Journal ArticleDOI
Simulations of Mars Rover Traverses
Feng Zhou,Raymond E. Arvidson,Keith Bennett,Brian P. Trease,Randel Lindemann,P. Bellutta,Karl Iagnemma,Carmine Senatore +7 more
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TLDR
Artemis was then used to provide physical insight into the high soil sinkage and slippage encountered by Opportunity while crossing an aeolian ripple on the Meridiani plains and high motor currents encountered while driving on a tilted bedrock surface at Cape York on the rim of Endeavour Crater.Abstract:
Artemis (Adams-based Rover Terramechanics and Mobility Interaction Simulator) is a software tool developed to simulate rigid-wheel planetary rover traverses across natural terrain surfaces. It is based on mechanically realistic rover models and the use of classical terramechanics expressions to model spatially variable wheel-soil and wheel-bedrock properties. Artemis's capabilities and limitations for the Mars Exploration Rovers (Spirit and Opportunity) were explored using single-wheel laboratory-based tests, rover field tests at the Jet Propulsion Laboratory Mars Yard, and tests on bedrock and dune sand surfaces in the Mojave Desert. Artemis was then used to provide physical insight into the high soil sinkage and slippage encountered by Opportunity while crossing an aeolian ripple on the Meridiani plains and high motor currents encountered while driving on a tilted bedrock surface at Cape York on the rim of Endeavour Crater. Artemis will continue to evolve and is intended to be used on a continuing basis as a tool to help evaluate mobility issues over candidate Opportunity and the Mars Science Laboratory Curiosity rover drive paths, in addition to retrieval of terrain properties by the iterative registration of model and actual drive results.read more
Citations
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Proceedings ArticleDOI
SPOC: Deep Learning-based Terrain Classification for Mars Rover Missions
TL;DR: SPOC has a promising potential for a wider range of future applications, such as the automated discovery of scientifically important terrain features on existing Mars orbital imagery, as well as traversability analysis for future surface missions to small bodies and icy worlds.
Journal ArticleDOI
Mars Science Laboratory Curiosity Rover Megaripple Crossings up to Sol 710 in Gale Crater
Raymond E. Arvidson,Karl Iagnemma,Mark Maimone,Abigail A. Fraeman,Feng Zhou,Matthew Heverly,P. Bellutta,David M. Rubin,Nathan Stein,John P. Grotzinger,Ashwin R. Vasavada +10 more
TL;DR: Analysis of imaging and engineering data collected during traverses across megaripples for the first 710 sols (Mars days) of the mission, laboratory-based single-wheel soil experiments, full-scale rover tests at the Dumont Dunes, Mojave Desert, California, and numerical simulations show that a combination of material properties and megARIpple geometries explain the high wheel sinkage and slip events.
Journal ArticleDOI
Efficient Large-scale Three-dimensional Mobile Mapping for Underground Mines
Robert Zlot,Michael Bosse +1 more
TL;DR: This work has developed a solution that can accurately estimate, based on laser range and inertial measurements, the six-degrees-of-freedom trajectory of a sensor platform that continuously moves through an environment, as well as a 3D point cloud map of that environment.
Journal ArticleDOI
Discrete element method simulations of Mars Exploration Rover wheel performance
Jerome B. Johnson,Anton V. Kulchitsky,P. Duvoy,Karl Iagnemma,Carmine Senatore,Raymond E. Arvidson,J. M. Moore +6 more
TL;DR: In this article, three-dimensional discrete element method (DEM) simulations of MER wheel mobility tests for wheel slips of i ǫ = 0, 0.1,0.5 and 0.99 were done to examine high wheel slip mobility to improve the ARTEMIS MER traverse planning tool.
Journal ArticleDOI
Terrain physical properties derived from orbital data and the first 360 sols of Mars Science Laboratory Curiosity rover observations in Gale Crater
Raymond E. Arvidson,P. Bellutta,Fred Calef,Abigail A. Fraeman,James B. Garvin,Olivier Gasnault,John A. Grant,John P. Grotzinger,Victoria E. Hamilton,Matthew Heverly,K. A. Iagnemma,Jeffrey R. Johnson,Nina Lanza,S. Le Mouélic,N. Mangold,D. W. Ming,Manish Mehta,R. V. Morris,Horton E. Newsom,Nilton O. Renno,David M. Rubin,Juergen Schieber,R. S. Sletten,Nathaniel Stein,F. Thuillier,Ashwin R. Vasavada,J. Vizcaino,Roger C. Wiens +27 more
TL;DR: The physical properties of terrains encountered by the Curiosity rover during the first 360 sols of operations have been inferred from analysis of the scour zones produced by Sky Crane landing system engine plumes, wheel touch down dynamics, pits produced by Chemical Camera (ChemCam) laser shots, rover wheel traverses over rocks, the extent of sinkage into soils, and the magnitude and sign of rover-based slippage during drives as discussed by the authors.
References
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