This paper describes a set of four Earth atmosphere flight test experiments on prototype helium superpressure balloons designed for Mars. Three of the experiments explored the problem of aerial deployment and inflation, using the cold, low density environment of the Earth's stratosphere at an altitude of 30-32 km as a proxy for the Martian atmosphere. Auxiliary carrier balloons were used in three of these test flights to lift the Mars balloon prototype and its supporting system from the ground to the stratosphere where the experiment was conducted. In each case, deployment and helium inflation was initiated after starting a parachute descent of the payload at 5 Pa dynamic pressure, thereby mimicking the conditions expected at Mars after atmospheric entry and high speed parachute deceleration. Upward and downward looking video cameras provided real time images from the flights, with additional data provided by onboard temperature, pressure and GPS sensors. One test of a 660 m 3 pumpkin balloon was highly successful, achieving deployment, inflation and separation of the balloon from the flight train at the end of inflation; however, some damage was incurred on the balloon during this process. Two flight tests of 12 m diameter spherical Mylar balloons were not successful, although some lessons were learned based on the failure analyses. The final flight experiment consisted of a ground-launched 12 m diameter spherical Mylar balloon that ascended to the designed 30.3 km altitude and successfully floated for 9.5 hours through full noontime daylight and into darkness, after which the telemetry system ran out of electrical power and tracking was lost. The altitude excursions for this last flight were ±75 m peak to peak, indicating that the balloon was essentially leak free and functioning correctly. This provides substantial confidence that this balloon design will fly for days or weeks at Mars if it can be deployed and inflated without damage.
-This paper describes a multi-robot science exploration software architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF supervises and coordinates a group of robotic boats, the OASIS platforms, to enable in situ study of phenomena in the ocean/atmosphere interface, as well as on the ocean surface and sub-surface. The OASIS platforms are extended-deployment autonomous ocean surface vessels, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). TAOSF allows a human operator to effectively supervise and coordinate multiple robotic assets using a multi-level autonomy control architecture, where the operating mode of the vehicles ranges from autonomous control to teleoperated human control. TAOSF increases datagathering effectiveness and science return while reducing demands on scientists for robotic asset tasking, control, and monitoring. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). We discuss the overall TAOSF architecture, describe field tests conducted under controlled conditions using rhodamine dye as a HAB simulant, present initial results from these tests, and outline the next steps in the development of TAOSF.
Abstract-Earth science research must bridge the gap between the atmosphere and the ocean to foster understanding of Earth`s climate and ecology. Ocean sensing is typically done with satellites, buoys, and crewed research ships. The limitations of these systems include the fact that satellites are often blocked by cloud cover, and buoys and ships have spatial coverage limitations.
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