On Advanced Mobility Concepts for Intelligent Planetary Surface Exploration

Surface exploration by wheeled rovers on Earth's Moon (the two Lunokhods) and Mars (Nasa's Sojourner and the two MERs) have been followed since many years already very suc-cessfully, specifically concerning operations over long time. However, despite of this success, the explored surface area was very small, having in mind a total driving distance of about 8 km (Spirit) and 21 km (Opportunity) over 6 years of operation. Moreover, ESA will send its ExoMars rover in 2018 to Mars, and NASA its MSL rover probably this year. However, all these rovers are lacking sufficient on-board intelligence in order to overcome longer dis-tances, driving much faster and deciding autonomously on path planning for the best trajec-tory to follow. In order to increase the scientific output of a rover mission it seems very nec-essary to explore much larger surface areas reliably in much less time. This is the main driver for a robotics institute to combine mechatronics functionalities to develop an intelligent mo-bile wheeled rover with four or six wheels, and having specific kinematics and locomotion suspension depending on the operational terrain of the rover to operate. DLR's Robotics and Mechatronics Center has a long tradition in developing advanced components in the field of light-weight motion actuation, intelligent and soft manipulation and skilled hands and tools, perception and cognition, and in increasing the autonomy of any kind of mechatronic systems. The whole design is supported and is based upon detailed modeling, optimization, and simula-tion tasks. We have developed efficient software tools to simulate the rover driveability per-formance on various terrain characteristics such as soft sandy and hard rocky terrains as well as on inclined planes, where wheel and grouser geometry plays a dominant role. Moreover, rover optimization is performed to support the best engineering intuitions, that will optimize structural and geometric parameters, compare various kinematics suspension concepts, and make use of realistic cost functions like mass and consumed energy minimization, static sta-bility, and more. For self-localization and safe navigation through unknown terrain we make use of fast 3D stereo algorithms that were successfully used e.g. in unmanned air vehicle ap-plications and on terrestrial mobile systems. The advanced rover design approach is applica-ble for lunar as well as Martian surface exploration purposes. A first mobility concept ap-proach for a lunar vehicle will be presented

Evaporite karst geohazards in the Delaware Basin, Texas: review of traditional karst studies coupled with geophysical and remote sensing characterization

Evaporite karst throughout the Gypsum Plain of west Texas is complex and extensive, including manifestations ranging from intrastratal brecciation and hypogene caves to epigene features and suffosion caves. Recent advances in hydrocarbon exploration and extraction has resulted in increased infrastructure development and utilization in the area; as a result, delineation and characterization of potential karst geohazards throughout the region have become a greater concern. While traditional karst surveys are essential for delineating the subsurface extent and morphology of individual caves for speleogenetic interpretation, these methods tend to underestimate the total extent of karst development and require surficial manifestation of karst phenomena. Therefore, this study utilizes a composite suite of remote sensing and traditional field studies for improved karst delineation and detection of potential karst geohazards within gypsum karst. Color InfraRed (CIR) imagery were utilized for delineation of lineaments associated with fractures, while Normalized Density Vegetation Index (NDVI) analyses were used to delineate regions of increased moisture flux and probable zones of shallow karst development. Digital Elevation Models (DEM) constructed from high-resolution LiDAR (Light Detection and Ranging) data were used to spatially interpret sinkholes, while analyses of LiDAR intensity data were used in a novel way to categorize local variations in surface geology. Resistivity data, including both direct current (DC) and capacitively coupled (CC) resistivity analyses, were acquired and interpreted throughout the study area to delineate potential shallow karst geohazards specifically associated with roadways of geohazard concern; however, detailed knowledge of the surrounding geology and local karst development proved essential for proper interpretation of resistivity inversions. The composite suite of traditional field investigations and remotely sensed karst delineations used in this study illustrate how complex gypsum karst terrains can be characterized with greater detail through the utilization of rapidly advancing technologies, especially in arid environments with low vegetation densities

Analysis and Simulation of the Leg of an Hexapod Robot for Remote Exploration

The locomotion system is determined by the terrain conditions. The aim of this paper is to introduce the characteristics and simulation of a hexapod legged robot that can be easily used for exploration of abrupt and harsh terrains, Jike the Rio Tinto environment. A walking robot seems like the best option for this kind of terrain. Some of the advantages are that they do not need continuous terrain, they have less problems with sliding and they also have greater capacity to overcome obstacles as they produce Jess harm to the environment that the scientist wants to explore on the contrary when faced with mechanical design they present a design challenge, also in the static and dynamic analysis problem of a legged robot, there is a high complexity that has to be taken into account. This paper shows how to easily cope with the analysis of hexapod robot movement based on a design developed by the Center of Astrobiology INTA-CSIC for operation in RioTinto (Huelva - Spain)

Beyond Contradiction: Sacred-Profane Waters and the Dialectics of Everyday Religion

Studies of the relationship between religion and ecology are either highly enthusiastic about the ways that religious belief can motivate sound resource management or skeptical of the connection. Using an everyday religion approach, this text takes a middle ground to show that resources are variously interpreted in daily life and that religious orientations, while potentially supportive of environmentally sound action, are but one source of influence. Drawing from fieldwork, the discussion employs practice theory to look at how water resources in a Himalayan township are understood and the ways that notions of responsibility for sacred and profane waters are changing. The text aims to show that resource degradation is not necessarily indicative of contradictions in belief. This assertion pushes us to think more critically about the importance of everyday terrains of discourse and action, including how resource perceptions and management activities are influenced by structural constraints

Mars Science Helicopter Conceptual Design

Robotic planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers, and have more near-surface capability than orbiters. Aerial mobility is a promising possibility for planetary exploration as it reduces the challenges that difficult obstacles pose to ground vehicles. The first use of a rotorcraft for a planetary mission will be in 2021, when the Mars Helicopter technology demonstrator will be deployed from the Mars 2020 rover. The Jet Propulsion Laboratory and NASA Ames Research Center are exploring possibilities for a Mars Science Helicopter, a second-generation Mars rotorcraft with the capability of conducting science investigations independently of a lander or rover (although this type of vehicle could also be used assist rovers or landers in future missions). This report describes the conceptual design of Mars Science Helicopters. The design process began with coaxial-helicopter and hexacopter configurations, with a payload in the range of two to three kilograms and an overall vehicle mass of approximately twenty kilograms. Initial estimates of weight and performance were based on the capabilities of the Mars Helicopter. Rotorcraft designs for Mars are constrained by the dimensions of the aeroshell for the trip to the planet, requiring attention to the aircraft packaging in order to maximize the rotor dimensions and hence overall performance potential. Aerodynamic performance optimization was conducted, particularly through airfoils designed specifically for the low Reynolds number and high Mach number inherent in operation on Mars. The final designs show a substantial capability for science operations on Mars: a 31 kg hexacopter that fits within a 2.5 m diameter aeroshell could carry a 5 kg payload for 10 min of hover time or over a range of 5 km

Workshop on Early Crustal Genesis: Implications from Earth

Ways to foster increased study of the early evolution of the Earth, considering the planet as a whole, were explored and recommendations were made to NASA with the intent of exploring optimal ways for integrating Archean studies with problems of planetary evolution. Major themes addressed include: (1) Archean contribution to constraints for modeling planetary evolution; (2) Archean surface conditions and processes as clues to early planetary history; and (3) Archean evidence for physical, chemical and isotopic transfer processes in early planetary crusts. Ten early crustal evolution problems are outlined