Semi-autonomous telerobotic manipulation in Mars drilling operation

Lee, Regina; Sathiyanathan, Kartheephan; Navarathinam, Nimal; Quine, Brendan M.

doi:10.5589/q09-007

Cited by 2 publications

(1 citation statement)

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“…The drilling produced temperature increase was also analysed (Szwarc et al 2012), and the use of single drills as well as multiple rods were demonstrated that might be successful under Mars like conditions (Magnani et al 2004). Autonomous decisions and performance were also tested (Glass et al 2008) what is required to realize a drill on Mars, however teleoperation from Martian orbit may be also possible in the future (Glass et al 2012;Lee et al 2009). Several parts of the drilling process were tested and demonstrated with successful performance, just like sample acquisition and transport (Zacny et al 2013b) in the Antarctic Dry Valleys and in the Atacama desert (Zacny et al 2015), at Haughton crater in arctic Canada (Glass et al 2006), at Rio Tinto in Spain (Prieto-Ballesteros et al 2008), and at the Gypsum Quarry at Borrego Springs, California (Zacny et al 2013c).…”

Section: Background Information: Drilling On Earth and Marsmentioning

confidence: 99%

Characterization and first results of the planetary borehole-wall imager — methods to develop for in-situ exploration

et al. 2019

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Prototypes of borehole-wall imager instruments were developed and tested at a desert riverbed in Morocco and at a lake’s salty flat in the Atacama desert, to support the drilling activity of ExoMars rover. The onsite recorded borehole images contain information on the context that are lost during the sample acquisition. Benefits of the borehole-wall imaging is the easier maximal energy estimation of a fluvial flow, the detailed information on sedimentation and layering, especially the former existence of liquid water and its temporal changes, including paleo-flow direction estimation from grain imbrication direction. Benefits of laboratory analysis of the acquired samples are the better identification of mineral types, determination of the level of maturity of granular sediment, and identification of the smallest, wet weathered grains. Based on the lessons learned during the comparison of field and laboratory results, we demonstrate that recording the borehole-wall with optical instrument during/after drilling on Mars supports the paleo-environment reconstruction with such data that would otherwise be lost during the sample acquisition. Because of the lack of plate tectonism and the low geothermal gradient on Mars, even Ga old sediments provide observable features that are especially important for targeting Mars sample return and later crewed Mars missions.

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