Remote Exploration Research Articles

Ionospheric irregularities at Jupiter observed by JWST

Jupiter’s upper atmosphere is composed of a neutral thermosphere and charged ionosphere. In the latter, the dominant molecular ion H3+ emits in the near-infrared, allowing for the remote exploration of the physical properties of the upper atmosphere. However, the Jovian low-latitude ionosphere remains largely unexplored because H3+ emissions from this region are faint and spectrally entangled with bright neutral species, such as CH4. Here, we present James Webb Space Telescope H3+ observations of Jupiter’s low-latitude ionosphere in the region of the Great Red Spot, showing unexpected small-scale intensity features such as arcs, bands and spots. Our observations may imply that the low-latitude ionosphere of Jupiter is strongly coupled to the lower atmosphere via gravity waves that superimpose to produce this complex and intricate morphology.

Cyber Physical Systems: A Brief Survey and an Application of a MIR (Mobile Industrial Robot) for Inspection

This work refers to the realization of a Cyber Physical System (CPS), i.e. modeling, analysis, and integration of a MIR (Mobile Industrial Robot) platform with an industrial robot, in order to test its operating conditions. MIRs, although usually employed in industrial environment, can be used in sectors such as inspection, assistance, defense, production, remote exploration as well as search and rescue. In addition of being programmable, thanks to the provision of sensors and navigation systems, they can adapt in real time to various environmental contexts and purposes of use. The objective of the paper is to create a CPS of a MIR that can basically perform two fundamental actions. The first one is to carry out movements in predominantly external environments and therefore with various types of terrain. The second fundamental action is the pick and place operations, i.e. the robot must be able to carry out the manipulation of objects.

A Study on Wetland Cover Map Formulation and Evaluation Using Unmanned Aerial Vehicle High-Resolution Images

Wetlands possess significant ecological value and play a crucial role in the environment. Recent advancements in remote exploration technology have enabled a quantitative analysis of wetlands through surveys on the type of cover present. However, the classification of complex cover types as land cover types in wetlands remains challenging, leading to ongoing studies aimed at addressing this issue. With the advent of high-resolution sensors in unmanned aerial vehicles (UAVs), researchers can now obtain detailed data and utilize them for their investigations. In this paper, we sought to establish an effective method for classifying centimeter-scale images using multispectral and hyperspectral techniques. Since there are numerous classes of land cover types, it is important to build and extract effective training data for each type. In addition, computer vision-based methods, especially those that combine deep learning and machine learning, are attracting considerable attention as high-accuracy methods. Collecting training data before classifying by cover type is an important factor that which requires effective data sampling. To obtain accurate detection results, a few data sampling techniques must be tested. In this study, we employed two data sampling methods (endmember and pixel sampling) to acquire data, after which their accuracy and detection outcomes were compared through classification using spectral angle mapper (SAM), support vector machine (SVM), and artificial neural network (ANN) approaches. Our findings confirmed the effectiveness of the pixel-based sampling method, demonstrating a notable difference of 38.62% compared to the endmember sampling method. Moreover, among the classification methods employed, the SAM technique exhibited the highest effectiveness, with approximately 10% disparity observed in multispectral data and 7.15% in hyperspectral data compared to the other models. Our findings provide insights into the accuracy and classification outcomes of different models based on the sampling method employed in spectral imagery.

Remote exploration and monitoring of geothermal sources: A novel method for foliar element mapping using hyperspectral (VNIR-SWIR) remote sensing

Hyperspectral remote sensing is an emerging technique to develop new cost- and time-effective geophysical mapping methods. To overcome challenges introduced by plant cover in geothermal systems globally, we hypothesise that foliage can be used as a proxy to map underlying surface geothermal activity and heat-flux due to their capability on elemental uptake from geothermal fluids and host rock/soil. This study shows for the first time that foliar elemental mapping can be used to image geothermal systems using both high-resolution airborne and satellite hyperspectral images.This study has specifically targeted kanuka shrub (kunzea ericoides var. microflora) as a proxy media to develop air- and spaceborne hyperspectral solutions to monitor inaccessible, biologically and culturally sensitive geothermal areas. Using high resolution airborne AisaFENIX and PRISMA hyperspectral data, foliar element maps for Ag, As, Ba and Sb have been developed using Kernel Partial Least Squares Regression and Random Forest classification models to track their foliar distribution and develop a conceptual model for metal and thermal induced changes in plants. Our study shows evidence that the created foliar element maps are in concordance with independent LiDAR-retrieved canopy structure and height as well as temperature effects of the underlying geothermal field. This study has proven air- and spaceborne hyperspectral sensors can indeed capture critical information within the VNIR and SWIR regions (e.g. ∼452, ∼500, ∼670, ∼820, ∼970, ∼1180, ∼1400 and ∼2000 nm) that can be used to identify metal and thermal-induced spectral changes in plants reliably (overall accuracy of 0.41–0.66) with remotely sensed imagery. Our non-invasive method using hyperspectral remote sensing can complement existing practices for exploration and management of renewable geothermal resources through timely monitoring from air- and spaceborne platforms.

Untethered Flight of a 270 mg Microrobot Powered by Onboard Energy

It is challenging for microrobots to fly using onboard energy due to the relatively heavy power supplies and inefficient actuators that are limited to a small size (mass less than 1000 mg and wingspan less than 100 mm). Inspired by the movement of jellyfish in nature (Physophora hydrostatica), herein, a microscale aerial vehicle FlyJelly is introduced, powered by onboard energy to achieve untethered flight. FlyJelly uses a balloon filled with helium to overcome self‐gravity and an actuator powered by electrostatic power to generate thrust. The balloon, heat sealed with two gold‐covered Mylar films, weighs 95.56 mg, provides 257.9 mg of buoyancy when filled with helium, and stores 19.457 × 10−3 J of energy when powered by 2400 V of direct current. The electrostatic actuator is composed of multiflapping units arranged radially and symmetrically, consuming only 0.3370 mW of power but generating a thrust of 0.2271 mN to drive the vehicle for flight. Benefiting from a design of distributed propulsion, FlyJelly is highly reliable and continues to work well even after the actuator is damaged. The milligram‐level weight, untethered flight with onboard energy, and high reliability make the prototype suitable for development as a long‐term remote exploration and search‐and‐rescue mission.

The Blue-RoSES Project: a Gate for Remote Exploration of the Seas

This paper focuses on the description of the Blue-RoSES project, an European funded activity devoted to the development and exploitation of a reliable infrastructure for the remote employment of Remotely Operated Vehicles (ROVs) for both professional and recreational applications in coastal environments, marinas and yachting. The paper firstly provides an overall view of the concept and then summarizes the main modules composing the architecture that is responsible for reliable and stable remote piloting of ROVs. Analysis of the critical issues related to remote piloting and control is carried out and measurements of the communication lags and delays are performed to obtain a statistical characterization, also providing a quantitative measure of the communication service. The reliability and performance of the complete system are demonstrated through experimental campaigns in real case scenarios.

Investigation of the Hamamayağı/Ladik (Samsun, Turkey) Geothermal Field and It’s Surroundings by Optical Remote Sensing with GIS Methods

In this study, the geothermal potential was investigated by remote sensing methods in the Ladik Hamamayağı region of Samsun province at the Central Black Sea region. The satellite images were evaluated in the GIS environment. Various parameters differ in remote sensing studies and post-exploration geothermal field remote sensing for exploration studies, and these parameters are explained in detail in the study., All alteration types that should be in a geothermal field were mapped with the ASTER data, lineaments were extracted, thermal anomalies were captured and interpreted with alterations in the GIS environment, since there are no alteration information in the Hamamayağı geothermal field that previous studies have uncovered. As a result of these processes and interpretations, remote sensing and GIS methods were used together for the Hamamayağı geothermal field to produce guiding data and maps for the discovery of new potential areas. Within the framework of these produced maps, technical suggestions were made to the authorities who have a say on the subject.

Using immersive technologies to facilitate location scouting in audiovisual media production: a user requirements study and proposed framework

In common with many industries, the audiovisual sector is likely to be transformed by real-time graphic engines in combination with immersive technologies such as Virtual Reality and Augmented Reality. This technological mix enables what is presently known as Virtual Production, introducing a new process to the audiovisual professional, capable of fostering creativity, collaboration, and decision making, while at the same time increasing efficiency. The potential for Virtual Production to transform workflows and creative processes within large-scale productions in the audiovisual sector is significant and includes the prospective introduction of new capabilities for remote co-creation of content. However, barriers to democratisation need to be overcome, particularly in relation to adoption of the technology by small and medium independent productions that generally have limited access to resources and technical knowledge. Following an extensive study of the current literature and involvement in the research of professionals working in the field through online interviews, this article documents a first step towards filling this gap by investigating Virtual Production adoption scenarios for small and medium independent productions. The primary aim is to design intuitive, engaging, and effective solutions to address the needs of Directors, Cinematographers, and Producers.Thanks to the valuable time and experience of industry professionals, this study has gathered user requirements for a Virtual Production design solution capable of facilitating location scouting and pre-production. A novel framework for remote exploration of target locations within immersive environments, co-created with relevant stakeholders, is presented to lay the foundations of future co-design work.

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

Abstract Mobile robots with manipulation capability are a key technology that enables flexible robotic interactions, large area covering and remote exploration. This paper presents a novel class of actuation-coordinated mobile parallel robots (ACMPRs) that utilize parallel mechanism configurations and perform hybrid moving and manipulation functions through coordinated wheel actuators. The ACMPRs differ with existing mobile manipulators by their unique combination of the mobile wheel actuators and the parallel mechanism topology through prismatic joint connections. Common motion of the wheels will provide mobile function while their relative motion will actuate the parallel manipulation function. This new concept reduces actuation requirement and increases manipulation accuracy and mobile motion stability through coordinated and connected wheel actuators comparing with existing mobile parallel manipulators. The relative wheel location on the base frame also enables a reconfigurable base size with variable moving stability on the ground. The basic concept and general type synthesis are introduced and followed by kinematics and inverse dynamics analysis of a selected three limb ACMPR. A numerical simulation also illustrates the dynamics model and the motion property of the new mobile parallel robot (MPR) followed by a prototype-based experimental validation. The work provides a basis for introducing this new class of robots for potential applications in surveillance, industrial automation, construction, transportation, human assistance, medical applications, and other operations in extreme environment such as nuclear plants, Mars, etc.

Liquid-amplified zipping actuators for micro-air vehicles with transmission-free flapping.

Flapping micro-air vehicles (MAVs) can access a wide range of locations, including confined spaces such as the inside of industrial plants and collapsed buildings, and offer high maneuverability and tolerance to disturbances. However, current flapping MAVs require transmission systems between their actuators and wings, which introduce energetic losses and additional mass, hindering performance. Here, we introduce a high-performance electrostatic flapping actuation system, the liquid-amplified zipping actuator (LAZA), which induces wing movement by direct application of liquid-amplified electrostatic forces at the wing root, eliminating the requirement of any transmission system and their associated downsides. The LAZA allows for accurate control of flapping frequency and amplitude, exhibits no variation in performance over more than 1 million actuation cycles, and delivers peak and average specific powers of 200 and 124 watts per kilogram, respectively, exceeding mammalian and insect flight muscle and on par with modern flapping MAV actuation systems. The inclusion of 50-millimeter-long passively pitching wings in a dragonfly-sized LAZA flapping system allowed the rectification of net directional thrust up to 5.73 millinewtons. This thrust was achieved while consuming only 243 milliwatts of electrical power, implying a thrust-to-power ratio of 23.6 newtons per kilowatt, similar to state-of-the-art flapping MAVs, helicopter rotors, and commercial drone motors. Last, a horizontally moving LAZA flapping system supported by a taut nylon wire was able to accelerate from at-rest and travel at speeds up to 0.71 meters per second. The LAZA enables lightweight, high-performance transmission-free flapping MAVs for long-term remote exploration and search-and-rescue missions.

Remote Exploration and Monitoring of Geothermal Sources: A Novel Method for Foliar Element Mapping Using Hyperspectral Remote Sensing

Remote Exploration and Monitoring of Geothermal Sources: A Novel Method for Foliar Element Mapping Using Hyperspectral Remote Sensing

Analytical study of electro-mechanical parameters on Love wave in an imperfectly bonded VPCM layered structure

This study is carried out to investigate the mechanical and electrical characteristics of Love waves in a visco-piezo-composite medium bounded between an orthotropic upper stratum and an elastic substrate of conducting type medium. The mechanically imperfect boundary conditions have been considered for both the interfaces of the sandwiched stratum. By solving coupled electromechanical field equations analytically, the electric potential, and mechanical displacement are obtained for the respective medium. After that, by using the relevant boundary conditions, the expression of dispersion has been established. The effect of various parameters such as viscosity, piezo-electric, dielectric, imperfection parameter, thickness ratio parameters on phase velocity, and attenuation coefficient of Love waves have been discussed. For the validation of our solution, the classical Love wave equation is obtained in the limiting sense (i.e. in the absence of piezoelectricity, upper surface, viscosity, imperfection parameters). To date, nobody has considered a Voigt-type viscous effect in composite piezo-structure to study Love wave propagation, even in the latest research works. Results indicate that the piezo-electric parameter possesses a great positive impact on phase velocity and attenuation coefficient. The attenuation co-efficient converges to some constant magnitude for different values of the thickness ratio parameter. The present investigation may find various applications in many problems of automatic remote control, space exploration, and piezoelectric ceramic devices. Moreover, it can be used in the investigation of the deformation and mechanical behavior of the sedimentary rock.

Gripper Control Design and Simulation for OpenROV Submarine Robot

In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.

The Relationship of Types of Exploration Activities with Originality of Visual Arts Designs

AbstractThis study examines specific exploration activities in students’ visual arts portfolios from secondary education. Creating original visual arts products requires exploration according to Getzels and Csiksentmihalyi (The creative vision. A longitudinal study of problem finding in Art. New York: John Wiley & Sons Inc., 1976). Obtaining insight about the contribution of specific exploration activities to the originality of arts products is important for designing and supporting learning in arts education. The aim of this study is to examine the contribution of activities within three types of exploration: association, combination, and abstraction to originality of visual arts designs. Data consist of 196 portfolio events showing exploration activities and art designs, from 11 Grade 11 visual arts students. Portfolio events were coded for three different types of exploration: association, combination, and abstraction, on a dimension of ascending abstractness. We coded activities within each of these types, on a scale of remoteness, to determine the metaphorical distance. Visual originality of each portfolio event was assessed using the comparative judgment method. Multilevel regression analyses showed all three types of exploration significantly contributed to originality of visual designs. In total, 31% of the variance in originality at portfolio events level was explained by these types of exploration. In general, the more remote exploration activities were, the more original the visual design. These findings are discussed related to the literature on creative processes.

Whole-body integration of gene expression and single-cell morphology

SummaryAnimal bodies are composed of cell types with unique expression programs that implement their distinct locations, shapes, structures, and functions. Based on these properties, cell types assemble into specific tissues and organs. To systematically explore the link between cell-type-specific gene expression and morphology, we registered an expression atlas to a whole-body electron microscopy volume of the nereid Platynereis dumerilii. Automated segmentation of cells and nuclei identifies major cell classes and establishes a link between gene activation, chromatin topography, and nuclear size. Clustering of segmented cells according to gene expression reveals spatially coherent tissues. In the brain, genetically defined groups of neurons match ganglionic nuclei with coherent projections. Besides interneurons, we uncover sensory-neurosecretory cells in the nereid mushroom bodies, which thus qualify as sensory organs. They furthermore resemble the vertebrate telencephalon by molecular anatomy. We provide an integrated browser as a Fiji plugin for remote exploration of all available multimodal datasets.

Tactile Perception for Teleoperated Robotic Exploration within Granular Media

The sense of touch is essential for locating buried objects when vision-based approaches are limited. We present an approach for tactile perception when sensorized robot fingertips are used to directly interact with granular media particles in teleoperated systems. We evaluate the effects of linear and nonlinear classifier model architectures and three tactile sensor modalities (vibration, internal fluid pressure, fingerpad deformation) on the accuracy of estimates of fingertip contact state. We propose an architecture called the Sparse-Fusion Recurrent Neural Network (SF-RNN) in which sparse features are autonomously extracted prior to fusing multimodal tactile data in a fully connected RNN input layer. The multimodal SF-RNN model achieved 98.7% test accuracy and was robust to modest variations in granular media type and particle size, fingertip orientation, fingertip speed, and object location. Fingerpad deformation was the most informative modality for haptic exploration within granular media while vibration and internal fluid pressure provided additional information with appropriate signal processing. We introduce a real-time visualization of tactile percepts for remote exploration by constructing a belief map that combines probabilistic contact state estimates and fingertip location. The belief map visualizes the probability of an object being buried in the search region and could be used for planning.

Remote Exploration of Experimental Biophysical Instrumentation in Core Facilities

ABSTRACT Biophysics is defined by the experimental data that are collected on an extensive array of powerful and elegant tools. To solve important problems in biophysics, an understanding of the capabilities and limitations of the current instrumental methods is needed. Although lecture-based courses can instruct students on the physical principles of biophysical instrumentation, the actual practical use of instrumentation can seem far from the concepts taught through presentations or books. Traditionally, laboratory courses can expose students to hands-on use and understanding of experimental methods. During the COVID-19 pandemic, laboratory-based courses were challenging or, at times, prohibited. The educational aim of this article is to connect the instrumental concepts learned in lecture to the use of instruments for experiments when students are unable to go into laboratory environments. I present a low-stakes assignment for students to explore the biophysical instrumentation at core facilities. Prompts were provided to guide students through methods and challenges when using an instrument in a laboratory. These were then shared in a group environment so students could learn about multiple instruments in a single class and further benefit from social interactions with their peers, combating isolation during remote courses. Beyond remote instruction during COVID-19, this assignment can be applicable to future courses where laboratory work is cost-, time-, or location-prohibitive. Adaptations for in-person instruction are also discussed.

IoT-based Pet Feeding Robot Design and Development

Pets in the home need particular attention and care. They must be provided with food, beverages, and medicine as soon as possible. Due of most owners' hectic lifestyles, this job may not be as easy as anticipated. Inadequate attention to the requirements of pets may have serious consequences such as hunger and illness, among other things. In light of the above, this paper presents an Internet of Things-based automated feeder system that use the Raspberry Pi for remote control, scheduling, and intelligence. Its design and subsequent execution are anticipated to at least take care of the nutritional aspects of pets by delivering food, beverages, and medicine to pets on a schedule or as needed in the absence of the owner. As a result, the goal of this study is to automate the monitoring and feeding procedure, which is now done manually by pet owners. The four-wheeled system allows it to effortlessly climb stairs. Because of its body weight, the mechanism generates traction. The robot has applications such as remote feeding of every kind of animal from afar, remote exploration of the house to deceive thieves into believing someone is at home. It also lets you customise daily meals, keep your pet secure while you are away from home, store up to 7 pound, keep food fresh, and monitor your pet's nutrition. The robot may also prevent a person from eating a particular meal while allowing other animals to access the food. All these features attract owners of more than one animal to the robot.

Tools for Remote Exploration: A Lithium (Li) Dedicated Spectral Library of the Fregeneda–Almendra Aplite–Pegmatite Field

The existence of diagnostic features in the visible and infrared regions makes it possible to use reflectance spectra not only to identify mineral assemblages but also for calibration and classification of satellite images, considering lithological and/or mineral mapping. For this purpose, a consistent spectral library with the target spectra of minerals and rocks is needed. Currently, there is big market pressure for raw materials including lithium (Li) that has driven new satellite image applications for Li exploration. However, there are no reference spectra for petalite (a Li mineral) in large, open spectral datasets. In this work, a spectral library was built exclusively dedicated to Li minerals and Li pegmatite exploration through satellite remote sensing. The database includes field and laboratory spectra collected in the Fregeneda–Almendra region (Spain–Portugal) from (i) distinct Li minerals (spodumene, petalite, lepidolite); (ii) several Li pegmatites and other outcropping lithologies to allow satellite-based lithological mapping; (iii) areas previously misclassified as Li pegmatites using machine learning algorithms to allow comparisons between these regions and the target areas. Ancillary data include (i) sample location and coordinates, (ii) sample conditions, (iii) sample color, (iv) type of face measured, (v) equipment used, and for the laboratory spectra, (vi) sample photographs, (vii) continuum removed spectra files, and (viii) statistics on the main absorption features automatically extracted. The potential future uses of this spectral library are reinforced by its major advantages: (i) data is provided in a universal file format; (ii) it allows users to compare field and laboratory spectra; (iii) a large number of complementary data allow the comparison of shape, asymmetry, and depth of the absorption features of the distinct Li minerals.

An immersive first-person navigation task for abstract knowledge acquisition

Advances in virtual reality (VR) technology have greatly benefited spatial navigation research. By presenting space in a controlled manner, changing aspects of the environment one at a time or manipulating the gain from different sensory inputs, the mechanisms underlying spatial behaviour can be investigated. In parallel, a growing body of evidence suggests that the processes involved in spatial navigation extend to non-spatial domains. Here, we leverage VR technology advances to test whether participants can navigate abstract knowledge. We designed a two-dimensional quantity space—presented using a head-mounted display—to test if participants can navigate abstract knowledge using a first-person perspective navigation paradigm. To investigate the effect of physical movement, we divided participants into two groups: one walking and rotating on a motion platform, the other group using a gamepad to move through the abstract space. We found that both groups learned to navigate using a first-person perspective and formed accurate representations of the abstract space. Interestingly, navigation in the quantity space resembled behavioural patterns observed in navigation studies using environments with natural visuospatial cues. Notably, both groups demonstrated similar patterns of learning. Taken together, these results imply that both self-movement and remote exploration can be used to learn the relational mapping between abstract stimuli.