at low pressure and the difficulty to characterize turbulence or attenuation in a closed environment. Here, using Perseverance microphone recordings, we present the first characterization of the acoustic environment on Mars and pressure fluctuations in the audible range and beyond, from 20 Hz to 50 kHz. We find that atmospheric sounds extend measurements of pressure variations down to 1,000 times smaller scales than ever observed before, showing a dissipative regime extending over five orders of magnitude in energy. Using point sources of sound (Ingenuity rotorcraft, laser-induced sparks), we highlight two distinct values for the speed of sound that are about 10 m s−1 apart below and above 240 Hz, a unique characteristic of low-pressure CO2-dominated atmosphere. We also provide the acoustic attenuation with distance above 2 kHz, allowing us to explain the large contribution of the CO2 vibrational relaxation in the audible range. These results establish a ground truth for the modelling of acoustic processes, which is critical for studies in atmospheres such as those of Mars and Venus. Using data gathered from the microphones of the Perseverance rover, the first characterization of the acoustic environment on Mars is presented, showing two distinct values for the speed of sound in CO2-dominated atmosphere.
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15
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Visual SLAM-Based Robotic Mapping Method for Planetary Construction. SENSORS 2021; 21:s21227715. [PMID: 34833786 PMCID: PMC8621460 DOI: 10.3390/s21227715] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/16/2021] [Revised: 11/05/2021] [Accepted: 11/15/2021] [Indexed: 12/01/2022]
Abstract
With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the development of in-situ resource utilization (ISRU) technology, the recent planetary exploration has focused on rover (or lander)-based surface missions toward the base construction for long-term human exploration and habitation. However, a 3D terrain map, mostly based on orbiters’ terrain images, has insufficient resolutions for construction purposes. In this regard, this paper introduces the visual simultaneous localization and mapping (SLAM)-based robotic mapping method employing a stereo camera system on a rover. In the method, S-PTAM is utilized as a base framework, with which the disparity map from the self-supervised deep learning is combined to enhance the mapping capabilities under homogeneous and unstructured environments of planetary terrains. The overall performance of the proposed method was evaluated in the emulated planetary terrain and validated with potential results.
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16
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Abstract
Off-Earth drilling may be assumed as the second phase of space exploration to discover the unrevealed subsurface on the planetary bodies. It accelerates future space objectives such as in-situ propellant production, mineral exploitation, and space tourism. Owing to the rampant progress in modern technology, the new drill tools mounted on the sophisticated robots are capable to drill the planetary regolith dispersed on the celestial objects; however, formidable obstacles such as microgravity, vacuum condition, and temperature fluctuation as well as the weight limitation, lack of real-time drilling analysis, and remote robot-operator communication impose pressing restrictions on the quick development of space drilling tools. In this study, research on the past and present aspects of off-Earth drilling has been implemented to illuminate the horizon of this technology in the near-term future. The context encompasses a detailed description of the limitations, applications and mechanisms of the different drilling techniques adopted for planetary bodies. A particular emphasis is put on the hydraulic power systems which have not been satisfactorily deployed in off-Earth drilling yet. The research strives to glance over the pivotal aspects of off-Earth drilling to contribute to the future drilling programs planned by the national and private space agencies.
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17
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Baucon A, Neto de Carvalho C, Briguglio A, Piazza M, Felletti F. A predictive model for the ichnological suitability of the Jezero crater, Mars: searching for fossilized traces of life-substrate interactions in the 2020 Rover Mission Landing Site. PeerJ 2021; 9:e11784. [PMID: 34631304 PMCID: PMC8466086 DOI: 10.7717/peerj.11784] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/18/2021] [Accepted: 06/24/2021] [Indexed: 11/20/2022] Open
Abstract
Ichnofossils, the fossilized products of life-substrate interactions, are among the most abundant biosignatures on Earth and therefore they may provide scientific evidence of potential life that may have existed on Mars. Ichnofossils offer unique advantages in the search for extraterrestrial life, including the fact that they are resilient to processes that obliterate other evidence for past life, such as body fossils, as well as chemical and isotopic biosignatures. The goal of this paper is evaluating the suitability of the Mars 2020 Landing Site for ichnofossils. To this goal, we apply palaeontological predictive modelling, a technique used to forecast the location of fossil sites in uninvestigated areas on Earth. Accordingly, a geographic information system (GIS) of the landing site is developed. Each layer of the GIS maps the suitability for one or more ichnofossil types (bioturbation, bioerosion, biostratification structures) based on an assessment of a single attribute (suitability factor) of the Martian environment. Suitability criteria have been selected among the environmental attributes that control ichnofossil abundance and preservation in 18 reference sites on Earth. The goal of this research is delivered through three predictive maps showing which areas of the Mars 2020 Landing Site are more likely to preserve potential ichnofossils. On the basis of these maps, an ichnological strategy for the Perseverance rover is identified, indicating (1) 10 sites on Mars with high suitability for bioturbation, bioerosion and biostratification ichnofossils, (2) the ichnofossil types, if any, that are more likely to be present at each site, (3) the most efficient observation strategy for detecting eventual ichnofossils. The predictive maps and the ichnological strategy can be easily integrated in the existing plans for the exploration of the Jezero crater, realizing benefits in life-search efficiency and cost-reduction.
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Affiliation(s)
- Andrea Baucon
- DISTAV, University of Genoa, Genova, Italy.,Geology Office of Idanha-a-Nova, Naturtejo UNESCO Global Geopark, Idanha-a-Nova, Portugal
| | - Carlos Neto de Carvalho
- Geology Office of Idanha-a-Nova, Naturtejo UNESCO Global Geopark, Idanha-a-Nova, Portugal.,Instituto D. Luiz, Faculdade de Ciências da Universidade de Lisboa, University of Lisbon, Lisbon, Portugal
| | | | | | - Fabrizio Felletti
- Dipartimento di Scienze della Terra 'Ardito Desio', University of Milan, Milan, Italy
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18
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Delgado-Centeno JI, Sanchez-Cuevas PJ, Martinez C, Olivares-Mendez M. Enhancing Lunar Reconnaissance Orbiter Images via Multi-Frame Super Resolution for Future Robotic Space Missions. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3097510] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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19
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Hayes AG, Corlies P, Tate C, Barrington M, Bell JF, Maki JN, Caplinger M, Ravine M, Kinch KM, Herkenhoff K, Horgan B, Johnson J, Lemmon M, Paar G, Rice MS, Jensen E, Kubacki TM, Cloutis E, Deen R, Ehlmann BL, Lakdawalla E, Sullivan R, Winhold A, Parkinson A, Bailey Z, van Beek J, Caballo-Perucha P, Cisneros E, Dixon D, Donaldson C, Jensen OB, Kuik J, Lapo K, Magee A, Merusi M, Mollerup J, Scudder N, Seeger C, Stanish E, Starr M, Thompson M, Turenne N, Winchell K. Pre-Flight Calibration of the Mars 2020 Rover Mastcam Zoom (Mastcam-Z) Multispectral, Stereoscopic Imager. SPACE SCIENCE REVIEWS 2021; 217:29. [PMID: 33678912 PMCID: PMC7892537 DOI: 10.1007/s11214-021-00795-x] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/22/2020] [Accepted: 01/12/2021] [Indexed: 05/28/2023]
Abstract
UNLABELLED The NASA Perseverance rover Mast Camera Zoom (Mastcam-Z) system is a pair of zoomable, focusable, multi-spectral, and color charge-coupled device (CCD) cameras mounted on top of a 1.7 m Remote Sensing Mast, along with associated electronics and two calibration targets. The cameras contain identical optical assemblies that can range in focal length from 26 mm ( 25.5 ∘ × 19.1 ∘ FOV ) to 110 mm ( 6.2 ∘ × 4.2 ∘ FOV ) and will acquire data at pixel scales of 148-540 μm at a range of 2 m and 7.4-27 cm at 1 km. The cameras are mounted on the rover's mast with a stereo baseline of 24.3 ± 0.1 cm and a toe-in angle of 1.17 ± 0.03 ∘ (per camera). Each camera uses a Kodak KAI-2020 CCD with 1600 × 1200 active pixels and an 8 position filter wheel that contains an IR-cutoff filter for color imaging through the detectors' Bayer-pattern filters, a neutral density (ND) solar filter for imaging the sun, and 6 narrow-band geology filters (16 total filters). An associated Digital Electronics Assembly provides command data interfaces to the rover, 11-to-8 bit companding, and JPEG compression capabilities. Herein, we describe pre-flight calibration of the Mastcam-Z instrument and characterize its radiometric and geometric behavior. Between April 26 t h and May 9 t h , 2019, ∼45,000 images were acquired during stand-alone calibration at Malin Space Science Systems (MSSS) in San Diego, CA. Additional data were acquired during Assembly Test and Launch Operations (ATLO) at the Jet Propulsion Laboratory and Kennedy Space Center. Results of the radiometric calibration validate a 5% absolute radiometric accuracy when using camera state parameters investigated during testing. When observing using camera state parameters not interrogated during calibration (e.g., non-canonical zoom positions), we conservatively estimate the absolute uncertainty to be < 10 % . Image quality, measured via the amplitude of the Modulation Transfer Function (MTF) at Nyquist sampling (0.35 line pairs per pixel), shows MTF Nyquist = 0.26 - 0.50 across all zoom, focus, and filter positions, exceeding the > 0.2 design requirement. We discuss lessons learned from calibration and suggest tactical strategies that will optimize the quality of science data acquired during operation at Mars. While most results matched expectations, some surprises were discovered, such as a strong wavelength and temperature dependence on the radiometric coefficients and a scene-dependent dynamic component to the zero-exposure bias frames. Calibration results and derived accuracies were validated using a Geoboard target consisting of well-characterized geologic samples. SUPPLEMENTARY INFORMATION The online version contains supplementary material available at 10.1007/s11214-021-00795-x.
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Affiliation(s)
- Alexander G. Hayes
- Department of Astronomy, Cornell University, Ithaca, NY 14850 USA
- Cornell Center for Astrophysics and Planetary Science, Cornell University, Ithaca, NY 14850 USA
| | - P. Corlies
- Department of Astronomy, Cornell University, Ithaca, NY 14850 USA
- Department of Earth, Atmospheric, and Planetary Sciences, Massachusetts Institute of Technology, Cambridge, MA 02139 USA
| | - C. Tate
- Department of Astronomy, Cornell University, Ithaca, NY 14850 USA
| | - M. Barrington
- Department of Astronomy, Cornell University, Ithaca, NY 14850 USA
| | - J. F. Bell
- School of Earth and Space Exploration, Arizona State University, Phoenix, AZ 85287 USA
| | - J. N. Maki
- Jet Propulsion Laboratory, Pasadena, CA 91109 USA
| | - M. Caplinger
- Malin Space Science Systems, San Diego, CA 92121 USA
| | - M. Ravine
- Malin Space Science Systems, San Diego, CA 92121 USA
| | - K. M. Kinch
- Niels Bohr Institute, University of Copenhagen, Copenhagen, Denmark
| | - K. Herkenhoff
- USGS Astrogeology Science Center, 2255 N. Gemini Drive, Flagstaff, AZ 86001 USA
| | - B. Horgan
- Earth, Atmospheric, and Planetary Sciences Department, Purdue University, West Lafayette, IN 47907 USA
| | - J. Johnson
- Johns Hopkins Applied Physics Laboratory, Laurel, MD 20723 USA
| | - M. Lemmon
- Space Science Institute, 4765 Walnut St., Suite B, Boulder, CO 80301 USA
| | - G. Paar
- Joanneum Research Forschungsgesellschaft mbH, Steyrergasse 17, 8010 Graz, Austria
| | - M. S. Rice
- Geology Department, Western Washington University, Bellingham, WA 98225 USA
| | - E. Jensen
- Malin Space Science Systems, San Diego, CA 92121 USA
| | - T. M. Kubacki
- Malin Space Science Systems, San Diego, CA 92121 USA
| | - E. Cloutis
- Geography Department, University of Winnepeg, 515 Portage Ave, Winnipeg, MB R3B 2E9 Canada
| | - R. Deen
- Jet Propulsion Laboratory, Pasadena, CA 91109 USA
| | - B. L. Ehlmann
- Jet Propulsion Laboratory, Pasadena, CA 91109 USA
- Division of Geological and Planetary Sciences, California Institute of Technology, Pasadena, CA 91101 USA
| | - E. Lakdawalla
- The Planetary Society, 60 S Los Robles, Pasadena, CA 91101 USA
| | - R. Sullivan
- Cornell Center for Astrophysics and Planetary Science, Cornell University, Ithaca, NY 14850 USA
| | - A. Winhold
- School of Earth and Space Exploration, Arizona State University, Phoenix, AZ 85287 USA
| | - A. Parkinson
- Centre for Terrestrial and Planetary Exploration, University of Winnipeg, 515 Portage Ave, Winnipeg, MB R3B 2E9 Canada
| | - Z. Bailey
- Jet Propulsion Laboratory, Pasadena, CA 91109 USA
| | - J. van Beek
- Jet Propulsion Laboratory, Pasadena, CA 91109 USA
| | - P. Caballo-Perucha
- Joanneum Research Forschungsgesellschaft mbH, Steyrergasse 17, 8010 Graz, Austria
| | - E. Cisneros
- School of Earth and Space Exploration, Arizona State University, Phoenix, AZ 85287 USA
| | - D. Dixon
- Malin Space Science Systems, San Diego, CA 92121 USA
| | - C. Donaldson
- Malin Space Science Systems, San Diego, CA 92121 USA
| | - O. B. Jensen
- Niels Bohr Institute, University of Copenhagen, Copenhagen, Denmark
| | - J. Kuik
- Centre for Terrestrial and Planetary Exploration, University of Winnipeg, 515 Portage Ave, Winnipeg, MB R3B 2E9 Canada
| | - K. Lapo
- Geology Department, Western Washington University, Bellingham, WA 98225 USA
| | - A. Magee
- Malin Space Science Systems, San Diego, CA 92121 USA
| | - M. Merusi
- Niels Bohr Institute, University of Copenhagen, Copenhagen, Denmark
| | - J. Mollerup
- Geology Department, Western Washington University, Bellingham, WA 98225 USA
| | - N. Scudder
- Earth, Atmospheric, and Planetary Sciences Department, Purdue University, West Lafayette, IN 47907 USA
| | - C. Seeger
- Geology Department, Western Washington University, Bellingham, WA 98225 USA
| | - E. Stanish
- Centre for Terrestrial and Planetary Exploration, University of Winnipeg, 515 Portage Ave, Winnipeg, MB R3B 2E9 Canada
| | - M. Starr
- Malin Space Science Systems, San Diego, CA 92121 USA
| | - M. Thompson
- Jet Propulsion Laboratory, Pasadena, CA 91109 USA
| | - N. Turenne
- Centre for Terrestrial and Planetary Exploration, University of Winnipeg, 515 Portage Ave, Winnipeg, MB R3B 2E9 Canada
| | - K. Winchell
- Malin Space Science Systems, San Diego, CA 92121 USA
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20
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Wiens RC, Maurice S, Robinson SH, Nelson AE, Cais P, Bernardi P, Newell RT, Clegg S, Sharma SK, Storms S, Deming J, Beckman D, Ollila AM, Gasnault O, Anderson RB, André Y, Michael Angel S, Arana G, Auden E, Beck P, Becker J, Benzerara K, Bernard S, Beyssac O, Borges L, Bousquet B, Boyd K, Caffrey M, Carlson J, Castro K, Celis J, Chide B, Clark K, Cloutis E, Cordoba EC, Cousin A, Dale M, Deflores L, Delapp D, Deleuze M, Dirmyer M, Donny C, Dromart G, George Duran M, Egan M, Ervin J, Fabre C, Fau A, Fischer W, Forni O, Fouchet T, Fresquez R, Frydenvang J, Gasway D, Gontijo I, Grotzinger J, Jacob X, Jacquinod S, Johnson JR, Klisiewicz RA, Lake J, Lanza N, Laserna J, Lasue J, Le Mouélic S, Legett C, Leveille R, Lewin E, Lopez-Reyes G, Lorenz R, Lorigny E, Love SP, Lucero B, Madariaga JM, Madsen M, Madsen S, Mangold N, Manrique JA, Martinez JP, Martinez-Frias J, McCabe KP, McConnochie TH, McGlown JM, McLennan SM, Melikechi N, Meslin PY, Michel JM, Mimoun D, Misra A, Montagnac G, Montmessin F, Mousset V, Murdoch N, Newsom H, Ott LA, Ousnamer ZR, Pares L, Parot Y, Pawluczyk R, Glen Peterson C, Pilleri P, Pinet P, Pont G, Poulet F, Provost C, Quertier B, Quinn H, Rapin W, Reess JM, Regan AH, Reyes-Newell AL, Romano PJ, Royer C, Rull F, Sandoval B, Sarrao JH, Sautter V, Schoppers MJ, Schröder S, Seitz D, Shepherd T, Sobron P, Dubois B, Sridhar V, Toplis MJ, Torre-Fdez I, Trettel IA, Underwood M, Valdez A, Valdez J, Venhaus D, Willis P. The SuperCam Instrument Suite on the NASA Mars 2020 Rover: Body Unit and Combined System Tests. SPACE SCIENCE REVIEWS 2021; 217:4. [PMID: 33380752 PMCID: PMC7752893 DOI: 10.1007/s11214-020-00777-5] [Citation(s) in RCA: 26] [Impact Index Per Article: 8.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/16/2020] [Accepted: 11/27/2020] [Indexed: 05/16/2023]
Abstract
The SuperCam instrument suite provides the Mars 2020 rover, Perseverance, with a number of versatile remote-sensing techniques that can be used at long distance as well as within the robotic-arm workspace. These include laser-induced breakdown spectroscopy (LIBS), remote time-resolved Raman and luminescence spectroscopies, and visible and infrared (VISIR; separately referred to as VIS and IR) reflectance spectroscopy. A remote micro-imager (RMI) provides high-resolution color context imaging, and a microphone can be used as a stand-alone tool for environmental studies or to determine physical properties of rocks and soils from shock waves of laser-produced plasmas. SuperCam is built in three parts: The mast unit (MU), consisting of the laser, telescope, RMI, IR spectrometer, and associated electronics, is described in a companion paper. The on-board calibration targets are described in another companion paper. Here we describe SuperCam's body unit (BU) and testing of the integrated instrument. The BU, mounted inside the rover body, receives light from the MU via a 5.8 m optical fiber. The light is split into three wavelength bands by a demultiplexer, and is routed via fiber bundles to three optical spectrometers, two of which (UV and violet; 245-340 and 385-465 nm) are crossed Czerny-Turner reflection spectrometers, nearly identical to their counterparts on ChemCam. The third is a high-efficiency transmission spectrometer containing an optical intensifier capable of gating exposures to 100 ns or longer, with variable delay times relative to the laser pulse. This spectrometer covers 535-853 nm ( 105 - 7070 cm - 1 Raman shift relative to the 532 nm green laser beam) with 12 cm - 1 full-width at half-maximum peak resolution in the Raman fingerprint region. The BU electronics boards interface with the rover and control the instrument, returning data to the rover. Thermal systems maintain a warm temperature during cruise to Mars to avoid contamination on the optics, and cool the detectors during operations on Mars. Results obtained with the integrated instrument demonstrate its capabilities for LIBS, for which a library of 332 standards was developed. Examples of Raman and VISIR spectroscopy are shown, demonstrating clear mineral identification with both techniques. Luminescence spectra demonstrate the utility of having both spectral and temporal dimensions. Finally, RMI and microphone tests on the rover demonstrate the capabilities of these subsystems as well.
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Affiliation(s)
| | - Sylvestre Maurice
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | | | | | - Philippe Cais
- Laboratoire d’astrophysique de Bordeaux, Univ. Bordeaux, CNRS, Bordeaux, France
| | - Pernelle Bernardi
- Laboratoire d’Etudes Spatiales et d’Instrumentation en Astrophysique, Observatoire de Paris, Meudon, France
| | | | - Sam Clegg
- Los Alamos National Laboratory, Los Alamos, NM USA
| | | | | | | | | | | | - Olivier Gasnault
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | - Ryan B. Anderson
- U.S. Geological Survey Astrogeology Science Center, Flagstaff, AZ USA
| | - Yves André
- Centre National d’Etudes Spatiales, Toulouse, France
| | | | - Gorka Arana
- University of Basque Country, UPV/EHU, Bilbao, Spain
| | | | - Pierre Beck
- Institut de Planétologie et d’Astrophysique de Grenoble, Université Grenoble Alpes, Grenoble, France
| | | | - Karim Benzerara
- Institut de Minéralogie, Physique des Matériaux et Cosmochimie, CNRS, Museum National d’Histoire Naturelle, Sorbonne Université, Paris, France
| | - Sylvain Bernard
- Institut de Minéralogie, Physique des Matériaux et Cosmochimie, CNRS, Museum National d’Histoire Naturelle, Sorbonne Université, Paris, France
| | - Olivier Beyssac
- Institut de Minéralogie, Physique des Matériaux et Cosmochimie, CNRS, Museum National d’Histoire Naturelle, Sorbonne Université, Paris, France
| | - Louis Borges
- Los Alamos National Laboratory, Los Alamos, NM USA
| | - Bruno Bousquet
- Centre Lasers Intenses et Applications, University of Bordeaux, Bordeaux, France
| | - Kerry Boyd
- Los Alamos National Laboratory, Los Alamos, NM USA
| | | | | | - Kepa Castro
- University of Basque Country, UPV/EHU, Bilbao, Spain
| | - Jorden Celis
- Los Alamos National Laboratory, Los Alamos, NM USA
| | - Baptiste Chide
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
- Institut Supérieur de l’Aéronautique et de l’Espace (ISAE), Toulouse, France
| | - Kevin Clark
- Jet Propulsion Laboratory/Caltech, Pasadena, CA USA
| | | | | | - Agnes Cousin
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | | | | | | | | | | | | | - Gilles Dromart
- Univ Lyon, ENSL, Univ Lyon 1, CNRS, LGL-TPE, 69364 Lyon, France
| | | | | | - Joan Ervin
- Jet Propulsion Laboratory/Caltech, Pasadena, CA USA
| | - Cecile Fabre
- GeoRessources, Université de Lorraine, Nancy, France
| | - Amaury Fau
- Institut de Minéralogie, Physique des Matériaux et Cosmochimie, CNRS, Museum National d’Histoire Naturelle, Sorbonne Université, Paris, France
| | | | - Olivier Forni
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | - Thierry Fouchet
- Laboratoire d’Etudes Spatiales et d’Instrumentation en Astrophysique, Observatoire de Paris, Meudon, France
| | | | | | | | | | | | - Xavier Jacob
- Institut de mécanique des fluides de Toulouse (CNRS, INP, Univ. Toulouse), Toulouse, France
| | - Sophie Jacquinod
- Laboratoire d’Etudes Spatiales et d’Instrumentation en Astrophysique, Observatoire de Paris, Meudon, France
| | | | | | - James Lake
- Los Alamos National Laboratory, Los Alamos, NM USA
| | - Nina Lanza
- Los Alamos National Laboratory, Los Alamos, NM USA
| | | | - Jeremie Lasue
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | - Stéphane Le Mouélic
- Laboratoire de Planétologie et Géodynamique, Université de Nantes, Université d’Angers, CNRS UMR 6112, Nantes, France
| | - Carey Legett
- Los Alamos National Laboratory, Los Alamos, NM USA
| | | | - Eric Lewin
- Institut de Planétologie et d’Astrophysique de Grenoble, Université Grenoble Alpes, Grenoble, France
| | | | - Ralph Lorenz
- Johns Hopkins University Applied Physics Laboratory, Laurel, MD USA
| | - Eric Lorigny
- Centre National d’Etudes Spatiales, Toulouse, France
| | | | | | | | | | - Soren Madsen
- Jet Propulsion Laboratory/Caltech, Pasadena, CA USA
| | - Nicolas Mangold
- Laboratoire de Planétologie et Géodynamique, Université de Nantes, Université d’Angers, CNRS UMR 6112, Nantes, France
| | | | | | | | | | | | | | | | | | - Pierre-Yves Meslin
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | | | - David Mimoun
- Institut Supérieur de l’Aéronautique et de l’Espace (ISAE), Toulouse, France
| | | | | | - Franck Montmessin
- Laboratoire Atmosphères, Milieux, Observations Spatiales, Paris, France
| | | | - Naomi Murdoch
- Institut Supérieur de l’Aéronautique et de l’Espace (ISAE), Toulouse, France
| | | | - Logan A. Ott
- Los Alamos National Laboratory, Los Alamos, NM USA
| | | | - Laurent Pares
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | - Yann Parot
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | | | | | - Paolo Pilleri
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | - Patrick Pinet
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | - Gabriel Pont
- Centre National d’Etudes Spatiales, Toulouse, France
| | | | | | - Benjamin Quertier
- Laboratoire d’astrophysique de Bordeaux, Univ. Bordeaux, CNRS, Bordeaux, France
| | | | - William Rapin
- Institut de Minéralogie, Physique des Matériaux et Cosmochimie, CNRS, Museum National d’Histoire Naturelle, Sorbonne Université, Paris, France
| | - Jean-Michel Reess
- Laboratoire d’Etudes Spatiales et d’Instrumentation en Astrophysique, Observatoire de Paris, Meudon, France
| | - Amy H. Regan
- Los Alamos National Laboratory, Los Alamos, NM USA
| | | | | | - Clement Royer
- Institut d’Astrophysique Spatiale (IAS), Orsay, France
| | | | | | | | - Violaine Sautter
- Institut de Minéralogie, Physique des Matériaux et Cosmochimie, CNRS, Museum National d’Histoire Naturelle, Sorbonne Université, Paris, France
| | | | - Susanne Schröder
- Deutsches Zentrum für Luft- und Raumfahrt (DLR), Institute of Optical Sensor Systems, Berlin, Germany
| | - Daniel Seitz
- Los Alamos National Laboratory, Los Alamos, NM USA
| | | | | | - Bruno Dubois
- Université de Toulouse; UPS-OMP, Toulouse, France
| | | | - Michael J. Toplis
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, UPS, CNRS, Toulouse, France
| | | | | | | | | | - Jacob Valdez
- Los Alamos National Laboratory, Los Alamos, NM USA
| | - Dawn Venhaus
- Los Alamos National Laboratory, Los Alamos, NM USA
| | - Peter Willis
- Jet Propulsion Laboratory/Caltech, Pasadena, CA USA
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21
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Bell JF, Maki JN, Mehall GL, Ravine MA, Caplinger MA, Bailey ZJ, Brylow S, Schaffner JA, Kinch KM, Madsen MB, Winhold A, Hayes AG, Corlies P, Tate C, Barrington M, Cisneros E, Jensen E, Paris K, Crawford K, Rojas C, Mehall L, Joseph J, Proton JB, Cluff N, Deen RG, Betts B, Cloutis E, Coates AJ, Colaprete A, Edgett KS, Ehlmann BL, Fagents S, Grotzinger JP, Hardgrove C, Herkenhoff KE, Horgan B, Jaumann R, Johnson JR, Lemmon M, Paar G, Caballo-Perucha M, Gupta S, Traxler C, Preusker F, Rice MS, Robinson MS, Schmitz N, Sullivan R, Wolff MJ. The Mars 2020 Perseverance Rover Mast Camera Zoom (Mastcam-Z) Multispectral, Stereoscopic Imaging Investigation. SPACE SCIENCE REVIEWS 2021; 217:24. [PMID: 33612866 PMCID: PMC7883548 DOI: 10.1007/s11214-020-00755-x] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/22/2020] [Accepted: 09/25/2020] [Indexed: 05/16/2023]
Abstract
Mastcam-Z is a multispectral, stereoscopic imaging investigation on the Mars 2020 mission's Perseverance rover. Mastcam-Z consists of a pair of focusable, 4:1 zoomable cameras that provide broadband red/green/blue and narrowband 400-1000 nm color imaging with fields of view from 25.6° × 19.2° (26 mm focal length at 283 μrad/pixel) to 6.2° × 4.6° (110 mm focal length at 67.4 μrad/pixel). The cameras can resolve (≥ 5 pixels) ∼0.7 mm features at 2 m and ∼3.3 cm features at 100 m distance. Mastcam-Z shares significant heritage with the Mastcam instruments on the Mars Science Laboratory Curiosity rover. Each Mastcam-Z camera consists of zoom, focus, and filter wheel mechanisms and a 1648 × 1214 pixel charge-coupled device detector and electronics. The two Mastcam-Z cameras are mounted with a 24.4 cm stereo baseline and 2.3° total toe-in on a camera plate ∼2 m above the surface on the rover's Remote Sensing Mast, which provides azimuth and elevation actuation. A separate digital electronics assembly inside the rover provides power, data processing and storage, and the interface to the rover computer. Primary and secondary Mastcam-Z calibration targets mounted on the rover top deck enable tactical reflectance calibration. Mastcam-Z multispectral, stereo, and panoramic images will be used to provide detailed morphology, topography, and geologic context along the rover's traverse; constrain mineralogic, photometric, and physical properties of surface materials; monitor and characterize atmospheric and astronomical phenomena; and document the rover's sample extraction and caching locations. Mastcam-Z images will also provide key engineering information to support sample selection and other rover driving and tool/instrument operations decisions.
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Affiliation(s)
| | | | | | - M. A. Ravine
- Malin Space Science Systems, Inc., San Diego, CA USA
| | | | | | - S. Brylow
- Malin Space Science Systems, Inc., San Diego, CA USA
| | | | | | | | | | | | | | - C. Tate
- Cornell Univ., Ithaca, NY USA
| | | | | | - E. Jensen
- Malin Space Science Systems, Inc., San Diego, CA USA
| | - K. Paris
- Arizona State Univ., Tempe, AZ USA
| | | | - C. Rojas
- Arizona State Univ., Tempe, AZ USA
| | | | | | | | - N. Cluff
- Arizona State Univ., Tempe, AZ USA
| | | | - B. Betts
- The Planetary Society, Pasadena, CA USA
| | | | - A. J. Coates
- Mullard Space Science Laboratory, Univ. College, London, UK
| | - A. Colaprete
- NASA/Ames Research Center, Moffett Field, CA USA
| | - K. S. Edgett
- Malin Space Science Systems, Inc., San Diego, CA USA
| | - B. L. Ehlmann
- JPL/Caltech, Pasadena, CA USA
- Caltech, Pasadena, CA USA
| | | | | | | | | | | | - R. Jaumann
- Inst. of Geological Sciences, Free University Berlin, Berlin, Germany
| | | | - M. Lemmon
- Space Science Inst., Boulder, CO USA
| | - G. Paar
- Joanneum Research, Graz, Austria
| | | | | | | | - F. Preusker
- DLR/German Aerospace Center, Berlin, Germany
| | - M. S. Rice
- Western Washington Univ., Bellingham, WA USA
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22
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Stack KM, Williams NR, Calef F, Sun VZ, Williford KH, Farley KA, Eide S, Flannery D, Hughes C, Jacob SR, Kah LC, Meyen F, Molina A, Nataf CQ, Rice M, Russell P, Scheller E, Seeger CH, Abbey WJ, Adler JB, Amundsen H, Anderson RB, Angel SM, Arana G, Atkins J, Barrington M, Berger T, Borden R, Boring B, Brown A, Carrier BL, Conrad P, Dypvik H, Fagents SA, Gallegos ZE, Garczynski B, Golder K, Gomez F, Goreva Y, Gupta S, Hamran SE, Hicks T, Hinterman ED, Horgan BN, Hurowitz J, Johnson JR, Lasue J, Kronyak RE, Liu Y, Madariaga JM, Mangold N, McClean J, Miklusicak N, Nunes D, Rojas C, Runyon K, Schmitz N, Scudder N, Shaver E, SooHoo J, Spaulding R, Stanish E, Tamppari LK, Tice MM, Turenne N, Willis PA, Yingst RA. Photogeologic Map of the Perseverance Rover Field Site in Jezero Crater Constructed by the Mars 2020 Science Team. SPACE SCIENCE REVIEWS 2020; 216:127. [PMID: 33568875 DOI: 10.1007/s11214-020-00762-y] [Citation(s) in RCA: 63] [Impact Index Per Article: 15.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/01/2020] [Accepted: 11/09/2020] [Indexed: 05/29/2023]
Abstract
The Mars 2020 Perseverance rover landing site is located within Jezero crater, a ∼ 50 km diameter impact crater interpreted to be a Noachian-aged lake basin inside the western edge of the Isidis impact structure. Jezero hosts remnants of a fluvial delta, inlet and outlet valleys, and infill deposits containing diverse carbonate, mafic, and hydrated minerals. Prior to the launch of the Mars 2020 mission, members of the Science Team collaborated to produce a photogeologic map of the Perseverance landing site in Jezero crater. Mapping was performed at a 1:5000 digital map scale using a 25 cm/pixel High Resolution Imaging Science Experiment (HiRISE) orthoimage mosaic base map and a 1 m/pixel HiRISE stereo digital terrain model. Mapped bedrock and surficial units were distinguished by differences in relative brightness, tone, topography, surface texture, and apparent roughness. Mapped bedrock units are generally consistent with those identified in previously published mapping efforts, but this study's map includes the distribution of surficial deposits and sub-units of the Jezero delta at a higher level of detail than previous studies. This study considers four possible unit correlations to explain the relative age relationships of major units within the map area. Unit correlations include previously published interpretations as well as those that consider more complex interfingering relationships and alternative relative age relationships. The photogeologic map presented here is the foundation for scientific hypothesis development and strategic planning for Perseverance's exploration of Jezero crater.
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Affiliation(s)
- Kathryn M Stack
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | - Nathan R Williams
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | - Fred Calef
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | - Vivian Z Sun
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | - Kenneth H Williford
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | | | | | - David Flannery
- Queensland University of Technology, Brisbane, Queensland, Australia
| | - Cory Hughes
- Western Washington University, Bellingham, WA, USA
| | | | - Linda C Kah
- University of Tennessee-Knoxville, Knoxville, TN, USA
| | | | - Antonio Molina
- Centro de Astrobiología, CAB (INTA, CSIC), Madrid, Spain
| | | | - Melissa Rice
- Queensland University of Technology, Brisbane, Queensland, Australia
| | | | - Eva Scheller
- California Institute of Technology, Pasadena, CA, USA
| | | | - William J Abbey
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | | | - Hans Amundsen
- Earth and Planetary Exploration Services, Berlin, Germany
| | | | | | - Gorka Arana
- University of the Basque Country (UPV/EHU), Leioa, Bizkaia, Spain
| | - James Atkins
- University of Tennessee-Knoxville, Knoxville, TN, USA
| | | | - Tor Berger
- Forsvarets forskingsinstitutt, Kjeller, Norway
| | - Rose Borden
- University of Tennessee-Knoxville, Knoxville, TN, USA
| | - Beau Boring
- University of Tennessee-Knoxville, Knoxville, TN, USA
| | | | - Brandi L Carrier
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | - Pamela Conrad
- Carnegie Institution for Science, Washington, D.C., USA
| | | | | | | | | | - Keenan Golder
- University of Tennessee-Knoxville, Knoxville, TN, USA
| | - Felipe Gomez
- Centro de Astrobiología, CAB (INTA, CSIC), Madrid, Spain
| | - Yulia Goreva
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | | | | | - Taryn Hicks
- University of Tennessee-Knoxville, Knoxville, TN, USA
| | | | | | - Joel Hurowitz
- State University of New York-Stony Brook, Stony Brook, NY, USA
| | | | - Jeremie Lasue
- Institut de Recherche en Astrophysique et Planetologie (IRAP), Université de Toulouse, Paul Sabatier, Toulouse, France
| | - Rachel E Kronyak
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | - Yang Liu
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | | | - Nicolas Mangold
- Laboratoire Planétologie et Géodynamique, UMR 6112, CNRS, Université de Nantes, Nantes, France
| | | | | | - Daniel Nunes
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | | | - Kirby Runyon
- Johns Hopkins Applied Physics Laboratory, Laurel, MD, USA
| | - Nicole Schmitz
- Deutsches Zentrum Fuer Luft- und Raumfahrt E.V., Cologne, Germany
| | | | - Emily Shaver
- University of Tennessee-Knoxville, Knoxville, TN, USA
| | - Jason SooHoo
- Massachusetts Institute of Technology, Cambridge, MA, USA
| | | | - Evan Stanish
- University of Winnipeg, Winnipeg, Manitoba, Canada
| | - Leslie K Tamppari
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
| | | | | | - Peter A Willis
- Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109, USA
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