Geologic field work on Mars: Distance and time issues during surface exploration

Keresztúri, A.

doi:10.1016/j.actaastro.2010.11.008

Cited by 16 publications

(5 citation statements)

References 21 publications

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“…Since our proposal aims to derive the relationship between the driving conditions and changes in the rover chassis, it is an innovative idea that also assumes the possibility of updating this relationship in the field. During rover route planning [41] the experiences from the model used in this work should be also considered to make travel safe.…”

Section: Discussionmentioning

confidence: 99%

Slip Estimation Using Variation Data of Strain of the Chassis of Lunar Rovers Traveling on Loose Soil

Iizuka,

Inaba

2023

Remote Sensing

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The surface of the Moon and planets have been covered with loose soil called regolith, and there is a risk that the rovers may stack, so it is necessary for them to recognize the traveling state such as its posture, slip behavior, and sinkage. There are several methods for recognizing the traveling state such as a system using cameras and Lidar, and they are used in real exploration missions like Mars Exploration Rovers of NASA/JPL. When a rover travels and travels across loose soil with steep slopes like a side wall of a crater on the lunar surface, the rover has side slipping. It means that its behavior makes the rover slip down to the valley direction. Even if this detection uses sensors like a camera and Lidar or other controlling systems like SLAM (Simultaneous Localization and Mapping), it would be too difficult for the rover to avoid slipping down to valley direction, because it is not able to detect the traction or resistance given from ground by individual wheel of the rover, as the traction of individual wheel of the rover is not clear. This means that the movement of the rover appeared by integrating the traction of all wheels mounted on the rover. Even if the localization by sensors is carried out, the location would be the location after slipping down. This is because when traveling on unstable ground, the driving force of each individual wheel cannot be accurately predicted, and the sum of the driving force of all wheels is the motion of the rover, which is detected after the position changes. Therefore, if the rover obtains information on the traction of each wheel, its maneuver to change its posture would work sooner and it would be able to travel more efficiently than in a state without that information. Because the onboard computer of rovers can identify their location and state from the information of the traction of each wheel, they can decide the next work carefully and in detail. From these tasks, we focused on the intrinsic sensation of a biological function like a human body and aimed to develop a system that recognizes the traveling state (slip condition) from the shape deformation of the chassis. In this study, we experimentally verified the relationship between the change in strain, which is the amount of deformation acting on the chassis, and the traveling state while the wheel is traveling. From the experimental results, we confirmed that the strain in the chassis was displaced dynamically and that the strain changed oscillatory while the wheel was traveling. In addition, based on the function of muscle spindles as mechanoreceptors, we discussed two methods of analyzing strain change: nuclear chain fiber analysis and nuclear bag fiber analysis. These analyses mean that the raw data of the strain are updated to detect the characteristic strain elements of a chassis while the wheel is traveling through loose soil. Eventually, the slipping state could be estimated by updating the data of a lot of strain raw data, and it was confirmed that the traveling state could be detected.

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Section: Discussionmentioning

confidence: 99%

Slip Estimation Using Variation Data of Strain of the Chassis of Lunar Rovers Traveling on Loose Soil

Iizuka,

Inaba

2023

Remote Sensing

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“…These missions aimed to explore different ways to support crew psychological health in prolonged space missions. Other missions have evaluated habitat design with particular emphasis on greenhouse operations [34,35], considered the difficulty of maintaining critical habitat infrastructure [36], and measured the range and duration of extravehicular exploration activities [37].…”

Section: Discussionmentioning

confidence: 99%

Terrestrial Analogue Research to Support Human Performance on Mars: A Review and Bibliographic Analysis

Terhorst

Dowling

2022

Space Sci Technol

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Terrestrial analogues can provide essential scientific information and technology validation to assist future crewed missions to the Martian surface. This paper analyses the recent literature since 2010 in this area, highlighting key topics, authors, and research groups. It reviews analogue locations, missions, the scientific impact from research activities. The findings indicate that permanent analogue sites enable reproducible science and objective comparison between studies. A standard, open registry of analogue facilities, and associated peer-reviewed research may lead to accelerated and better targeted analogue research.

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“…Satellite remote sensing data can be used to preliminarily assess the slope and roughness of the surface of Mars, as well as to identify larger rocks. This information is crucial for landing site selection and global path planning [54,55]. The landing sites for the Mars rover are typically selected to be wide, flat, and less rocky.…”

Section: Related Work 21 Advancement Of In Situ Explorationmentioning

confidence: 99%

Enhanced Interactive Rendering for Rovers of Lunar Polar Region and Martian Surface

Bi,

Jin,

Chen

et al. 2024

Remote Sensing

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Appropriate environmental sensing methods and visualization representations are crucial foundations for the in situ exploration of planets. In this paper, we developed specialized visualization methods to facilitate the rover’s interaction and decision-making processes, as well as to address the path-planning and obstacle-avoidance requirements for lunar polar region exploration and Mars exploration. To achieve this goal, we utilize simulated lunar polar regions and Martian environments. Among them, the lunar rover operating in the permanently shadowed region (PSR) of the simulated crater primarily utilizes light detection and ranging (LiDAR) for environmental sensing; then, we reconstruct a mesh using the Poisson surface reconstruction method. After that, the lunar rover’s traveling environment is represented as a red-green-blue (RGB) image, a slope coloration image, and a theoretical water content coloration image, based on different interaction needs and scientific objectives. For the rocky environment where the Mars rover is traveling, this paper enhances the display of the rocks on the Martian surface. It does so by utilizing depth information of the rock instances to highlight their significance for the rover’s path-planning and obstacle-avoidance decisions. Such an environmental sensing and enhanced visualization approach facilitates rover path-planning and remote–interactive operations, thereby enabling further exploration activities in the lunar PSR and Mars, in addition to facilitating the study and communication of specific planetary science objectives, and the production and display of basemaps and thematic maps.

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Geologic field work on Mars: Distance and time issues during surface exploration

Cited by 16 publications

References 21 publications

Slip Estimation Using Variation Data of Strain of the Chassis of Lunar Rovers Traveling on Loose Soil

Slip Estimation Using Variation Data of Strain of the Chassis of Lunar Rovers Traveling on Loose Soil

Terrestrial Analogue Research to Support Human Performance on Mars: A Review and Bibliographic Analysis

Enhanced Interactive Rendering for Rovers of Lunar Polar Region and Martian Surface

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