Mars Terrain Research Articles

Improved Mars Terrain Segmentation in Terms of Style Transfer and Network Architecture

Improved Mars Terrain Segmentation in Terms of Style Transfer and Network Architecture

Pre- and syn-impact formation of clay minerals at the Ries impact structure, Germany: Implications for clay minerals on Mars

The presence of extensive clay minerals in the ancient Noachian terrains of Mars is often used to invoke past climatic conditions that were warmer and supported surface-stable liquid water. These clay-rich regions are also heavily cratered, leading to the possibility of a causal relationship. The aim of this study is to better understand the impact excavation and generation of clays and whether there are any mineralogical or geochemical indicators that could differentiate between these two origins, both on Earth and, by analogy, Mars. Here, we present a detailed field and laboratory investigation of the composition, texture, and setting of clay minerals in impactites at the well-preserved Ries impact structure, Germany. Authigenic impactite (syn- and post-impact) clay minerals in impact melt-bearing breccia deposits are compared with sedimentary-derived clay mineral-bearing units preserved from the time of the impact event. Our findings indicate: (1) impact-generated deposits comprise compositionally diverse, Al-dominant smectitic clay minerals that could have formed without appreciable exogenous volatiles through a combination of autometamorphism, hydrothermal alteration, and devitrification; and (2) the pre-impact sedimentary clay mineral assemblages were similar in composition to those in the impact-generated deposits such that only detailed, successive laboratory treatments and analyses could discern the two sample types. NASA’s Perseverance Mars rover mission is presently investigating its first science campaign and has identified secondary alteration products, including possible clay minerals. Our study suggests that the rover may explore impact-generated clay minerals in situ, though their provenance might only be determined from analysis of the returned samples in Earth laboratories.

Quantitative assessment of aqueous sulfate contributions from Fe3+- and O2-driven oxidation pathways of hydrothermal sulfur using oxygen isotopes

Sulfate (SO42−) has been found in elevated concentrations in modern hydrothermal settings on Earth and linked to coupled ferric iron (Fe3+)- and molecular oxygen (O2)-driven oxidations of hydrothermal H2S and secondary sulfur (S) deposits enriched in elemental S and sulfide minerals. However, the relative proportions of SO42− from these two oxidation mechanisms in surface acidic hydrothermal systems are unclear. To address this uncertainty, we determined the aqueous SO42− contributions via Fe3+- and O2-driven oxidation pathways in acidic hot springs and mudpots of Iceland (Námafjall, Krýsuvík) and the United States (Valles Caldera, Lassen, Yellowstone). Approximately 40 water and 11 fumarole sediment samples were collected for oxygen isotope analyses (δ18O). The oxidation processes appear to be accompanied by large variation of the δ18O of SO42− (−8.8 to +5.5 ‰) similar to the δ18O of hot spring and mudpot water (−15.5 to +6.3 ‰), which is greatly controlled by inflow of meteoric water (e.g., runoff, groundwater) and surface evaporation. In the studied sites, the Fe3+-driven oxidation of hydrothermal elemental S and sulfide minerals appears to be an important source of SO42−, contributing ∼55 to 100% of SO42− when compared to contributions from O2-driven oxidation. Additionally, the distinctive high δ18O values of SO42− (up to +13.7 ‰) accompanied direct oxidation of H2S and/or hydrothermal S minerals by atmospheric O2 in dry (fumarolic) environments. This, in turn, is in agreement with previously determined O isotope fractionations (εsulfate-atm.oxygen ∼ 9.8 ‰) for low-temperature sulfide oxidation in the presence of O2. Our new quantitative measures of oxidation pathways signify the importance of Fe3+-driven oxidation of hydrothermal S to SO42− in the surface volcanic settings, which have significant implications for understanding widespread occurrences of SO42− found on the Fe-rich volcanic terrains of Mars.

SegMarsViT: Lightweight Mars Terrain Segmentation Network for Autonomous Driving in Planetary Exploration

Planetary rover systems need to perform terrain segmentation to identify feasible driving areas and surround obstacles, which falls into the research area of semantic segmentation. Recently, deep learning (DL)-based methods were proposed and achieved great performance for semantic segmentation. However, due to the on-board processor platform’s strict comstraints on computational complexity and power consumption, existing DL approaches are almost impossible to be deployed on satellites under the burden of extensive computation and large model size. To fill this gap, this paper targeted studying effective and efficient Martian terrain segmentation solutions that are suitable for on-board satellites. In this article, we propose a lightweight ViT-based terrain segmentation method, namely, SegMarsViT. In the encoder part, the mobile vision transformer (MViT) block in the backbone extracts local–global spatial and captures multiscale contextual information concurrently. In the decoder part, the cross-scale feature fusion modules (CFF) further integrate hierarchical context information and the compact feature aggregation module (CFA) combines multi-level feature representation. Moreover, we evaluate the proposed method on three public datasets: AI4Mars, MSL-Seg, and S5Mars. Extensive experiments demonstrate that the proposed SegMarsViT was able to achieve 68.4%, 78.22%, and 67.28% mIoU on the AI4Mars-MSL, MSL-Seg, and S5Mars, respectively, under the speed of 69.52 FPS.

Highly Accurate Visual Method of Mars Terrain Classification for Rovers Based on Novel Image Features.

It is important for Mars exploration rovers to achieve autonomous and safe mobility over rough terrain. Terrain classification can help rovers to select a safe terrain to traverse and avoid sinking and/or damaging the vehicle. Mars terrains are often classified using visual methods. However, the accuracy of terrain classification has been less than 90% in read operations. A high-accuracy vision-based method for Mars terrain classification is presented in this paper. By analyzing Mars terrain characteristics, novel image features, including multiscale gray gradient-grade features, multiscale edges strength-grade features, multiscale frequency-domain mean amplitude features, multiscale spectrum symmetry features, and multiscale spectrum amplitude-moment features, are proposed that are specifically targeted for terrain classification. Three classifiers, K-nearest neighbor (KNN), support vector machine (SVM), and random forests (RF), are adopted to classify the terrain using the proposed features. The Mars image dataset MSLNet that was collected by the Mars Science Laboratory (MSL, Curiosity) rover is used to conduct terrain classification experiments. The resolution of Mars images in the dataset is 256 × 256. Experimental results indicate that the RF classifies Mars terrain at the highest level of accuracy of 94.66%.

A billion or more years of possible periglacial/glacial cycling in Protonilus Mensae, Mars

The long-term cyclicity and temporal succession of glacial-periglacial (or deglacial) periods or epochs are keynotes of Quaternary geology on Earth. Relatively recent work has begun to explore the histories of the mid- to higher-latitudinal terrain of Mars, especially in the northern hemisphere, for evidence of similar cyclicity and succession in the Mid to Late Amazonian Epoch.Here, we carry on with this work by focusing on Protonilus Mensae [PM] (43–490 N, 37–590 E). More specifically, we discuss, describe and evaluate an area within PM that straddles a geological contact between two ancient units: [HNt], a Noachian-Hesperian Epoch transition unit; and [eHT] an early Hesperian Epoch transition unit. Dark-toned terrain within the eHt unit (HiRISE image ESP_028457_2255) shows continuous coverage by structures akin to clastically-sorted circles [CSCs]. The latter are observed in permafrost regions on Earth where the freeze-thaw cycling of surface and/or near-surface water is commonplace and cryoturbation is not exceptional.The crater-size frequency distribution of the dark-toned terrain suggests a minimum age of ~100 Ma and a maximum age of ~1 Ga. The age estimates of the candidate CSCs fall within this dispersion. Geochronologically, this places the candidate CSCs among the oldest periglacial landforms identified on Mars so far, by at least one and possibly two orders of magnitude.Unit HNt is adjacent to unit eHt and shows surface material that is relatively light in tone. The coverage is topographically irregular and, at some locations, discontinuous. Amidst the light-toned surface, structures are observed that are akin to clastically non-sorted polygons [NSPs] and polygonised thermokarst-depressions on Earth. Terrestrial polygon/thermokarst assemblages occur in permafrost regions where the freeze thaw cycling of surface and/or near-surface water is commonplace and the permafrost is ice-rich. The crater-size frequency distribution of the light-toned terrain suggests a minimum age of ~10 Ma and a maximum age of ~100 Ma. The age estimates of the candidate ice-rich assemblages fall within this dispersion. Geochronologically, this places them well beyond the million-year ages associated with most of the other candidate ice-rich assemblages reported in the literature.Stratigraphically intertwined with the two possible periglacial terrains are landforms and landscape features (observed or unobserved but modelled) that are indicative of relatively recent glaciation (~10 Ma - 100 Ma) and glaciation long past (≥ ~ 1 Ga) to decametres of depth: glacier-(cirque) like features; viscous-flow features, lobate-debris aprons; moraine-like ridges at the fore, sides and midst of the aprons; and, patches of irregularly shaped (and possibly volatile-depleted) small-sized ridge/trough assemblages. Collectively, this deeply-seated intertwining of glacial and periglacial cycles suggests that the Mid to Late Amazonian Epochs might be more Earth-like in their cold-climate geology than has been thought hitherto.

Autonomous Mars Rover Design using SOLIDWORKS and User Interface development via Internet of Things

Abstract: In this paper, an autonomous Mars Rover is designed using the software SOLIDWORKS and a mechanical model is developed with in-depth simulations to analyse the functions of the vehicle. Furthermore, a graphical user interface is also developed based on the principles of Internet of Things using Node-Red to control and monitor the rover remotely. The red planet, i.e.; Mars, has been the centre of attraction for over 2 decades now, with astrophysicists and engineers working in unison to build devices and launch shuttle programs to understand and learn about the planet and gather more intelligence. This paper proposes the detailed development of a 6-wheeled rover that could explore the terrains of Mars, featuring a stereo vision system that could provide live video coverage and a robotic arm that can facilitate investigation of the surface, in an attempt to contribute to and fulfil the human race’s mission to Mars. It employs multiple onboard sensors that can acquire necessary data pertaining to the environmental conditions and actuators that enable functionality, with the sensors and actuators integrated onto a control system based on microcontrollers and microprocessors such as Arduino and Raspberry Pi. The rover also has a provision of a payload bay in its rear which enables it to carry loads. The SOLIDWORKS tool from Dassault systèmes is used to design and model the rover and carry out static analysis and motion studies. The GUI developed in the further sections allows overall voice control for the user and makes the task of monitoring the rover a much simpler task by eliminating the complexity that rises due to multiple control platforms. Keywords: Mars Rover, Graphical User Interface (GUI), Chassis, Mastcam, Actuators, Internet of Things (IoT), Nitinol, Payload

Possible polyphase periglaciation and glaciation adjacent to the Moreux impact-crater, Mars

The cyclicity and temporal succession of glacial-periglacial periods or epochs are keynotes of cold-climate geology on Earth. Relatively recent work within the Mars community has begun to dissect the mid- to higher-latitudinal terrain of Mars for analogical evidence of similar cold-climate cyclicity and succession.Here, we carry on with this work by focusing on the terrain immediately to the north of the Moreux impact-crater (40–44° N, 43–47° E). The crater is located in northern Arabia Terra, to the south of Protonilus Mensae. It lies astride of and postdates Mars' crustal-dichotomy. The latter is a global geological-boundary that separates the ancient southern-highlands from the relatively younger northern-lowland plains.Using cross-cutting relationships, relative stratigraphy and crater-size frequency distributions (CSFDs) we identify three glacial and two periglacial periods that are temporally intertwined and differentiated by a suite of features unique to each of these periods. For example, we report and discuss clusters of pingo-like mounds amidst ridge and trough terrain or “brain terrain”. On Earth, the former are the work of freeze-thaw cycling; on Mars, the latter are thought to be glacial remnants. In turn, the brain terrain is underlain by small-sized polygons possibly formed by thermal contraction cracking and with margins underlain by degraded ice-wedges. Age estimates derived of CSFDs suggest that the polygonised terrain could as much as ~100 Ma, whereas the brain terrain and pingo-like mounds are thought to be ~1–~10 Ma. Possible terminal-moraines that intercept brain-terrain fragments point to an even more recent period of glaciation.If the CSFD age-estimates are valid, then the polygons that underlie the brain terrain and incise the basin floors of our study zone could be an order of magnitude older than most of the age estimates associated with polygonised terrain at other locations on Mars. The fact that there are two distinct periods of polygonization and periglacial activity with a wide offset of time within one relatively small study zone also highlights the extent to which the freeze-thaw cycling of water might be rooted as iteratively and as deeply in Mars' geological history as is its glaciation.

Viewpoint Selection for Rover Relative Pose Estimation Driven by Minimal Uncertainty Criteria

Pose estimation is critical for mobile robots to fulfill various tasks, such as path following or mapping the environment. This is usually accomplished by simultaneous localization and mapping (SLAM). However, computationally constrained systems, such as planetary rovers, rely on less intensive guidance navigation and control (GNC) solutions generally derived solely from visual odometry (VO), wheel odometry, and the onboard inertial measurement unit. Although providing adequate localization performances, the drift accumulated overtime is not compensated by loop closing capabilities, typical of SLAM. Usually, rovers send surface images to the ground station, and these images are used for multiple purposes, such as scientific and operational planning. The number of images is constrained by the communication bandwidth and power budget. The set of transmitted images can be used as a means to correct the robot’s trajectory in an off-line manner. In this work, a solution is presented to the problem of selecting the optimal set of viewpoints belonging to the planned path from which to capture and transmit images: 1) it guarantees accurate trajectory correction and 2) complies with the maximum number of images that can be transmitted to ground control given the available data budget. To this end, it is proposed: 1) a delocalized/decentralized sensor fusion approach based on pose graph optimization and structure from motion and 2) a strategy to select a minimal set of viewpoints along the trajectory that, given a tentative geometry of the environment and the global path that the rover must follow, minimizes the uncertainty of all the robot poses. Optimal camera viewpoint positions are selected as a function of the planned trajectory, the approximate scene geometry, and the maximum transmittable number of images. The proposed method has been tested on a dataset of stereo-images collected in a representative Martian environment, the ALTEC Mars Terrain Simulator (MTS), with the ExoMars testing rover (ExoTeR—European Space Agency, Paris, France, property). Rover stereo-images ground truth was given with millimetric accuracy by a motion capture (MC) system.

The Oldest Highlands of Mars May Be Massive Dust Fallout Deposits

The oldest terrains of Mars are cratered landscapes, in which extensive valleys and basins are covered by ubiquitous fluvial plains. One current paradigm maintains that an impact-generated megaregolith underlies these sediments. This megaregolith was likely largely generated during the Early Noachian (~4.1 to ~3.94 Ga) when most Martian impact basins formed. We examined the geologic records of NW Hellas and NW Isidis, which include this epoch’s most extensive circum-basin outcrops. Here, we show that these regions include widespread, wind-eroded landscapes, crater rims eroded down by several hundred meters, pitted plains, and inverted fluvial and crater landforms. These surfaces exhibit few fresh craters, indicating geologically recent wind erosion. The deep erosion, topographic inversions, and an absence of dunes on or near talus across these regions suggest that sediments finer than sand compose most of these highland materials. We propose that basin-impact-generated hurricane-force winds created sediment-laden atmospheric conditions, and that muddy rains rapidly settled suspended sediments to construct extensive Early Noachian highlands. The implied high abundance of fine-grained sediments before these impacts suggests large-scale glacial silt production and supports the previously proposed Noachian “icy highlands” hypothesis. We suggest that subglacial meltwater interactions with the sedimentary highlands could have promoted habitability, particularly in clay strata.

Experimental evidence for lava-like mud flows under Martian surface conditions

Large outflow channels on ancient terrains of Mars have been interpreted as the products of catastrophic flood events. The rapid burial of water-rich sediments after such flooding could have led to sedimentary volcanism, in which mixtures of sediment and water (mud) erupt to the surface. Tens of thousands of volcano-like landforms populate the northern lowlands and other local sedimentary depocentres on Mars. However, it is difficult to determine whether the edifices are related to igneous or mud extrusions, partly because the behaviour of extruded mud under Martian surface conditions is poorly constrained. Here we investigate the mechanisms of mud propagation on Mars using experiments performed inside a low-pressure chamber at cold temperatures. We found that low viscosity mud under Martian conditions propagates differently from that on Earth, because of a rapid freezing and the formation of an icy crust. Instead, the experimental mud flows propagate like terrestrial pahoehoe lava flows, with liquid mud spilling from ruptures in the frozen crust, and then refreezing to form a new flow lobe. We suggest that mud volcanism can explain the formation of some lava-like flow morphologies on Mars, and that similar processes may apply to cryovolcanic extrusions on icy bodies in the Solar System.

Development of a Non-hazardous Path Planning Algorithm for Mars Rover in Real Terrain Enviroment

In order to fulfill the corresponding task successfully, a crucial issue should be addressed is the path planning for the exploration of the Mars surface owing to the environmental features of the tough terrain. Traditional path planning algorithms, such as the A* algorithm and the improved A* algorithm — the algorithm D* and the Field D*, which have been successfully implemented on the planetary rover during the expeditions of the Moon and Mars, have the problem of finding the shortest optimal path. One of the more effective algorithms derived from the modified A* refers to the Basic Theta* or the Lazy Theta* algorithms, which are faster any-angle path planning. Additionally, the algorithms can find shorter routes. In this paper, derived from a comprehensive comparison of the existing algorithms (A*, Basic Theta* and Lazy Theta*), a novel modification of the Lazy AT methodology is proposed to reduce the calculation time and obtain a shorter path. Based on the analysis of the surface feature of the Mars topography, the corresponding safety indicator is discussed. The principal hazards of the wheeled vehicles during the exploration on the surface of the Mars are the slopes and the obstacles. According to the requirements for avoiding obstacles as well as the exploration stability of the Mars rover in the period of the exploration, the following topographic coefficients have been chosen to develop the hazard indicator, i.e., the inclination angle of the terrain, the surface roughness and the height difference of the terrain. In addition, to obtain a safe trajectory in algorithm Lazy AT on the Mars surface, the terrain hazard indicator (risk indicator) for the modification of the Risk Lazy AT algorithm is also proposed in this paper. The comparing analysis modeling results of the Risk Lazy AT and Lazy Theta* has shown that our proposed algorithm Risk Lazy AT can guarantee the safety movement of a mobile object during the exploration on the surface of the planet. In light of the real-world surface features of the Mars terrain, the digital map of the planet’s surface has been developed and the spatial routing of the rover has been tested with our novel proposed algorithm, so-called Risk Lazy AT.

Alteration minerals, fluids, and gases on early Mars: Predictions from 1‐D flow geochemical modeling of mineral assemblages in meteorite ALH 84001

AbstractClay minerals, although ubiquitous on the ancient terrains of Mars, have not been observed in Martian meteorite Allan Hills (ALH) 84001, which is an orthopyroxenite sample of the early Martian crust with a secondary carbonate assemblage. We used a low‐temperature (20 °C) one‐dimensional (1‐D) transport thermochemical model to investigate the possible aqueous alteration processes that produced the carbonate assemblage of ALH 84001 while avoiding the coprecipitation of clay minerals. We found that the carbonate in ALH 84001 could have been produced in a process, whereby a low‐temperature (~20 °C) fluid, initially equilibrated with the early Martian atmosphere, moved through surficial clay mineral and silica‐rich layers, percolated through the parent rock of the meteorite, and precipitated carbonates (thereby decreasing the partial pressure of CO2) as it evaporated. This finding requires that before encountering the unweathered orthopyroxenite host of ALH 84001, the fluid permeated rock that became weathered during the process. We were able to predict the composition of the clay minerals formed during weathering, which included the dioctahedral smectite nontronite, kaolinite, and chlorite, all of which have been previously detected on Mars. We also calculated host rock replacement in local equilibrium conditions by the hydrated silicate talc, which is typically considered to be a higher temperature hydrothermal phase on Earth, but may have been a common constituent in the formation of Martian soils through pervasive aqueous alteration. Finally, goethite and magnetite were also found to precipitate in the secondary alteration assemblage, the latter associated with the generation of H2. Apparently, despite the limited water–rock interaction that must have led to the formation of the carbonates ~ 3.9 Ga ago, in the vicinity of the ALH 84001 source rocks, clay formation would have been widespread.

Seeker—Autonomous Long‐range Rover Navigation for Remote Exploration

Under the umbrella of the European Space Agency (ESA) StarTiger program, a rapid prototyping study called Seeker was initiated. A range of partners from space and nonspace sectors were brought together to develop a prototype Mars rover system capable of autonomously exploring several kilometers of highly representative Mars terrain over a three‐day period. This paper reports on our approach and the final field trials that took place in the Atacama Desert, Chile. Long‐range navigation and the associated remote rover field trials are a new departure for ESA, and this activity therefore represents a novel initiative in this area. The primary focus was to determine if current computer vision and artificial intelligence based software could enable such a capability on Mars, given the current limit of around 200 m per Martian day. The paper does not seek to introduce new theoretical techniques or compare various approaches, but it offers a unique perspective on their behavior in a highly representative environment. The final system autonomously navigated 5.05 km in highly representative terrain during one day. This work is part of a wider effort to achieve a step change in autonomous capability for future Mars/lunar exploration rover platforms.

Record of the ancient martian hydrosphere and atmosphere preserved in zircon from a martian meteorite

Mars exhibits ample evidence for an ancient surface hydrosphere. The oxygen isotope compositions of carbonate minerals and alteration products in martian meteorites suggest that this ancient hydrosphere was not in isotopic equilibrium with the martian lithosphere1,2,3,4. Martian meteorite NWA 7533 is composed of regolith breccia from the heavily cratered terrains of ancient Mars and contains zircon grains for which U–Pb ages have been reported5. Here we report variations between the oxygen isotopic compositions of four zircon grains from NWA 7533. We propose that these variations can be explained if the mantle melts from which the zircon crystallized approximately 4.43 Gyr ago had assimiliated 17O-enriched regolith materials, and that some of the zircon grains, while in a metamict state, were later altered by low-temperature fluids near the surface less than 1.7 Gyr ago. Enrichment of the martian regolith in 17O before the zircon crystallized, presumably through exchange with the 17O-enriched atmosphere or hydrosphere during surface alteration, suggests that the thick primary atmosphere of Mars was lost within the first 120 Myr after accretion. We conclude that the observed variation of 17O anomalies in zircon from NWA 7533 points to prolonged interaction between the martian regolith, atmosphere and hydrosphere.

Warming early Mars with CO2 and H2

The presence of valleys on ancient terrains of Mars suggest that liquid water flowed on the martian surface 3.8 billion years ago or before. The above-freezing temperatures required to explain valley formation could have been transient, in response to frequent large meteorite impacts on early Mars, or they could have been caused by long-lived greenhouse warming. Climate models that consider only the greenhouse gases carbon dioxide and water vapor have been unable to recreate warm surface conditions, given the lower solar luminosity at that time. Here we use a one-dimensional climate model to demonstrate that an atmosphere containing 1.3-4 bar of CO2 and water vapor, along with 5 to 20 percent H2, could have raised the mean surface temperature of early Mars above the freezing point of water. Vigorous volcanic outgassing from a highly reduced early martian mantle is expected to provide sufficient atmospheric H2 and CO2, the latter from the photochemical oxidation of outgassed CH4 and CO, to form a CO2-H2 greenhouse. Such a dense early martian atmosphere is consistent with independent estimates of surface pressure based on cratering data.

Fuzzy-rough feature selection aided support vector machines for Mars image classification

This paper presents a novel application of advanced machine learning techniques for Mars terrain image classification. Fuzzy-rough feature selection (FRFS) is adapted and then employed in conjunction with Support Vector Machines (SVMs) to construct image classifiers. These techniques are integrated to address problems in space engineering where the images are of many classes, large-scale, and diverse representational properties. The use of the adapted FRFS allows the induction of low-dimensionality feature sets from feature patterns of a much higher dimensionality. To evaluate the proposed work, K-Nearest Neighbours (KNNs) and decision trees (DTREEs) based image classifiers as well as information gain rank (IGR) based feature selection are also investigated here, as possible alternatives to the underlying machine learning techniques adopted. The results of systematic comparative studies demonstrate that in general, feature selection improves the performance of classifiers that are intended for use in high dimensional domains. In particular, the proposed approach helps to increase the classification accuracy, while enhancing classification efficiency by requiring considerably less features. This is evident in that the resultant SVM-based classifiers which utilise FRFS-selected features generally outperform KNN and DTREE based classifiers and those which use IGR-returned features. The work is therefore shown to be of great potential for on-board or ground-based image classification in future Mars rover missions.

Special issue: Rough and Fuzzy Methods for Data Mining

This special issue of International Journal of Hybrid Intelligent Systems (IJHIS) published by IOS Press contains a selection of papers presented initially at the RSFDGrC’09 Conference (Rough Sets, Fuzzy Sets, Data Mining and Granular Computing) held in IIT Delhi, India, on December 16–20, 2009. RSFDGrC is the series of international scientific conferences spanning over last 15 years. It investigates the meeting points among the four major areas outlined in its title, with respect to foundations and applications. Five papers included in this special issue are devoted to various aspects of rough sets, fuzzy sets, data mining and granular computing, with a special emphasis on hybrid methodologies for solving theoretical problems and dealing with practical challenges of representing and mining compound data. The first paper, “Facilitating Efficient Mars Terrain Image Classification with Fuzzy-Rough Feature Selection” by Changjing Shang, Dave Barnes and Qiang Shen, presents an application study of exploiting fuzzyrough feature selection (FRFS) techniques in aid of efficient and accurate Mars terrain image classification. The employment of FRFS allows for the induction of low-dimensionality feature sets from sample descriptions of feature vectors of a much higher dimensionality. Supported with comparative studies, the work demonstrates that FRFS helps to enhance both the ef-

Facilitating efficient Mars terrain image classification with fuzzy-rough feature selection

This paper presents an application study of exploiting fuzzy-rough feature selection (FRFS) techniques in aid of efficient and accurate Mars terrain image classification. The employment of FRFS allows the induction of low-dimensionality feature sets from sample descriptions of feature vectors of a much higher dimensionality. Supported with comparative studies, the work demonstrates that FRFS helps to enhance both the effectiveness and the efficiency of conventional classification systems such as multi-layer perceptrons and K-nearest neighbors, by minimizing redundant and noisy features. This is of particular significance for on-board image classification in future Mars rover missions.

Characterization of traverse slippage experienced by Spirit rover on Husband Hill at Gusev crater

Spirit rover experienced significant slips traversing Husband Hill. This paper analyzes the slippage Spirit experienced from Sol 154 to Sol 737. Slippage with respect to terrain type and slope is computed using data downlinked from the rover, rover position, and orientation estimations from visual odometry (VO) and photogrammetry based bundle adjustment (BA) method. Accumulated slippage reached a maximum of 83.86 m on Sol 648. However, as Spirit descended into the Inner Basin, the direction of slippage reversed, and accumulated slippage approached zero by the end of the entire traverse. Eight local regions with significant slips and nineteen traverse segments have been analyzed. Slippage was found to be highly correlated to slope direction and magnitude; the reverse of slope directions in the ascending and descending portions of the traverse proves to be the main contributor to the observed cancellation of slippage. While the horizontal component of the slippage almost canceled out, the difference in elevation continually accumulated, mainly during the ascent. In general, long traverse segments created more slips than short ones. This is reflected in both the accumulated and individual slippages. In considering the four major Mars terrain types, Spirit performed best on bedrock, managing to drive on slopes close to 30°. Fine‐grain surfaces were the most challenging; though progress was made on slopes up to 15°, slippages of over 100% (more slippage than distance traveled) occurred for short segments. The results of this work can be incorporate into a traverse planning framework in which rover slippage is minimized. Results can be employed in landed planetary missions for precision navigation to avoid potentially dangerous regions by considering expected slippage.