Study of abrasive techniques for lunar and planetary solid rock geological sampling

Abrasive techniques for lunar and planetary geological samplin

The Refractory-to-Ice Mass Ratio in Comets

We review the complex relationship between the dust-to-gas mass ratio usually estimated in the material lost by comets, and the Refractory-to-Ice mass ratio inside the nucleus, which constrains the origin of comets. Such a relationship is dominated by the mass transfer from the perihelion erosion to fallout over most of the nucleus surface. This makes the Refractory-to-Ice mass ratio inside the nucleus up to ten times larger than the dust-to-gas mass ratio in the lost material, because the lost material is missing most of the refractories which were inside the pristine nucleus before the erosion. We review the Refractory-to-Ice mass ratios available for the comet nuclei visited by space missions, and for the Kuiper Belt Objects with well defined bulk density, finding the 1-σ lower limit of 3. Therefore, comets and KBOs may have less water than CI-chondrites, as predicted by models of comet formation by the gravitational collapse of cm-sized pebbles driven by streaming instabilities in the protoplanetary disc

Thermophysical properties of near-Earth asteroid (341843) 2008 EV5 from WISE data

Aims. To derive the thermal inertia of 2008 EV$_5$, the baseline target for the Marco Polo-R mission proposal, and infer information about the size of the particles on its surface. Methods. Values of thermal inertia are obtained by fitting an asteroid thermophysical model to NASA's Wide-field Infrared Survey Explorer (WISE) infrared data. From the constrained thermal inertia and a model of heat conductivity that accounts for different values of the packing fraction (a measure of the degree of compaction of the regolith particles), grain size is derived. Results. We obtain an effective diameter $D = 370 \pm 6\,\mathrm{m}$, geometric visible albedo $p_V = 0.13 \pm 0.05$ (assuming $H=20.0 \pm 0.4$), and thermal inertia $\Gamma = 450 \pm 60$ J/m2/s(1/2)/K at the 1-$\sigma$ level of significance for its retrograde spin pole solution. The regolith particles radius is $r = 6.6^{+1.3}_{-1.3}$ mm for low degrees of compaction, and $r = 12.5^{+2.7}_{-2.6}$ mm for the highest packing densities.Comment: 16 pages, 8 figures; accepted for publication in Astronomy & Astrophysic

Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance

We proposed three swing leg control policies for spring-mass running robots, inspired by experimental data from our recent collaborative work on ground running birds. Previous investigations suggest that animals may prioritize injury avoidance and/or efficiency as their objective function during running rather than maintaining limit-cycle stability. Therefore, in this study we targeted structural capacity (maximum leg force to avoid damage) and efficiency as the main goals for our control policies, since these objective functions are crucial to reduce motor size and structure weight. Each proposed policy controls the leg angle as a function of time during flight phase such that its objective function during the subsequent stance phase is regulated. The three objective functions that are regulated in the control policies are (i) the leg peak force, (ii) the axial impulse, and (iii) the leg actuator work. It should be noted that each control policy regulates one single objective function. Surprisingly, all three swing leg control policies result in nearly identical subsequent stance phase dynamics. This implies that the implementation of any of the proposed control policies would satisfy both goals (damage avoidance and efficiency) at once. Furthermore, all three control policies require a surprisingly simple leg angle adjustment: leg retraction with constant angular acceleration

Numerical Simulations of Highly Porous Dust Aggregates in the Low-Velocity Collision Regime

A highly favoured mechanism of planetesimal formation is collisional growth. Single dust grains, which follow gas flows in the protoplanetary disc, hit each other, stick due to van der Waals forces and form fluffy aggregates up to centimetre size. The mechanism of further growth is unclear since the outcome of aggregate collisions in the relevant velocity and size regime cannot be investigated in the laboratory under protoplanetary disc conditions. Realistic statistics of the result of dust aggregate collisions beyond decimetre size is missing for a deeper understanding of planetary growth. Joining experimental and numerical efforts we want to calibrate and validate a computer program that is capable of a correct simulation of the macroscopic behaviour of highly porous dust aggregates. After testing its numerical limitations thoroughly we will check the program especially for a realistic reproduction of various benchmark experiments. We adopt the smooth particle hydrodynamics (SPH) numerical scheme with extensions for the simulation of solid bodies and a modified version of the Sirono porosity model. Experimentally measured macroscopic material properties of silica dust are implemented. We calibrate and test for the compressive strength relation and the bulk modulus. SPH has already proven to be a suitable tool to simulate collisions at rather high velocities. In this work we demonstrate that its area of application can not only be extended to low-velocity experiments and collisions. It can also be used to simulate the behaviour of highly porous objects in this velocity regime to a very high accuracy.The result of the calibration process in this work is an SPH code that can be utilised to investigate the collisional outcome of porous dust in the low-velocity regime.Comment: accepted by Astronomy & Astrophysic

Exploiting Macro-actions and Predicting Plan Length in Planning as Satisfiability

The use of automatically learned knowledge for a planning domain can significantly improve the performance of a generic planner when solving a problem in this domain. In this work, we focus on the well-known SAT-based approach to planning and investigate two types of learned knowledge that have not been studied in this planning framework before: macro-actions and planning horizon. Macro-actions are sequences of actions that typically occur in the solution plans, while a planning horizon of a problem is the length of a (possibly optimal) plan solving it. We propose a method that uses a machine learning tool for building a predictive model of the optimal planning horizon, and variants of the well-known planner SatPlan and solver MiniSat that can exploit macro actions and learned planning horizons to improve their performance. An experimental analysis illustrates the effectiveness of the proposed techniques

Weathering microenvironments on feldspar surfaces: implications for understanding fluid-mineral reactions in soils

The mechanisms by which coatings develop on weathered grain surfaces, and their potential impact on rates of fluid-mineral interaction, have been investigated by examining feldspars from a 1.1 ky old soil in the Glen Feshie chronosequence, Scottish highlands. Using the focused ion beam technique, electron-transparent foils for characterization by transmission electron microscopy were cut from selected parts of grain surfaces. Some parts were bare whereas others had accumulations, a few micrometres thick, of weathering products, often mixed with mineral and microbial debris. Feldspar exposed at bare grain surfaces is crystalline throughout and so there is no evidence for the presence of the amorphous 'leached layers' that typically form in acid-dissolution experiments and have been described from some natural weathering contexts. The weathering products comprise sub-μm thick crystallites of an Fe-K aluminosilicate, probably smectite, that have grown within an amorphous and probably organic-rich matrix. There is also evidence for crystallization of clays having been mediated by fungal hyphae. Coatings formed within Glen Feshie soils after ∼1.1 ky are insufficiently continuous or impermeable to slow rates of fluid-feldspar reactions, but provide valuable insights into the complex weathering microenvironments on debris and microbe-covered mineral surfaces