Hardware-in-the-Loop (HIL) test platform for planetary rovers was designed, fabricated and tested in the present work. The ability for planetary rover designers and mission planners to estimate the rover’s performance through software simulation is crucial. HIL testing can further the benefits of software simulations by allowing designers to incorporate hardware components within traditionally pure software simulations. This provides more accurate performance results without having access to all hardware components, as would be required for a full prototype testing. The test platform is designed with complete modularity such that different types of tests can be performed for varying types of planetary rovers and in different environments. For demonstrating the operation of the test platform, however, the power system operation of a solar powered rover was examined. The system consists of solar panels, a solar charge controller, a battery, a DC/DC converter, a DC motor and a flywheel. In addition, a lighting system was designed to simulate the solar radiation conditions solar panels would experience throughout a typical day. On the software side, a library of component models was developed within MapleSim and model parameters were tuned to match the hardware on the test bench. A program was developed for real-time simulations within Labview allowing communication between hardware components and software models. This program consists of all the component models, hardware controls and data acquisitioning. The GUI of this program allows users to select which component is to be tested and which component is to be simulated, change model parameters as well as see real time sensor measurements for each component. A signal scaling technique based on non-dimensionalization is also presented, which can be used in an HIL application for obtain scaling factors to ensure dynamic similarity between two systems. A demonstration of power estimation was performed using the pure software model simulations as well as the pure hardware testing. Hardware components were then added into the software simulation progressively with results showing better accuracy as hardware is added. The rover’s power flow was also estimated under different load conditions and seasonal variation. These simulations clearly demonstrate the effectiveness of an HIL platform for testing a rover’s hardware performance.

The main objective of this research is the development of a volumetric wheel-soil ground contact model that is suitable for mobile robotics applications with a focus on efficient simulations of planetary rover wheels operating on compliant and irregular terrains. To model the interaction between a rover wheel and soft soil for use in multibody dynamic simualtions, the terrain material is commonly represented by a soil continuum that deforms substantially when in contact with the locomotion system of the rover. Due to this extensive deformation and the large size of the contact patch, a distributed representation of the contact forces is necessary. This requires time-consuming integration processes to solve for the contact forces and moments during simulation. In this work, a novel approach is used to represent these contact reactions based on the properties of the hypervolume of penetration, which is defined by the intersection of the wheel and the terrain. This approach is based on a foundation of springs for which the normal contact force can be calculated by integrating the spring deflections over the contact patch. In the case of an elastic foundation, this integration results in a linear relationship between the normal force and the penetration volume, with the foundation stiffness as the proportionality factor. However, due to the highly nonlinear material properties of the soft terrain, a hyperelastic foundation has to be considered and the normal contact force becomes proportional to a volume with a fractional dimension --- a hypervolume. The continuous soil models commonly used in terramechanics simulations can be used in the derivation of the hypervolumetric contact forces. The result is a closed-form solution for the contact forces between a planetary rover wheel and the soft soil, where all the information provided by a distributed load is stored in the hypervolume of interpenetration. The proposed approach is applied to simulations of rigid and flexible planetary rover wheels. In both cases, the plastic behaviour of the terrain material is the main source of energy loss during the operation of planetary rovers. For the rigid wheel model, a penetration geometry is proposed to capture the nonlinear dissipative properties of the soil. The centroid of the hypervolume based on this geometry then allows for the calculation of the contact normal that defines the compaction resistance of the soil. For the flexible wheel model, the deformed state of the tire has to be determined before applying the hypervolumetric contact model. The tire deformation is represented by a distributed parameter model based on the Euler-Bernoulli beam equations. There are several geometric and soil parameters that are required to fully define the normal contact force. While the geometric parameters can be measured, the soil parameters have to be obtained experimentally. The results of a drawbar pull experiment with the Juno rover from the Canadian Space Agency were used to identify the soil parameters. These parameters were then used in a forward dynamics simulation of the rover on an irregular 3-dimensional terrain. Comparison of the simulation results with the experimental data validated the planetary rover wheel model developed in this work.

<p>Mars’ Polar layered Deposits (PLD) accumulated over the last few millions of years due to seasonal buildup of frost trapping atmospheric gasses and incoming sediments, thereby preserving the history of Mars' recent climate in the form of an ice-rich geologic record. The PLD includes both the North Polar Layered Deposits (NPLD) and the South Polar Layered Deposits (SPLD) which are estimated to be up to 5 Mya and 100 Mya old respectively. Characterizing the contents of these deposits is essential to understand the role of geologic and climatic processes recently active on Mars. The Mars scientific community recommends robotic exploration of these icy NPLD to sample the ice and extract recent climate records; however, linking the geologic record to the climatic history will require quantitative dating of the NPLD. The SPLD is thought to be older than the north polar deposits, so the stratigraphic records of the SPLD are a window to look deeper into the climatic history of Amazonian Mars. Deciphering the paleoenvironment at the PLD requires characterization of the ice-rich deposits, however, the origin, composition, transport histories, and alteration environment of sediments within the deposits are not well constrained.</p> <p>In this study we use orbital reflectance spectroscopy to show for the first time that dateable mafic lithics are present throughout the PLD. We find significant glass as well as diverse crystalline minerals, which suggests that surface processes like impacts and volcanism were active during the late Amazonian and transported sand-sized and finer sediments from across the planet to the poles. In situ investigation of the PLD will thus provide critical quantitative age constraint on both the recent geologic and climatic histories of Mars. Previous studies have confirmed widespread detection of sulfates at the NPLD and here we show that sulfates dominate the alteration mineralogy at the SPLD suggesting acidic, oxidizing, and evaporitic conditions. Based on this more extensive survey, previously reported rare detection of smectites and hydrated silica in the SPLD is likely due to ballistic emplacement by impacts from targets on surrounding smectite-bearing Noachian terrains.</p> <p>Detrital ice-rich sediments within the PLD are a complex mixture of mafic minerals and weathering products from multiple sources and are continuously reworked. In order to investigate the material and grain-size dependent effects of chemical and physical weathering in a cold and wet basaltic environment, a rover-based Mars analog study is conducted in the glacio-fluvial-aeolian landscapes of Iceland. A DCS-based color analysis technique is employed in tandem with VNIR spectroscopy and XRF analysis to develop a strategy for conducting sediment provenance. We observe that DCS-based color analysis is a powerful tool for identifying spectral diversity, and that it has the capability to differentiate primary minerals from alteration minerals. Because color analysis can aid in identifying diverse targets for sampling within the rover’s workspace, tactically, DCS colors can be used during operations to link detrital sediments within the rover’s vicinity to surrounding bedrock sources. DCS images enhance our ability to correlate observation of surface features from orbit, extend local mineralogical interpretation to surrounding regions, optimize rover’s traverse and select science targets. </p>

During space missions, real time tele-operation of a rover is not practical because of significant signal latencies associated with inter planetary distances, making some degree of autonomy in rover control desirable. One of the challenges to achieving autonomy is the determination of terrain traversability. As part of this field, the determination of motion state of a rover on rough terrain via the estimation of wheel-terrain contact angles is proposed. This thesis investigates the feasibility of estimating the contact angles from the kinematics of the rover system and measurements from the onboard inertial measurement unit (IMU), joint angle sensors and wheel encoders. This approach does not rely on any knowledge of the terrain geometry or terrain mechanical properties. An existing framework of rover velocity and wheel slip estimation for flat terrain has been extended to additionally estimate the wheel-terrain contact angle along with a side slip angle for each individual wheel, for rough terrain drive. A random walk and a damped model are used to describe the evolution of the contact angle and side slip angle over an unknown terrain. A standard strapdown algorithm for the estimation of attitude and velocity from IMU measurements, is modified to incorporate the 3D kinematics of the rover in the implementation of a nonlinear Kalman filter to estimate the motion states. The estimation results from the filter are verified using tests performed on the ExoMars BB2. The obtained contact angle estimates are found to be consistent with the reference values.

The desire to send humans to Mars will require a change in the way that extravehicular activity (EVA) is performed; in-space crews (including those within a vehicle or habitat monitoring others conducting EVA) will need to be more autonomous and that will require them to monitor large amounts of information in order to ensure crew safety and mission success. The amount of information to perceive and process will overwhelm unassisted intra-vehicular (IV) crewmembers, meaning that automation will need to be developed to support these crews on Mars while EVA is performed (Mishkin, Lee, Korth, & LeBlanc, 2007). This dissertation seeks to identify the information requirements for the performance of scientific EVA and determine which information streams will need to be allocated to in-space crew and which are the most effective streams to automate. The first study uses Mars rover operations as a homology—as defined by von Bertalanffy (1968)—to human scientific exploration. Mars rover operations personnel were interviewed using a novel method to identify the information requirements to perform successful science on Mars, how that information is used, and the timescales on which those information streams operate. The identified information streams were then related to potential information streams relevant to human exploration in order to identify potential function allocation or automated system development areas. The second study focused on one identified mission-critical information stream for human space exploration: monitoring astronaut status physiologically. Heart rate, respiration rate, and heart rate variability measurements were recorded from participants as they performed field science tasks (potentially tasks that are similar to those that will be performed by astronauts on Mars). A statistical method was developed to analyze this data in order to determine whether or not physiological responses to different tasks were statistically different, and whether any of those differences followed consistent patterns. A potential method to automate the monitoring of physiological data was also described. The results of this work provide a more detailed outline of the information requirements for EVA on Mars and can be used as a starting point for others in the exploration community to further develop automation or function allocation to support astronauts as they explore Mars.

Obstacles faced in planetary surface exploration require innovation in many areas, primarily that of robotics. To be able to study interesting areas that are by current means hard to reach, such as steep slopes, ravines, caves andlava tubes, the surface vehicles of today need to be modified or augmented. Oneaugmentation with such a goal is PHALANX (Projectile Hordes for AdvancedLong-term and Networked eXploration), a prototype system being developed atthe NASA Ames Research Center. PHALANX uses remote deployment of expendablesensor nodes from a lander or rover vehicle. This enables in-situ measurementsin hard-to-reach areas with reduced risk to the rover. The deployed sensornodes are equipped with capabilities to transmit data wirelessly back to therover and to form a network with the rover and other nodes. Knowledge of the location of deployed sensor nodes and the momentary locationof the rover is greatly desired. PHALANX can be of aid in this aspect as well.With the addition of inter-node and rover-to-node range measurements, arange-based network SLAM (Simultaneous Localization and Mapping) system can beimplemented for the rover to use while it is driving within the network. Theresulting SLAM system in PHALANX shares characteristics with others in the SLAM literature, but with some additions that make it unique. One crucial additionis that the rover itself deploys the nodes. Another is the ability for therover to more accurately localize deployed nodes by external sensing, such asby utilizing the rover cameras. In this thesis, the SLAM of PHALANX is studied by means of computer simulation.The simulation software is created using real mission values and valuesresulting from testing of the PHALANX prototype hardware. An overview of issuesthat a SLAM solution has to face as present in the literature is given in thecontext of the PHALANX SLAM system, such as poor connectivity, and highlycollinear placements of nodes. The system performance and sensitivities arethen investigated for the described issues, using predicted typical PHALANXapplication scenarios. The results are presented as errors in estimated positions of the sensor nodesand in the estimated position of the rover. I find that there are relativesensitivities to the investigated parameters, but that in general SLAM inPHALANX is fairly insensitive. This gives mission planners and operatorsgreater flexibility to prioritize other aspects important to the mission athand. The simulation software developed in this thesis work also has thepotential to be expanded on as a tool for mission planners to prepare forspecific mission scenarios using PHALANX.

Parmi les études novatrices que l'on peut aborder depuis l'orbite martienne en utilisant les données multiangulaires de l'instrument HRSC (canaux nadir, stéréographique et photométrique) de Mars Express, figure la détermination des caractéristiques physiques de la surface, pour cartographier les variations des propriétés physiques des sols et des roches de Mars et les relier aux observations spectroscopiques et thermiques réalisées par les instruments OMEGA, TES et THEMIS. <br /> Les modèles de Minnaert et de fonction de phase à deux termes de Hapke s'accordent pour démontrer que les observations multiangulaires de HRSC acquises au cours de la mission sur le cratère Gusev et le flanc sud de Apollinaris peuvent, sous certaines limites, être assemblées pour produire une fonction de phase couvrant un grand intervalle d'angles de phase (5-95°) avec une résolution spatiale de l'ordre de 400 mètres à 1.6 kilomètres.<br /><br />Combiné à la rugosité de surface, l'effet d'opposition joue un rôle significatif, <br />suggérant que les propriétés optiques de l'état de surface au niveau de Gusev sont fortement influencées par la porosité, l'état de compaction et l'organisation de la couche superficielle du régolite. L'aspect cartographique de la présente étude photométrique est utile pour donner une meilleure signification aux variations observées. Selon les tendances générales de cette analyse, il est très probable que la variation photométrique observée, au moins pour les régions centre et Ouest du cratère Gusev, soit partiellement due aux régimes des vents dominants, ces derniers ayant une orientation Nord - Nord Ouest / Sud - Sud Est et induisant une perturbation de la couche supérieure de la surface. Les résultats de cette étude photométrique sont en accord avec des études indépendantes basées sur les données orbitales d'inertie thermique et de spectroscopie de réflectance, et également des données photométriques et d'imagerie microscopique réalisées in situ par les instrument du rover Spirit. Cela conforte l'idée de l'existence en surface d'une couche composée de poussière à grains fins qui aurait été enlevée au niveau des unités de faible albédo révélant ainsi un substrat basaltique sombre formé de matériaux à grains plus grossiers. <br /><br />Ces résultats ouvrent de nouvelles possibilités pour documenter les processus de surface sur les planètes.