Robotic Planetary Missions Research Articles

Modular Mechatronics Infrastructure for robotic planetary exploration assets in a field operation scenario

In 2021 the Modular Mechatronics Infrastructure (MMI) was introduced as a solution to reduce weight, costs, and development time in robotic planetary missions. With standardized interfaces and multi-functional elements, this modular approach is planned to be used more often in sustainable exploration activities on the Moon and Mars. The German multi-robot research project “Autonomous Robotic Networks to Help Modern Societies (ARCHES)” has explored this concept with the use of various collaborative robotic assets which have their capabilities extended by the MMI. Different scientific payloads, engineering infrastructure modules, and specific purpose tools can be integrated to and manipulated by a robotic arm and a standardized electromechanical docking-interface. Throughout the MMI’s design and implementation phase the performed preliminary tests confirmed that the different systems of the robotic cooperative team such as the Docking Interface System (DIS), the Power Management System (PMS), and the Data Communication System (DCS) functioned successfully. During the summer of 2022 a Demonstration Mission on Mount Etna (Sicily, Italy) was carried out as part of the ARCHES Project. This field scenario allowed the validation of the robotics systems in an analogue harsh environment and the confirmation of enhanced operations with the application of this modular method. Among the numerous activities performed in this volcanic terrain there are the efficient assembling of the Low Frequency Array (LOFAR) network, the energy-saving and reduced complexity of a detached Laser Induced Breakdown Spectroscopy (LIBS) module, and the uninterrupted powered operation between modules when switching between different power sources. The field data collected during this analogue campaign provided important outcomes for the modular robotics application. Modular and autonomous robots certainly benefit from their versatility, re-usability, less complex systems, reduced requirements for space qualification, and lower risks for the mission. These characteristics will ensure that long duration and complex robotic planetary endeavours are not as challenging as they used to be in the past.

Characterization of machine learning algorithms for slippage estimation in planetary exploration rovers

This paper presents a comprehensive comparison of well-known machine learning algorithms for estimating discrete slip events associated with individual wheels in planetary exploration rovers. This analysis is performed with various tuning configurations for each algorithm (55 setups). This research also shows the key role that environment plays in the performance of the learning algorithms: rover speed (0.05–0.25 [m/s]), type of terrain (gravel vs. sand), and tire type (off-road tires vs. smooth tires). These contributions are validated by using a broad data set collected using a planetary rover equipped with proprioceptive sensing. This work not only identifies the best algorithm to be deployed for discrete slip estimation, but it also helps with the selection and the mounting position of the sensing systems to be employed in future robotic planetary missions.

Learning from NASA’s Robotic Planetary Missions

The shared rituals of mars rover scientists.

The Potassium‐Argon Laser Experiment (KArLE): In Situ Geochronology for Planetary Robotic Missions

Geochronology is a fundamental measurement for planetary samples, providing global and solar system context for the conditions prevailing on the planet at the time of major geological events. The potassium (K)‐Argon (Ar) laser experiment (KArLE) will make in situ noble gas geochronology measurements aboard planetary robotic missions such as rovers and landers. Laser‐induced breakdown spectroscopy (LIBS) is used to measure the K abundance in a sample and to release its noble gases; the evolved Ar is measured by mass spectrometry, and relative K content is related to absolute Ar abundance by sample mass, determined by optical measurement of the ablated volume. This approach allows K and Ar to be measured on identical volumes multiple times to create an isochron, which improves the age determination and reveals irregularities in the rock if they exist. The KArLE technique measures a whole‐rock K‐Ar age with 10% uncertainty or better for rocks 2 Ga or older, sufficient to resolve the absolute age of many planetary samples. The LIBS–mass spectrometry approach is attractive because the analytical components have been flight‐proven, do not require further technical development and provide essential measurements (complete elemental abundance, evolved volatile analysis, micro‐imaging) as well as in situ geochronology.

Issues of geologically-focused situational awareness in robotic planetary missions: Lessons from an analogue mission at Mistastin Lake impact structure, Labrador, Canada

Remote robotic data provides different information than that obtained from immersion in the field. This significantly affects the geological situational awareness experienced by members of a mission control science team. In order to optimize science return from planetary robotic missions, these limitations must be understood and their effects mitigated to fully leverage the field experience of scientists at mission control.Results from a 13-day analogue deployment at the Mistastin Lake impact structure in Labrador, Canada suggest that scale, relief, geological detail, and time are intertwined issues that impact the mission control science team’s effectiveness in interpreting the geology of an area. These issues are evaluated and several mitigation options are suggested. Scale was found to be difficult to interpret without the reference of known objects, even when numerical scale data were available. For this reason, embedding intuitive scale-indicating features into image data is recommended. Since relief is not conveyed in 2D images, both 3D data and observations from multiple angles are required. Furthermore, the 3D data must be observed in animation or as anaglyphs, since without such assistance much of the relief information in 3D data is not communicated. Geological detail may also be missed due to the time required to collect, analyze, and request data.We also suggest that these issues can be addressed, in part, by an improved understanding of the operational time costs and benefits of scientific data collection. Robotic activities operate on inherently slow time-scales. This fact needs to be embraced and accommodated. Instead of focusing too quickly on the details of a target of interest, thereby potentially minimizing science return, time should be allocated at first to more broad data collection at that target, including preliminary surveys, multiple observations from various vantage points, and progressively smaller scale of focus. This operational model more closely follows techniques employed by field geologists and is fundamental to the geologic interpretation of an area. Even so, an operational time cost/benefit analyses should be carefully considered in each situation, to determine when such comprehensive data collection would maximize the science return.Finally, it should be recognized that analogue deployments cannot faithfully model the time scales of robotic planetary missions. Analogue missions are limited by the difficulty and expense of fieldwork. Thus, analogue deployments should focus on smaller aspects of robotic missions and test components in a modular way (e.g., dropping communications constraints, limiting mission scope, focusing on a specific problem, spreading the mission over several field seasons, etc.).

Foreword: Mars Science Laboratory, the First Astrobiology Mission to Mars Since Viking

The possibility of life on Mars has become a scientific issue of profound importance and of public interest. Since the Viking landings on Mars in 1976, our concepts of the limits to life and our expectation of the habitability of Mars have continued to expand. The modern era of Mars exploration has pursued the strategy of a progressive succession of orbital and landed missions to determine the processes at work on Mars, its record, and its biological potential. Results from these missions have transformed our imagined static lifeless desert planet to a dynamic planet, one that has the potential for life in the past and possibly even the present. Our exploration endeavors culminate with the Mars Science Laboratory (MSL) landing on August 6, 2012. This mission will be the first roving analytical laboratory and considered the first astrobiology mission to Mars since Viking. The rover has ten instruments, including environmental sensors and a laboratory capable of determining elemental composition, mineralogy, and organic content of surface and near-surface samples. This mission will explore Gale Crater, and its 5 km high central peak, Mount Sharp, whose sediments will provide snapshots of environmental conditions of Mars as it transitioned from its earlier warmer and wetter periods through to a planet whose surface has became cold, dry, and acidic. The goal of the Mars Science Laboratory and its rover, Curiosity, is to explore a region of Mars and determine if that area was ever able to support microbial life and assess its potential for preservation of biosignatures. The objectives of the mission include: assessing the biological potential of the site by investigating organic compounds, other relevant elements, and biomarkers; characterizing geology and geochemistry, including chemical, mineralogical, and isotopic composition; investigating the role of water, atmospheric evolution, and modern weather/climate; and characterizing the spectrum of surface radiation. This mission is the most complex, sophisticated robotic planetary mission ever attempted and the next step in the Exobiology Strategy for Mars Exploration, as delineated in 1995. Although conceived before the 2003 launch of the intrepid geological explorers, Spirit and Opportunity, the objectives and capabilities of the planned astrobiology rover have un-

Electric propulsion: An evolutionary technology

The NASA Lewis Research Center (LeRC) conducts and directs an electric propulsion research and technology program aimed at providing high-performance electric propulsion system options for a broad range of near and far-term missions. This evolutionary program emphasizes the development of propulsion systems for three classes of missions: (1) near term auxiliary propulsion applications such as North-South Stationkeeping for next generation communications satellites and orbit maintainence for orbiting platforms such as Space Station Freedom; (2) advanced solar electric propulsion and SP-100-class nuclear electric propulsion for Earth-space orbit transfer and robotic planetary missions; and (3) very high power systems to support major space missions including the Space Exploration Initiative. To cover widely disparate mission requirements, the LeRC program includes research on electrothermal, electrostatic, and electromagnetic systems. This paper provides an overview of the LeRC program with a focus on recent progress.