Rover Platform Research Articles

Situation Awareness of Mars helicopter based on YOLOv7

Situation awareness on Mars is indispensable for various downstream applications such as navigation and path planning, mapping and scientific discover. However, current Mars rover platform suffered from the absence of global information, leading to mission reduction and the failure of global planning. Compared to the rover, Mars helicopter is a new type of attempt for Mars exploration, which can provide a wide range view of scenes to well support the above missions. To this end, in this paper we proposed a novel learning-based situation awareness model for Mars helicopter. We modified the Yolov7 model by embedding a new channel attention on its head to improve the accuracy of detection. Besides, we designed a Tiny-Scale Detection Module (TSDM) to capture small or hidden rocks in complex Martian surface. To achieve further refinement and validate our proposal, we built an open-source synthetic dataset in air view. After extensive experiments, our model achieved excellent outperforms than the baseline model in our Mars dataset.

Design and Development of a Prototype of Web Controlled Tomato Plucking Robot using IOT

In agriculture, the integration of robotics and Internet of Things (IoT) technologies has revolutionized traditional farming practices, offering efficient solutions for tasks such as harvesting. This paper presents the design and development of a web- controlled Tomato Plucking Robot (TPR) utilizing IoT principles. The TPR consists of a robotic arm mounted on a rover platform, enhancing mobility and reach. A dedicated storage unit within the rover facilitates the collection of harvested tomatoes. The entire system is remotely operated via a web interface, enabling real-time control and monitoring from any location with internet connectivity. Additionally, an ESP32 cam module is integrated to provide live navigation views, aiding in precise maneuvering and tomato detection. This research contributes to the advancement of automated agricultural practices, offering a scalable and adaptable solution for tomato harvesting while showcasing the potential of IoT-enabled robotics in optimizing farm operations

SchedGuard++: Protecting against Schedule Leaks Using Linux Containers on Multi-Core Processors

Timing correctness is crucial in a multi-criticality real-time system, such as an autonomous driving system. It has been recently shown that these systems can be vulnerable to timing inference attacks, mainly due to their predictable behavioral patterns. Existing solutions like schedule randomization cannot protect against such attacks, often limited by the system’s real-time nature. This article presents “ SchedGuard++ ”: a temporal protection framework for Linux-based real-time systems that protects against posterior schedule-based attacks by preventing untrusted tasks from executing during specific time intervals. SchedGuard++ supports multi-core platforms and is implemented using Linux containers and a customized Linux kernel real-time scheduler. We provide schedulability analysis assuming the Logical Execution Time (LET) paradigm, which enforces I/O predictability. The proposed response time analysis takes into account the interference from trusted and untrusted tasks and the impact of the protection mechanism. We demonstrate the effectiveness of our system using a realistic radio-controlled rover platform. Not only is “ SchedGuard++ ” able to protect against the posterior schedule-based attacks, but it also ensures that the real-time tasks/containers meet their temporal requirements.

Beyond Just Safety: Delay-aware Security Monitoring for Real-time Control Systems

Modern embedded real-time systems (RTS) are increasingly facing more security threats than the past. A simplistic straightforward integration of security mechanisms might not be able to guarantee thesafetyand predictability of such systems. In this article, we focus on integrating security mechanisms into RTS (especiallylegacyRTS). We introduceContego-C, an analytical model to integrate security tasks into RTS that will allow system designers to improve the security posture without affecting temporal and control constraints of the existing real-time control tasks. We also define ametric(named tightness of periodic monitoring) to measure the effectiveness of such integration. We demonstrate our ideas using a proof-of-concept implementation on an ARM-based rover platform and show that Contego-C can improve security without degrading control performance.

Rover-mounted Hydrated Mineral Detector for Mars Exploration: A Preliminary Report

The rover-mounted hydrated mineral detector (HMD) is based on a dielectric spectrometer (tuned frequency range of 0.8–4 MHz) that will detect bulk subsurface hydrated minerals in local scale. The HMD is a compact, low-mass (1.5 kg), and low-power instrument (5 W) suitable for Mars application. Compared with orbiter-based instruments with low horizontal resolution (5–10 km), the HMD will offer high resolution (2 m) that can identify optimal sampling sites for the presence of hydrated minerals. From field testing with reduced radio frequency (RF) power (P rf = 10 mW), the HMD demonstrated detection of shallow buried gypsum samples. When developed with full RF power, the HMD could potentially detect hydrates down to depths of 2 m (P rf = 1 W) or 4 m (P rf = 36 W) in Martian soil. Unlike conventional dielectric spectrometers, which require small amounts of the sample (5–10 g) to be placed inside sample cells, the HMD will detect hydrated minerals by scanning over the Mars surface mounted on a rover platform (<1 m above ground) without any sample preparation. This capability will allow future rovers to rapidly assess the scientific potential of field sites. Compared with optical techniques that are limited to surface exposed mineralogical features that could be obscured by dust and weathering products, the HMD will detect bulk subsurface hydrated minerals along the rover traverse irrespective of surface obscuration. The HMD (TRL 4) is a proof-of-concept instrument that can be developed and matured for future Mars rover missions.

Toward Detecting Polycyclic Aromatic Hydrocarbons on Planetary Objects with ORIGIN

Abstract Polycyclic aromatic hydrocarbons (PAHs) are found on various planetary surfaces in the solar system. They are proposed to play a role in the emergence of life, as molecules that are important for biological processes could be derived from them. In this work, four PAHs (pyrene, perylene, anthracene, and coronene) were measured using the ORganics Information Gathering INstrument system (ORIGIN), a lightweight laser desorption ionization-mass spectrometer designed for space exploration missions. In this contribution, we demonstrate the current measurement capabilities of ORIGIN in detecting PAHs at different concentrations and applied laser pulse energies. Furthermore, we show that chemical processing of the PAHs during measurement is limited and that the parent mass can be detected in the majority of cases. The instrument achieves a 3σ detection limit in the order of femtomol mm−2 for all four PAHs, with the possibility of further increasing this sensitivity. This work illustrates the potential of ORIGIN as an instrument for the detection of molecules important for the emergence or presence of life, especially when viewed in combination with previous results by the instrument, such as the identification of amino acids. ORIGIN could be used on a lander or rover platform for future in situ missions to targets in the solar system, such as the icy moons of Jupiter or Saturn.

Development and test of a Lunar Excavation and Size Separation System (LES3) for the LUVMI‐X rover platform

AbstractFuture sustained human presence on the Moon will require us to make use of lunar resources. This in‐situ resource utilisation (ISRU) process will require suitable feedstock (i.e., lunar regolith) that has been both acquired and prepared (or beneficiated) to set standards. Acquisition of pre‐processed regolith, is an often overlooked engineering challenge in the demanding and low‐gravity environment of the lunar surface. Currently, regolith excavation and size separation are often developed independently of each other. Here, we present the Lunar Excavation and Size Separation System (LES3), which is an engineered one‐system solution to combine the acquisition of lunar regolith as well as separate it into two distinct size fractions, and therefore, can assist to define the quality of the feedstock material for ISRU processes. Intended for use with a lightweight (40–60 kg) lunar rover (LUnar Volatiles Mobile Instrumentation‐X; LUVMI‐X) currently under development, the mechanism utilises vibrations to reduce excavation forces and facilitate size separation. Low excavation forces are crucial for lunar excavators to be deployable on lightweight robotic platforms as limited traction forces are available. The rationale behind the mechanism is explained, its capabilities in the support of science and ISRU are showcased, and results from several laboratory test campaigns, including tests of gravitational dry sieving of different regolith simulants, are presented. The LES3 can excavate up to 100 g in a single charge while maintaining excavation forces of less than 8 N and having a mass of less than 2 kg. Finally, areas of improvement for a second iteration of the design are presented and explained. The LES3 proof of concept shows that combining of regolith excavation and size‐separation in a single mechanism is feasible.

Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: part II (Results and Discussion)

AbstractGeomorphological studies of the hidden and protected subsurface environments are crucial to obtain a greater insight into the evolution of planetary landforms, hydrology, climate, geology and mineralogy. From an astrobiological point of view subsurface environments are of interest for their potential habitability as they are local environments that are partially or fully shielded from the high levels of space and solar radiation. Furthermore, in the case of Mars, there is an increasing interest in searching for the presence of past or extant life in its subsurface. These applications make it mandatory to investigate equipment and instrumentation that allow for the study of subsurface geomorphology, as well as organic chemical biomarkers, such as biomolecules, carbon, nitrogen and sulphur isotopes, and other biologically significant minerals and gases. Mines on Earth can be used as analogues to investigate the geomorphology of Martian subsurface environments and perform astrobiology studies. With that goal, we have developed a low-cost, robust, remotely operable subsurface rover called KORE (KOmpact Rover for Exploration). This work illustrates the studies of a terrestrial analogue for the exploration of Mars using KORE during the Mine Analogue Research 6 (MINAR 6) campaign with the low-cost 3D mapping technology InXSpace 3D (In situ3D mapping tool eXploration of space 3D). InXSpace 3D utilizes an RGB-D camera that captures depth information in addition to the RGB data of an image, operating based on the structured light principle capable of providing depth information in mm scale resolution at sub 3 m mapping range. InXSpace 3D is used to capture point clouds of natural and artificial features, thereby obtaining information about geologically relevant structures and also to incorporate them in earth mining safety. We tested two of the dense simultaneous localization and mapping (SLAM) algorithms: Kintinuous and Real-Time Appearance-Based Mapping (RTAB-Map) to check the performance of InXSpace 3D in a dark mine environment. Also, the air accumulation of volatiles such as methane and formaldehyde due to thermogenic and mining process was measured with the environmental station payload on the rover platform, which caters to both astrobiological significance and mine safety. The main conclusions of this work are: (1) a comparison made between the RTAB-Map algorithm and Kintinuous algorithm showed the superiority of Kintinuous algorithm in providing better 3D reconstruction; although RTAB-Map algorithm captured more points than the Kintinuous algorithm in the dark mine environment; (2) a comparison of point cloud images captured with and without lighting conditions had a negligible effect on the surface density of the point clouds; (3) close-range imaging of the polygonal features occurring on the halite walls using InXSpace 3D provided mm-scale resolution to enable further characterization; (4) heuristic algorithms to quickly post-process the 3D point cloud data provided encouraging results for preliminary analyses; (5) we successfully demonstrated the application of KORE to mine safety; and (6) the multi-sensors platform on KORE successfully monitored the accumulated volatiles in the mine atmosphere during its operation. The findings obtained during this KORE campaign could be incorporated in designing and planning future subsurface rover explorations to potential planetary bodies such as Mars with synergistic applications to subsurface environments in mines on Earth.

HF Wire-Mesh Dipole Antennas for Broadband Ice-Penetrating Radar

In this letter, a novel high-frequency to very-high-frequency wire-mesh dipole antenna design for use in polar regions is discussed and evaluated. The antenna was designed to be lightweight, readily demountable, and acceptably robust. This is an initial step in the development of a ground-based, phase-sensitive, synthetic aperture imaging system for use on an autonomous rover platform. The results of initial trials on the Rhone Glacier, Switzerland, in August 2019, are discussed, with particular attention being paid to the effect on the antenna performance of high surface water content. Including the effects of the surface water resulted in good agreement between field results, and modeled performance.

The Application of Low-Cost, Close-Range Photogrammetry in Dentistry

The search for extant life has long been an interest since people have been able to successfully explore other worlds. However, on space missions, experiments must be performed autonomously, with limited resources, and a carefully selected suite of instruments. Instruments are additionally constrained by weight, reliability, and size which limits use of many modern advanced systems. The Queen’s Space Engineering Team (QSET) is proposing the design of a portable (12” x 12” x 12”) instrument to identify signs supporting extant life aboard a mobile rover platform during exploration missions. The instrument will receive soil samples collected by the rover, analyse the composition to identify key molecules, and transmit data back to a ground station. This system relies on colorimetric measurements using a UV-VIS spectrometer and features a solvent recycle system to minimize weight and waste. This project is part of a larger environment characterisation module to be mounted on a Mars rover system designed for competition at the University Rover Challenge (URC) at the Mars Desert Research Station (MDRS) in Utah. As of this date, each subsystem has successfully passed performance testing and the entire instrument is entering its system-level prototyping stage.

Improving ambiguity resolution success rate in the joint solution of GNSS-based attitude determination and relative positioning with multivariate constraints

Usually, the global navigation satellite system (GNSS)-based attitude determination and the GNSS-based relative positioning are treated as separate problems. In this contribution, the two problems are resolved as a combined solution of a joint model with multivariate constraints, in which the known geometry of the antenna array on the rover platform is used as constraints, thereby improving the parameter estimation in not only the attitude determination but also the relative positioning. The objective function of the joint model is decomposed and then reduced so that only the terms concerning the constraints are retained, thus transforming the objective function into the exact form of that of the GNSS-based multivariate constrained attitude determination model. Then the multivariate constrained least-squares ambiguity decorrelation adjustment method together with the efficient shrinkage or expansion with bounds strategies, which are shown to work well in the attitude determination, can be extended to the joint model. In experimental validation, the joint model is tested with both simulated and real GPS/BDS datasets in terms of ambiguity resolution success rate and the precision of solutions. The results confirm that the joint model ensures the highest ambiguity resolution success rate among the existing unaided GNSS-based relative positioning methods, and the improvement is more obvious when the observation model is weaker, for example, when the number of available satellites is fewer or when the precision of observations is poorer, thus showing an overall best performance in both reliability and precision aspects.

A Subcritical Water Extractor Prototype for Potential Astrobiology Spaceflight Missions

AbstractA top‐level NASA exploration goal is the search for signs of life beyond Earth. Molecular biosignatures can be sought via in situ organic chemical analyses of samples collected from planetary bodies. Current spaceflight‐ready technologies lack the required sensitivity to perform these analyses on key polar organic species primarily due to the low efficiency of transferring these molecules from natural samples into chemical instrumentation. One promising approach to improve the liberation of these molecules from sample matrices prior to analysis is through the use of liquid extraction, in which organic molecules are dissolved in heated, pressurized water. This process has never been performed on a spaceflight mission. As part of instrument maturation efforts, we describe the development of the first spaceflight prototype of a fully automated subcritical water extractor designed to provide this essential functionality on a potential future planetary mission. The prototype extractor was mounted on a Mars test rover platform and successfully operated remotely in the Atacama Desert, Chile. Samples acquired by the rover's drill and sample acquisition/delivery system were remotely transferred to the extractor inlet funnel, and all subsequent extractor operations were performed automatically. To validate the instrument and demonstrate its suitability as a front‐end unit for an organic analyzer, we tested low‐bioload Atacama Desert soil extracts for amino acid content using capillary electrophoresis coupled to laser‐induced fluorescence. We show that hot extraction under subcritical conditions is required to liberate amino acids from the sample, as no amino acids were found in the extract produced at room temperature.

Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: part I (Rover development)

AbstractAutonomous exploration requires the use of movable platforms that carry a payload of instruments with a certain level of autonomy and communication with the operators. This is particularly challenging in subsurface environments, which may be more dangerous for human access and where communication with the surface is limited. Subsurface robotic exploration, which has been to date very limited, is interesting not only for science but also for cost-effective industrial exploitation of resources and safety assessments in mines. Furthermore, it has a direct application to exploration of extra-terrestrial subsurface environments of astrobiological and geological significance such as caves, lava tubes, impact or volcanic craters and subglacial conduits, for deriving in-situ mineralogical resources and establishing preliminary settlements. However, the technological solutions are generally tailor-made and are therefore considered as costly, fragile and environment-specific, further hindering their extensive and effective applications. To demonstrate the advantages of rover exploration for a broad-community, we have developed KORE (KOmpact Rover for Exploration); a low-cost, re-usable, rover multi-purpose platform. The rover platform has been developed as a technological demonstration for extra-terrestrial subsurface exploration and terrestrial mining operations pertaining to geomorphological mapping, environmental monitoring, gas leak detections and search and rescue operations in case of an accident. The present paper, the first part of a series of two, focuses on describing the development of a robust rover platform to perform dedicated geomorphological, astrobiological and mining tasks. KORE was further tested in the Mine Analogue Research 6 (MINAR6) campaign during September 2018 in the Boulby mine (UK), the second deepest potash mine in Europe at a subsurface depth of 1.1 km, the results of which will be presented in the second paper of this series. KORE is a large, semi-autonomous rover weighing 160 kg with L × W × H dimensions 1.2 m × 0.8 m × 1 m and a payload carrying capacity of 100 kg using 800 W traction power that can power to a maximum speed of 8.4 km h−1. The rover can be easily dismantled in three parts facilitating its transportation to any chosen site of exploration. Presently, the main scientific payloads on KORE are: (1) a three-dimensional mapping camera, (2) a methane detection system, (3) an environmental station capable of monitoring temperature, relative humidity, pressure and gases such as NO2, SO2, H2S, formaldehyde, CO, CO2, O3, O2,volatile organic compounds and particulates and (4) a robotic arm. Moreover, the design of the rover allows for integration of more sensors as per the scientific requirements in future expeditions. At the MINAR6 campaign, the technical readiness of KORE was demonstrated during 6 days of scientific research in the mine, with a total of 22 h of operation.

Design of a Portable Soil Analysis Instrument for Remote Teleoperated Rover Platforms

The search for extant life has long been an interest since people have been able to successfully explore other worlds. However, on space missions, experiments must be performed autonomously, with limited resources, and a carefully selected suite of instruments. Instruments are additionally constrained by weight, reliability, and size which limits use of many modern advanced systems. The Queen’s Space Engineering Team (QSET) is proposing the design of a portable (12” x 12” x 12”) instrument to identify signs supporting extant life aboard a mobile rover platform during exploration missions. The instrument will receive soil samples collected by the rover, analyse the composition to identify key molecules, and transmit data back to a ground station. This system relies on colorimetric measurements using a UV-VIS spectrometer and features a solvent recycle system to minimize weight and waste. This project is part of a larger environment characterisation module to be mounted on a Mars rover system designed for competition at the University Rover Challenge (URC) at the Mars Desert Research Station (MDRS) in Utah. As of this date, each subsystem has successfully passed performance testing and the entire instrument is entering its system-level prototyping stage.

The use of GIS, mapping, and immersive technologies in the CanMars Mars Sample Return analogue mission; advantages for science interpretation and operational decision-making

The CanMars Mars Sample Return (MSR) analogue mission was a high-fidelity rover campaign conducted over a total of five weeks in November 2015 and November 2016. The analogue mission team consisted of a Mission Control Team located at the University of Western Ontario (Western) in London, Ontario, Canada, and a Field Team including the Mars Exploration Science Rover (MESR) platform conducting in situ field operations in the desert north of Hanksville, Utah, USA. This location served as an analogue martian terrain for the duration of the CanMars mission campaign. The main science goal of the mission was to explore the field area using the MESR platform in order to locate and sample geologic materials best suited for identifying evidence for the existence of past or extant life. The CanMars analogue mission necessitated the organization and interpretation of several remote sensing datasets to provide regional morphological and compositional context for the lithological units observed by the rover in the operational field area. These tasks were given to the GIS (Geographic Information Systems) and Mapping team, a sub-team of the Mission Control Team located at Western. These remote sensing datasets were intended to be used as analogues for remote sensing data currently available for the Martian surface and included a HiRISE equivalent full colour Quickbird-2 satellite image (60 cm/pixel), a HiRISE/CTX approximating DEM (5 m/pixel horizontal resolution and a vertical accuracy on the order of 4 m or less), and CRISM and THEMIS equivalent visible to thermal infrared spectral images from Landsat-8 and ASTER (15–90 m/pixel). The GIS and Mapping Team used these datasets in concert with a range of additional derived data products (e.g., hillshade, slope, spectral and thermal inertia maps, etc.). This information was analyzed to create interpreted geomorphological maps of the operational field area. A major goal of the GIS and Mapping Team was to provide valuable contextual information to the Science and Planning Teams pertaining to the rover's position and the characteristics of the surrounding landscape and geology. The GIS and Mapping Team made use of geographic information systems including ArcMap and ArcScene to create a detailed database of geologic and geographic information as well as to derive additional geospatial data products. Additionally, the CanMars analogue missions provided an ideal setting to test the use of immersive virtual reality (VR) technology to aid scientists with both data and image interpretation as they conducted remote field operations. This included the development and implementation of immersive versions of the 360° panoramic images taken by the rover and an interactive immersive VR terrain model of the rover landing site and surrounding area. In the inherently time-sensitive role of interpreting data before sending the rover platform its next set of commands, the immersive technologies became important tools to facilitate a rapid understanding of the rover's location and orientation was well as the geologic and topographic setting of the surrounding region. These immersive products provided a first-person experience of the rover's surroundings that aided in the discussion and decision-making efforts of the CanMars team.

The 2016 UK Space Agency Mars Utah Rover Field Investigation (MURFI)

The 2016 Mars Utah Rover Field Investigation (MURFI) was a Mars rover field trial run by the UK Space Agency in association with the Canadian Space Agency's 2015/2016 Mars Sample Return Analogue Deployment mission. MURFI had over 50 participants from 15 different institutions around the UK and abroad. The objectives of MURFI were to develop experience and leadership within the UK in running future rover field trials; to prepare the UK planetary community for involvement in the European Space Agency/Roscosmos ExoMars 2020 rover mission; and to assess how ExoMars operations may differ from previous rover missions. Hence, the wider MURFI trial included a ten-day (or ten-‘sol’) ExoMars rover-like simulation. This comprised an operations team and control centre in the UK, and a rover platform in Utah, equipped with instruments to emulate the ExoMars rovers remote sensing and analytical suite. The operations team operated in ‘blind mode’, where the only available data came from the rover instruments, and daily tactical planning was performed under strict time constraints to simulate real communications windows. The designated science goal of the MURFI ExoMars rover-like simulation was to locate in-situ bedrock, at a site suitable for sub-surface core-sampling, in order to detect signs of ancient life. Prior to “landing”, the only information available to the operations team was Mars-equivalent satellite remote sensing data, which were used for both geologic and hazard (e.g., slopes, loose soil) characterisation of the area. During each sol of the mission, the operations team sent driving instructions and imaging/analysis targeting commands, which were then enacted by the field team and rover-controllers in Utah. During the ten-sol mission, the rover drove over 100 m and obtained hundreds of images and supporting observations, allowing the operations team to build up geologic hypotheses for the local area and select possible drilling locations. On sol 9, the team obtained a subsurface core sample that was then analyzed by the Raman spectrometer. Following the conclusion of the ExoMars-like component of MURFI, the operations and field team came together to evaluate the successes and failures of the mission, and discuss lessons learnt for ExoMars rover and future field trials. Key outcomes relevant to ExoMars rover included a key recognition of the importance of field trials for (i) understanding how to operate the ExoMars rover instruments as a suite, (ii) building an operations planning team that can work well together under strict time-limited pressure, (iii) developing new processes and workflows relevant to the ExoMars rover, (iv) understanding the limits and benefits of satellite mapping and (v) practicing efficient geological interpretation of outcrops and landscapes from rover-based data, by comparing the outcomes of the simulated mission with post-trial, in-situ field observations. In addition, MURFI was perceived by all who participated as a vital learning experience, especially for early and mid-career members of the team, and also demonstrated the UK capability of implementing a large rover field trial. The lessons learnt from MURFI are therefore relevant both to ExoMars rover, and to future rover field trials.

Expanding scissor-based UGV for large obstacles climbing

This research proposes a new extendable platform for an unmanned ground vehicle to overcome the obstacle climbing issue. The new platform is basically established on scissor mechanism principles which have been innovated to achieve long and rigid displacement. A couple of scissor mechanisms are embedded in the rover platform adjusting the mass center of rover respect to the rear and front wheels. Accordingly, it yields geometric control of the contact forces, which can simultaneously reduce the slip of the wheels and increase the performance of the obstacle climbing up. To demonstrate the performance of the proposed platform, the 3D kinematics is derived. Subsequently, the stick-slip Euler-Lagrange dynamics is derived and a three-level controller including the torque optimization is implemented to simulate the rover facing obstacles. Finally, without any hardware prototyping, the extendable rover is simulated and compared with a typical fixed-geometry rover to show the enhancement of the climbing ability by using the proposed concept. Moreover, controlling the normal contact forces of the wheels yields the slip reduction, which subsequently, increases the traction force.

Conceptual design of sacrificial sub-systems: failure flow decision functions

This paper presents a method to conceptually model sacrificing non-critical sub-systems, or components, in a failure scenario to protect critical system functionality through a functional failure modeling technique. Understanding the potential benefits and drawbacks of choosing how a failure is directed in a system away from critical sub-systems and toward sub-systems that can be sacrificed to maintain core functionality can help system designers to design systems that are more likely to complete primary mission objectives despite failure events. Functional modeling techniques are often used during the early stage of conceptual design for complex systems to provide a better understanding of system architecture. A family of methods exists that focuses on the modeling of failure initiation and propagation within a functional model of a system. Modeling failure flow provides an opportunity to understand system failure propagation and inform system design iteration for improved survivability and robustness. Currently, the ability to model failure flow decision-making is missing from the family of function failure and flow methodologies. The failure flow decision function (FFDF) methodology presented in this paper enables system designers to model failure flow decision-making problems where functions and flows that are critical to system operation are protected through the sacrifice of less critical functions and flow exports. The sacrifice of less critical system functions and flows allows for mission critical functionality to be preserved, leading to a higher rate of mission objective completion. An example of FFDF application in a physical design is a non-critical peripheral piece of electrical hardware being sacrificed during an electrical surge condition to protect critical electronics necessary for the core functionality of the system. In this paper, a case study of the FFDF method is presented based on a Sojourner class Mars Exploration Rover (MER) platform.

Learned Stochastic Mobility Prediction for Planning with Control Uncertainty on Unstructured Terrain

Motion planning for planetary rovers must consider control uncertainty in order to maintain the safety of the platform during navigation. Modeling such control uncertainty is difficult due to the complex interaction between the platform and its environment. In this paper, we propose a motion‐planning approach whereby the outcome of control actions is learned from experience and represented statistically using a Gaussian process regression model. This mobility prediction model is trained using sample executions of motion primitives on representative terrain, and it predicts the future outcome of control actions on similar terrain. Using Gaussian process regression allows us to exploit its inherent measure of prediction uncertainty in planning. We integrate mobility prediction into a Markov decision process framework and use dynamic programming to construct a control policy for navigation to a goal region in a terrain map built using an onboard depth sensor. We consider both rigid terrain, consisting of uneven ground, small rocks, and nontraversable rocks, and also deformable terrain. We introduce two methods for training the mobility prediction model from either proprioceptive or exteroceptive observations, and we report results from nearly 300 experimental trials using a planetary rover platform in a Mars‐analogue environment. Our results validate the approach and demonstrate the value of planning under uncertainty for safe and reliable navigation.

Field Trial of a Dual-Wavelength Fluorescent Emission (L.I.F.E.) Instrument and the Magma White Rover during the MARS2013 Mars Analog Mission

Abstract We have developed a portable dual-wavelength laser fluorescence spectrometer as part of a multi-instrument optical probe to characterize mineral, organic, and microbial species in extreme environments. Operating at 405 and 532 nm, the instrument was originally designed for use by human explorers to produce a laser-induced fluorescence emission (L.I.F.E.) spectral database of the mineral and organic molecules found in the microbial communities of Earth's cryosphere. Recently, our team had the opportunity to explore the strengths and limitations of the instrument when it was deployed on a remote-controlled Mars analog rover. In February 2013, the instrument was deployed on board the Magma White rover platform during the MARS2013 Mars analog field mission in the Kess Kess formation near Erfoud, Morocco. During these tests, we followed tele-science work flows pertinent to Mars surface missions in a simulated spaceflight environment. We report on the L.I.F.E. instrument setup, data processing, and performance during field trials. A pilot postmission laboratory analysis determined that rock samples acquired during the field mission exhibited a fluorescence signal from the Sun-exposed side characteristic of chlorophyll a following excitation at 405 nm. A weak fluorescence response to excitation at 532 nm may have originated from another microbial photosynthetic pigment, phycoerythrin, but final assignment awaits development of a comprehensive database of mineral and organic fluorescence spectra. No chlorophyll fluorescence signal was detected from the shaded underside of the samples.