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Journal articles on the topic 'ExoMars Rover'

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Published: 10 December 2022

Last updated: 28 January 2023

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1

Barnes, Dave, Enrico Battistelli, Reinhold Bertrand, Francesco Butera, Raja Chatila, Alessandro Del Biancio, Chris Draper, et al. "The ExoMars rover and Pasteur payload Phase A study: an approach to experimental astrobiology." International Journal of Astrobiology 5, no. 3 (July 2006): 221–41. http://dx.doi.org/10.1017/s1473550406003090.

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The Aurora programme is the European Space Agency programme of planetary exploration focused primarily on Mars. Although the long-term goals of Aurora are uncertain, the early phases of the Aurora programme are based on a number of robotic explorer missions – the first of these is the ExoMars rover mission currently scheduled for launch in 2013 (originally 2011). The ExoMars rover – developed during a Phase A study – is a 240 kg Mars rover supporting a 40 kg payload (called Pasteur) of scientific instruments specifically designed for astrobiological prospecting to search for evidence of extant or extinct life. In other words, ExoMars represents a new approach to experimental astrobiology in which scientific instruments are robotically deployed at extraterrestrial environments of astrobiological interest. Presented is an outline of the design of the rover, its robotic technology, its instrument complement and aspects of the design decisions made. ExoMars represents a highly challenging mission, both programmatically and technologically. Some comparisons are made with the highly successful Mars Exploration Rovers, Spirit and Opportunity.

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2

Li, D., R. Li, and A. Yilmaz. "ESA ExoMars: Pre-launch PanCam Geometric Modeling and Accuracy Assessment." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-3 (August 11, 2014): 177–82. http://dx.doi.org/10.5194/isprsarchives-xl-3-177-2014.

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ExoMars is the flagship mission of the European Space Agency (ESA) Aurora Programme. The mobile scientific platform, or rover, will carry a drill and a suite of instruments dedicated to exobiology and geochemistry research. As the ExoMars rover is designed to travel kilometres over the Martian surface, high-precision rover localization and topographic mapping will be critical for traverse path planning and safe planetary surface operations. For such purposes, the ExoMars rover Panoramic Camera system (PanCam) will acquire images that are processed into an imagery network providing vision information for photogrammetric algorithms to localize the rover and generate 3-D mapping products. Since the design of the ExoMars PanCam will influence localization and mapping accuracy, quantitative error analysis of the PanCam design will improve scientists’ awareness of the achievable level of accuracy, and enable the PanCam design team to optimize its design to achieve the highest possible level of localization and mapping accuracy. Based on photogrammetric principles and uncertainty propagation theory, we have developed a method to theoretically analyze how mapping and localization accuracy would be affected by various factors, such as length of stereo hard-baseline, focal length, and pixel size, etc.

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3

Patel, Nildeep, Richard Slade, and Jim Clemmet. "The ExoMars rover locomotion subsystem." Journal of Terramechanics 47, no. 4 (August 2010): 227–42. http://dx.doi.org/10.1016/j.jterra.2010.02.004.

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4

Barrett, Alexander. "Where should the ExoMars rover land?" Astronomy & Geophysics 59, no. 5 (October 1, 2018): 5.12–5.16. http://dx.doi.org/10.1093/astrogeo/aty229.

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5

Ribes-Pleguezuelo, Pol, Denis Guilhot, Marta Gilaberte Basset, Erik Beckert, Ramona Eberhardt, and Andreas Tünnermann. "Insights of the Qualified ExoMars Laser and Mechanical Considerations of Its Assembly Process." Instruments 3, no. 2 (April 19, 2019): 25. http://dx.doi.org/10.3390/instruments3020025.

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1960 is the birth year of both the laser and the Mars exploration missions. Eleven years passed before the first successful landing on Mars, and another six before the first rover could explore the planet’s surface. In 2011, both technologies were reunited with the first laser landing on Mars as part of the ChemCam instrument, integrated inside the Curiosity Rover. In 2020, two more rovers with integrated lasers are expected to land on Mars: one through the National Aeronautics and Space Administration (NASA) Mars 2020 mission and another through the European Space Agency (ESA) ExoMars mission. The ExoMars mission laser is one of the components of the Raman Spectrometer instrument, which the Aerospace Technology National Institute of Spain (INTA) is responsible for. It uses as its excitation source a laser designed by Monocrom and manufactured in collaboration with the Fraunhofer Institute for Applied Optics and Precision Engineering (IOF). In this paper, we present for the first time the final flight module laser that has been installed in the rover’s onboard laboratory and validated to be shipped to Mars in 2020. Particular emphasis is given to mechanical considerations and assembly procedures, as the ExoMars laser assembly has required soldering techniques in contrast to the standard adhesive technologies used for most laser assembly processes in order to fulfill the environmental and optical requirements of the mission.

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6

Coates, A. J., R. Jaumann, A. D. Griffiths, C. E. Leff, N. Schmitz, J. L. Josset, G. Paar, et al. "The PanCam Instrument for the ExoMars Rover." Astrobiology 17, no. 6-7 (July 2017): 511–41. http://dx.doi.org/10.1089/ast.2016.1548.

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7

Pérez del Pulgar Mancebo, Carlos Jesús Pérez del Pulgar, Pablo Romeo Manrique, Gonzalo Jesús Paz Delgado, José Ricardo Sánchez Ibáñez, and Martin Azkarate. "Choosing the Best Locomotion Mode in Reconfigurable Rovers." Electronics 8, no. 7 (July 22, 2019): 818. http://dx.doi.org/10.3390/electronics8070818.

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The use of autonomous rovers for planetary exploration is crucial to traverse long distances and perform new discoveries on other planets. One of the most important issues is related to the interaction between the rover wheel and terrain, which would help to save energy and even avoid getting entrapped. The use of reconfigurable rovers with different locomotion modes has demonstrated improvement of traction and energy consumption. Therefore, the objective of this paper is to determine the best locomotion mode during the rover traverse, based on simple parameters, which would be obtained from propioceptive sensors. For this purpose, interaction of different terrains have been modelled and analysed with the ExoTeR, a scale prototype rover of the European ExoMars 2020 mission. This rover is able to perform, among others, the wheel walking locomotion mode, which has been demonstrated to improve traction in different situations. Currently, it is difficult to decide the instant time the rover has to switch from this locomotion mode to another. This paper also proposes a novel method to estimate the slip ratio, useful for deciding the best locomotion mode. Finally, results are obtained from an immersive simulation environment. It shows how each locomotion mode is suitable for different terrains and slopes and the proposed method is able to estimate the slip ratio.

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8

Ellery, Alex, Lutz Richter, and Reinhold Bertrand. "CHASSIS DESIGN & PERFORMANCE ANALYSIS FOR THE EUROPEAN EXOMARS ROVER." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 507–17. http://dx.doi.org/10.1139/tcsme-2005-0031.

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The European Space Agency’s (ESA) ExoMars rover has recently been subject to a Phase A study led by EADS Astrium, UK. This rover mission represents a highly ambitious venture in that the rover is of considerable size ~200+kg with high mobility carrying a highly complex scientific instrument suite (Pasteur) of up to 40 kg in mass devoted to exobiological investigation of the Martian surface and sub-surface. The chassis design has been a particular challenge given the inhospitable terrain on Mars and the need to traverse such terrain robustly in order to deliver the scientific instruments to science targets of exobiological interest, We present some of the results and design issues encountered during the Phase A study related to the chassis. In particular, we have focussed on the overall tractive performance of a number of candidate chassis designs and selected the RCL (Science & Technology Rover Company Ltd in Russian) concept C design as the baseline option in terms of high performance with minimal mechanical complexity overhead. This design is a six-wheeled double-rocker bogie design to provide springless suspension and maintain approximately equal weight distribution across each wheel.

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9

Barthelmes, Stefan, and Ulrich Konigorski. "Model-based chassis control system for an over-actuated planetary exploration rover." at - Automatisierungstechnik 68, no. 1 (January 28, 2020): 58–71. http://dx.doi.org/10.1515/auto-2019-0090.

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AbstractIn planetary exploration, wheeled mobile robots (rovers) are popular for extending action range compared to a lander. Despite their success, they continue to struggle with soft grounds which shows in high sinkage and can lead to an immobilization in the worst case. Rovers usually are over-actuated due to individual wheel drives and steering, which is rarely made use of in current missions. Some work optimizing the resulting degrees of freedom exists but often does not use all available model knowledge. In this work, the rover is consequently modeled with the subsystems rigid body dynamics, kinematics and wheel/ground dynamics. Feedback linearization is used for the rigid body and the underlying wheel/ground controllers on individual wheel level. The control allocation of the forces is done via the pseudo-inverse and a base of the null-space to extract the available degrees of freedom. A verification of the approach is shown in a co-simulation with a high-fidelity model of the ExoMars rover.

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10

Amos, Steve, and Paul Brochard. "Battery for Extended Temperature Range Exomars Rover Mission." E3S Web of Conferences 16 (2017): 06001. http://dx.doi.org/10.1051/e3sconf/20171606001.

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11

Gouache, Thibault P., Nildeep Patel, Christopher Brunskill, Gregory P. Scott, Chakravarthini M. Saaj, Marcus Matthews, and Liang Cui. "Soil simulant sourcing for the ExoMars rover testbed." Planetary and Space Science 59, no. 8 (June 2011): 779–87. http://dx.doi.org/10.1016/j.pss.2011.03.006.

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12

Mitrofanov, I. G., M. L. Litvak, S. Y. Nikiforov, I. Jun, Y. I. Bobrovnitsky, D. V. Golovin, A. S. Grebennikov, et al. "The ADRON-RM Instrument Onboard the ExoMars Rover." Astrobiology 17, no. 6-7 (July 2017): 585–94. http://dx.doi.org/10.1089/ast.2016.1566.

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13

Woods, Mark, Andy Shaw, Dave Barnes, Dave Price, Derek Long, and Derek Pullan. "Autonomous science for an ExoMars Rover-like mission." Journal of Field Robotics 26, no. 4 (April 2009): 358–90. http://dx.doi.org/10.1002/rob.20289.

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14

Miles, Helen C., Matthew D. Gunn, Andrew J. Coates, and Mike Potel. "Seeing Through the “Science Eyes” of the ExoMars Rover." IEEE Computer Graphics and Applications 40, no. 2 (March 1, 2020): 71–81. http://dx.doi.org/10.1109/mcg.2020.2970796.

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15

Yuen, Peter, Yang Gao, Andrew Griffiths, Andrew Coates, Jan-Peter Muller, Alan Smith, Dave Walton, Craig Leff, Barry Hancock, and Dongjoe Shin. "ExoMars Rover PanCam: Autonomous & Computational Intelligence [Application Notes]." IEEE Computational Intelligence Magazine 8, no. 4 (November 2013): 52–61. http://dx.doi.org/10.1109/mci.2013.2279561.

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16

Bhardwaj, Anshuman, Lydia Sam, F. Javier Martin-Torres, and Maria-Paz Zorzano. "Distribution and Morphologies of Transverse Aeolian Ridges in ExoMars 2020 Rover Landing Site." Remote Sensing 11, no. 8 (April 15, 2019): 912. http://dx.doi.org/10.3390/rs11080912.

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Aeolian processes are believed to play a major role in the landscape evolution of Mars. Investigations on Martian aeolian landforms such as ripples, transverse aeolian ridges (TARs), and dunes, and aeolian sediment flux measurements are important to enhance our understanding of past and present wind regimes, the ongoing dust cycle, landscape evolution, and geochemistry. These aeolian bedforms are often comprised of loose sand and sharply undulating topography and thus pose a threat to mobility and maneuvers of Mars rovers. Here we present a first-hand account of the distribution, morphologies, and morphometrics of TARs in Oxia Planum, the recently selected ExoMars 2020 Rover landing site. The gridded mapping was performed for contiguous stretches of TARs within all the landing ellipses using 57 sub-meter high resolution imaging science experiment (HiRISE) scenes. We also provide the morphological descriptions for all types of TARs present within the landing ellipses. We use HiRISE digital terrain models (DTMs) along with the images to derive morphometric information for TARs in Oxia Planum. In general, the average areal TAR coverage was found to be 5.4% (±4.9% standard deviation), increasing from west to east within the landing ellipses. We report the average TAR morphometrics in the form of crest–ridge width (131.1 ± 106.2 m), down-wind TAR length (17.6 ± 10.1 m), wavelength (37.3 ± 11.6 m), plan view aspect ratio (7.1 ± 2.3), inter-bedform spacing (2.1 ± 1.1), slope (10.6° ± 6.1°), predominant orientations (NE-SW and E-W), and height (1.2 ± 0.8 m). While simple TARs are predominant, we report other TAR morphologies such as forked TAR, wavy TAR with associated smaller secondary ripples, barchan-like TAR, networked TAR, and mini-TARs from the region. Our results can help in planning the rover traverses in terms of both safe passage and scientific returns favoring aeolian research, particularly improving our understanding of TARs.

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Brunskill, Christopher, Nildeep Patel, Thibault P. Gouache, Gregory P. Scott, Chakravarthini M. Saaj, Marcus Matthews, and Liang Cui. "Characterisation of martian soil simulants for the ExoMars rover testbed." Journal of Terramechanics 48, no. 6 (December 2011): 419–38. http://dx.doi.org/10.1016/j.jterra.2011.10.001.

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18

Goetz, W., W. B. Brinckerhoff, R. Arevalo, C. Freissinet, S. Getty, D. P. Glavin, S. Siljeström, et al. "MOMA: the challenge to search for organics and biosignatures on Mars." International Journal of Astrobiology 15, no. 3 (July 2016): 239–50. http://dx.doi.org/10.1017/s1473550416000227.

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AbstractThis paper describes strategies to search for, detect, and identify organic material on the surface and subsurface of Mars. The strategies described include those applied by landed missions in the past and those that will be applied in the future. The value and role of ESA's ExoMars rover and of her key science instrument Mars Organic Molecule Analyzer (MOMA) are critically assessed.

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Martín‐Torres, Javier, María‐Paz Zorzano‐Mier, Erik Nyberg, Abhilash Vakkada-Ramachandran, and Anshuman Bhardwaj. "Brine-Induced Tribocorrosion Accelerates Wear on Stainless Steel: Implications for Mars Exploration." Advances in Astronomy 2021 (December 28, 2021): 1–11. http://dx.doi.org/10.1155/2021/6441233.

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Tribocorrosion is a degradation phenomenon of material surfaces subjected to the combined action of mechanical loading and corrosion attack caused by the environment. Although corrosive chemical species such as materials like chloride atoms, chlorides, and perchlorates have been detected on the Martian surface, there is a lack of studies of its impact on materials for landed spacecraft and structures that will support surface operations on Mars. Here, we present a series of experiments on the stainless-steel material of the ExoMars 2020 Rosalind Franklin rover wheels. We show how tribocorrosion induced by brines accelerates wear on the materials of the wheels. Our results do not compromise the nominal ExoMars mission but have implications for future long-term surface operations in support of future human exploration or extended robotic missions on Mars.

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Hewitt, Robert A., Evangelos Boukas, Martin Azkarate, Marco Pagnamenta, Joshua A. Marshall, Antonios Gasteratos, and Gianfranco Visentin. "The Katwijk beach planetary rover dataset." International Journal of Robotics Research 37, no. 1 (December 1, 2017): 3–12. http://dx.doi.org/10.1177/0278364917737153.

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This paper describes a dataset collected along a 1 km section of beach near Katwijk, The Netherlands, which was populated with a collection of artificial rocks of varying sizes to emulate known rock size densities at current and potential Mars landing sites. First, a fixed-wing unmanned aerial vehicle collected georeferenced images of the entire area. Then, the beach was traversed by a rocker-bogie-style rover equipped with a suite of sensors that are envisioned for use in future planetary rover missions. These sensors, configured so as to emulate the ExoMars rover, include stereo cameras, and time-of-flight and scanning light-detection-and-ranging sensors. This dataset will be of interest to researchers developing localization and mapping algorithms for vehicles traveling over natural and unstructured terrain in environments that do not have access to the global navigation satellite system, and where only previously taken satellite or aerial imagery is available.

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Hickman-Lewis, Keyron, Frédéric Foucher, Steven Pelletier, Fabio Messori, and Frances Westall. "Geological appraisals of core samples using the ExoMars 2020 rover instrumentation." Planetary and Space Science 180 (January 2020): 104743. http://dx.doi.org/10.1016/j.pss.2019.104743.

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22

Kereszturi, A., B. Bradak, E. Chatzitheodoridis, and G. Ujvari. "Indicators and Methods to Understand Past Environments from ExoMars Rover Drills." Origins of Life and Evolution of Biospheres 46, no. 4 (March 31, 2016): 435–54. http://dx.doi.org/10.1007/s11084-016-9492-3.

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23

Griffiths, Andrew D., Andrew J. Coates, Ralf Jaumann, Harald Michaelis, Gerhard Paar, David Barnes, and Jean-Luc Josset. "Context for the ESA ExoMars rover: the Panoramic Camera (PanCam) instrument." International Journal of Astrobiology 5, no. 3 (July 2006): 269–75. http://dx.doi.org/10.1017/s1473550406003387.

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The recently approved ExoMars rover is the first element of the ESA Aurora programme and is scheduled to deliver the Pasteur exobiology payload to Mars by 2015. The 0.7 kg Panoramic Camera will provide multi-spectral stereo images with 65 ° field-of-view (1.1 mrad/pixel) and high-resolution (85 μrad/pixel) monoscopic ‘zoom’ images with 5 ° field-of-view. The stereo wide-angle cameras (WAC) are based on the Beagle 2 Stereo Camera System heritage (Griffiths et al. (2005). Planet. Space Sci. 53, 1466–1488). The Panoramic Camera instrument is designed to fulfil the digital terrain mapping requirements of the mission as well as to provide multi-spectral geological imaging, colour and stereo panoramic images, water vapour abundance and dust optical depth measurements. It can also be used for high-resolution imaging of inaccessible locations on crater walls and to observe retrieved subsurface samples before ingestion into the rest of the Pasteur payload.

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Korablev, Oleg I., Yurii Dobrolensky, Nadezhda Evdokimova, Anna A. Fedorova, Ruslan O. Kuzmin, Sergei N. Mantsevich, Edward A. Cloutis, et al. "Infrared Spectrometer for ExoMars: A Mast-Mounted Instrument for the Rover." Astrobiology 17, no. 6-7 (July 2017): 542–64. http://dx.doi.org/10.1089/ast.2016.1543.

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25

Rull, Fernando, Sylvestre Maurice, Ian Hutchinson, Andoni Moral, Carlos Perez, Carlos Diaz, Maria Colombo, et al. "The Raman Laser Spectrometer for the ExoMars Rover Mission to Mars." Astrobiology 17, no. 6-7 (July 2017): 627–54. http://dx.doi.org/10.1089/ast.2016.1567.

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26

Pacelli, Claudia, Alessia Cassaro, Mickael Baqué, Laura Selbmann, Laura Zucconi, Alessandro Maturilli, Lorenzo Botta, et al. "Fungal biomarkers are detectable in Martian rock-analogues after space exposure: implications for the search of life on Mars." International Journal of Astrobiology 20, no. 5 (October 2021): 345–58. http://dx.doi.org/10.1017/s1473550421000240.

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AbstractMars is a primary target of astrobiological interest: its past environmental conditions may have been favourable to the emergence of a prebiotic chemistry and, potentially, biological activity. In situ exploration is currently underway at the Mars surface, and the subsurface (2 m depth) will be explored in the future ESA ExoMars mission. In this context, BIOlogy and Mars EXperiment was performed to evaluate the stability and detectability of organic biomarkers under space and Mars-like conditions. Our data suggested that some target molecules, namely melanin, azelaic acid and nucleic acids, can be detected even after 16 months exposure to Low Earth Orbit conditions by multidisciplinary approaches. We used the same techniques as onboard the ExoMars rover, as Raman and infrared spectroscopies and gas chromatograph-mass spectrometer, and polymerase chain reaction even if this is not planned for the imminent mission to Mars. These results should be taken into account for future Mars exploration.

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Formisano, M., M. C. De Sanctis, C. Federico, G. Magni, F. Altieri, E. Ammannito, S. De Angelis, M. Ferrari, and A. Frigeri. "Subsurface Thermal Modeling of Oxia Planum, Landing Site of ExoMars 2022." Advances in Astronomy 2021 (September 1, 2021): 1–10. http://dx.doi.org/10.1155/2021/9924571.

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Numerical simulations are required to thermophysically characterize Oxia Planum, the landing site of the mission ExoMars 2022. A drilling system is installed on the ExoMars rover, and it will be able to analyze down to 2 meters in the subsurface of Mars. The spectrometer Ma_MISS (Mars Multispectral Imager for Subsurface, Coradini and Da Pieve, 2001) will investigate the lateral wall of the borehole generated by the drill, providing hyperspectral images. It is not fully clear if water ice can be found in the subsurface at Oxia Planum. However, Ma_MISS has the capability to characterize and map the presence of possible ices, in particular water ice. We performed simulations of the subsurface temperatures by varying the thermal inertia, and we quantified the effects of self-heating. Moreover, we quantified the heat released by the drilling operations, by exploring different frictional coefficients and angular drill velocities, in order to evaluate the lifetime of possible water ice.

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Cassaro, Alessia, Claudia Pacelli, Mickael Baqué, Jean-Pierre Paul de Vera, Ute Böttger, Lorenzo Botta, Raffaele Saladino, Elke Rabbow, and Silvano Onofri. "Fungal Biomarkers Stability in Mars Regolith Analogues after Simulated Space and Mars-like Conditions." Journal of Fungi 7, no. 10 (October 14, 2021): 859. http://dx.doi.org/10.3390/jof7100859.

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The discovery of life on other planets and moons in our solar system is one of the most important challenges of this era. The second ExoMars mission will look for traces of extant or extinct life on Mars. The instruments on board the rover will be able to reach samples with eventual biomarkers until 2 m of depth under the planet’s surface. This exploration capacity offers the best chance to detect biomarkers which would be mainly preserved compared to samples on the surface which are directly exposed to harmful environmental conditions. Starting with the studies of the endolithic meristematic black fungus Cryomyces antarcticus, which has proved its high resistance under extreme conditions, we analyzed the stability and the resistance of fungal biomarkers after exposure to simulated space and Mars-like conditions, with Raman and Gas Chromatography–Mass Spectrometry, two of the scientific payload instruments on board the rover.

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Bontognali, Tomaso R. R., Yardena Meister, Brigitte Kuhn, Jean-Luc Josset, Beda A. Hofmann, and Nikolaus Kuhn. "Identifying optimal working conditions for close-up imagining during the ExoMars rover mission." Planetary and Space Science 208 (November 2021): 105355. http://dx.doi.org/10.1016/j.pss.2021.105355.

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30

Vago, Jorge L., Frances Westall, Pasteur Instrument Teams, Landing S, Andrew J. Coates, Ralf Jaumann, Oleg Korablev, Valérie Ciarletti, et al. "Habitability on Early Mars and the Search for Biosignatures with the ExoMars Rover." Astrobiology 17, no. 6-7 (July 2017): 471–510. http://dx.doi.org/10.1089/ast.2016.1533.

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31

De Sanctis, M. C., F. Altieri, E. Ammannito, S. De Angelis, B. Ehlmann, M. Ferrari, A. Frigeri, et al. "Exploring the Shallow Subsurface of Mars with the Ma_MISS Spectrometer on the ExoMars Rover Rosalind Franklin." Planetary Science Journal 3, no. 6 (June 1, 2022): 142. http://dx.doi.org/10.3847/psj/ac694f.

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Abstract An essential part of the Exomars 2022 payload is the Mars Multispectral Imager for Subsurface Studies (Ma_MISS) experiment hosted by the drill system. Ma_MISS is a visible and near-infrared (0.4–2.3 μm) miniaturized spectrometer with an optical head inside the drill tip capable of observing the drill borehole with a spatial resolution of 120 μm. Here we report on how the Ma_MISS hyperspectral information provides in situ investigation of the subsurface at very fine resolution, prior to the collection of the samples that will be manipulated and crushed for further analysis by the analytical laboratory on the rover. Ma_MISS is the instrument that will closely investigate the subsurface mineralogical characteristics in its original geologic context at depths never reached before in Mars exploration. Ma_MISS recognizes all the major spectral features of the clays, basaltic, and minor phases expected at the ExoMars landing site, Oxia Planum. The high spatial resolution on the borehole wall is such that single grains of about 100 μm can be distinguishable in the assemblage of minerals observed by Ma_MISS. The spatial distribution of the mineralogies within the borehole walls is associated with the rocks and the processes that put these materials in place and possibly altered them with time, characterizing the habitats found in the stratigraphic record, indicating which ones are the most suitable to have held or to be holding nowadays traces of life.

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Veneranda, Marco, Jose Antonio Manrique-Martinez, Guillermo Lopez-Reyes, Jesús Medina, Imanol Torre-Fdez, Kepa Castro, Juan Manuel Madariaga, et al. "Spectroscopic study of olivine-bearing rocks and its relevance to the ExoMars rover mission." Spectrochimica Acta Part A: Molecular and Biomolecular Spectroscopy 223 (December 2019): 117360. http://dx.doi.org/10.1016/j.saa.2019.117360.

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33

Niksirat, Parna, Adriana Daca, and Krzysztof Skonieczny. "The effects of reduced-gravity on planetary rover mobility." International Journal of Robotics Research 39, no. 7 (May 31, 2020): 797–811. http://dx.doi.org/10.1177/0278364920913945.

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One of the major challenges faced by planetary exploration rovers today is the negotiation of difficult terrain, such as fine granular regolith commonly found on the Moon and Mars. Current testing methods on Earth fail to account for the effect of reduced gravity on the soil itself. This work characterizes the effects of reduced gravity on wheel–soil interactions between an ExoMars rover wheel prototype and a martian soil simulant aboard parabolic flights producing effective martian and lunar gravitational accelerations. These experiments are the first to collect wheel–soil interaction imagery and force/torque sensor data alongside wheel sinkage data. Results from reduced-gravity flights are compared with on-ground experiments with all parameters equal, including wheel load, such that the only difference between the experiments is the effect of gravity on the soil itself. In lunar gravity, a statistically significant average reduction in traction of 20% is observed compared with 1 g, and in martian gravity an average traction reduction of 5–10% is observed. Subsurface soil imaging shows that soil mobilization increases as gravity decreases, suggesting a deterioration in soil strength, which could be the cause of the reduction in traction. Statistically significant increases in wheel sinkage in both martian and lunar gravity provide additional evidence for decreased soil strength. All of these observations (decreased traction, increased soil mobilization, and increased sinkage) hinder a rover’s ability to drive, and should be considered when interpreting results from reduced-load mobility tests conducted on Earth.

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De Angelis, S., M. C. De Sanctis, F. Altieri, M. Ferrari, E. Ammannito, S. Novi, M. Dami, et al. "The pre-launch on-ground characterization of Mars Multispectral Imager for Subsurface Studies (Ma_MISS) spectrometer for ExoMars rover mission: Spectral calibration." Review of Scientific Instruments 93, no. 12 (December 1, 2022): 123704. http://dx.doi.org/10.1063/5.0102386.

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The Ma_MISS spectrometer is integrated within the drilling system of the Rosalind Franklin ExoMars rover. This paper reports the on-ground calibration campaign performed on the spectrometer. Here, we focus on the spectral calibration of the instrument. The experimental setup used to carry out calibration is described, and the methods used for data processing and key parameters retrieval are explained. In particular, the spectral parameters such as (i) pixel central wavelengths, (ii) spectral response function, (iii) spectral resolution, (iv) sampling, and (v) range are determined. In a follow-up paper, the linearity and radiometric calibrations are described, while in De Sanctis et al. [Planet. Sci. J. 3, 142 (2022)], the validation of spectral measurements performed on synthetic and natural rock targets is presented.

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Mastropietro, M., M. Pajola, G. Cremonese, G. Munaretto, and A. Lucchetti. "Boulder Analysis on the Oxia Planum ExoMars 2022 Rover Landing Site: Scientific and Engineering Perspectives." Solar System Research 54, no. 6 (November 2020): 504–19. http://dx.doi.org/10.1134/s0038094620060040.

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Kereszturi, Akos. "Landing site rationality scaling for subsurface sampling on Mars—Case study for ExoMars Rover-like missions." Planetary and Space Science 72, no. 1 (November 2012): 78–90. http://dx.doi.org/10.1016/j.pss.2012.07.007.

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Hervé, Y., V. Ciarletti, A. Le Gall, C. Corbel, R. Hassen-Khodja, W. S. Benedix, D. Plettemeier, et al. "The WISDOM radar on board the ExoMars 2022 Rover: Characterization and calibration of the flight model." Planetary and Space Science 189 (September 2020): 104939. http://dx.doi.org/10.1016/j.pss.2020.104939.

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Josset, Jean-Luc, Frances Westall, Beda A. Hofmann, John Spray, Charles Cockell, Stephan Kempe, Andrew D. Griffiths, et al. "The Close-Up Imager Onboard the ESA ExoMars Rover: Objectives, Description, Operations, and Science Validation Activities." Astrobiology 17, no. 6-7 (July 2017): 595–611. http://dx.doi.org/10.1089/ast.2016.1546.

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Tao, Yu, Jan-Peter Muller, Susan J. Conway, and Siting Xiong. "Large Area High-Resolution 3D Mapping of Oxia Planum: The Landing Site for the ExoMars Rosalind Franklin Rover." Remote Sensing 13, no. 16 (August 18, 2021): 3270. http://dx.doi.org/10.3390/rs13163270.

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We demonstrate an end-to-end application of the in-house deep learning-based surface modelling system, called MADNet, to produce three large area 3D mapping products from single images taken from the ESA Mars Express’s High Resolution Stereo Camera (HRSC), the NASA Mars Reconnaissance Orbiter’s Context Camera (CTX), and the High Resolution Imaging Science Experiment (HiRISE) imaging data over the ExoMars 2022 Rosalind Franklin rover’s landing site at Oxia Planum on Mars. MADNet takes a single orbital optical image as input, provides pixelwise height predictions, and uses a separate coarse Digital Terrain Model (DTM) as reference, to produce a DTM product from the given input image. Initially, we demonstrate the resultant 25 m/pixel HRSC DTM mosaic covering an area of 197 km × 182 km, providing fine-scale details to the 50 m/pixel HRSC MC-11 level-5 DTM mosaic. Secondly, we demonstrate the resultant 12 m/pixel CTX MADNet DTM mosaic covering a 114 km × 117 km area, showing much more detail in comparison to photogrammetric DTMs produced using the open source in-house developed CASP-GO system. Finally, we demonstrate the resultant 50 cm/pixel HiRISE MADNet DTM mosaic, produced for the first time, covering a 74.3 km × 86.3 km area of the 3-sigma landing ellipse and partially the ExoMars team’s geological characterisation area. The resultant MADNet HiRISE DTM mosaic shows fine-scale details superior to existing Planetary Data System (PDS) HiRISE DTMs and covers a larger area that is considered difficult for existing photogrammetry and photoclinometry pipelines to achieve, especially given the current limitations of stereo HiRISE coverage. All of the resultant DTM mosaics are co-aligned with each other, and ultimately with the Mars Global Surveyor’s Mars Orbiter Laser Altimeter (MOLA) DTM, providing high spatial and vertical congruence. In this paper, technical details are presented, issues that arose are discussed, along with a visual evaluation and quantitative assessments of the resultant DTM mosaic products.

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Marshall, Craig P., and Alison Olcott Marshall. "Raman spectroscopy as a screening tool for ancient life detection on Mars." Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences 372, no. 2030 (December 13, 2014): 20140195. http://dx.doi.org/10.1098/rsta.2014.0195.

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The search for sp 2 -bonded carbonaceous material is one of the major life detection strategies of the astrobiological exploration programmes of National Aeronautics and Space Administration and European Space Agency (ESA). The ESA ExoMars rover scheduled for launch in 2018 will include a Raman spectrometer with the goal of detecting sp 2 -bonded carbonaceous material as potential evidence of ancient life. However, sp 2 -bonded carbonaceous material will yield the same Raman spectra of well-developed G and D bands whether they are synthesized biologically or non-biologically. Therefore, the origin and source of sp 2 -bonded carbonaceous material cannot be elucidated by Raman spectroscopy alone. Here, we report the combined approach of Raman spectroscopy and gas chromatography–mass spectrometry biomarker analysis to Precambrian sedimentary rocks, which taken together, provides a promising new methodology for readily detecting and rapidly screening samples for immature organic material amenable to successful biomarker analysis.

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Ciarletti, Valérie, Stephen Clifford, Dirk Plettemeier, Alice Le Gall, Yann Hervé, Sophie Dorizon, Cathy Quantin-Nataf, et al. "The WISDOM Radar: Unveiling the Subsurface Beneath the ExoMars Rover and Identifying the Best Locations for Drilling." Astrobiology 17, no. 6-7 (July 2017): 565–84. http://dx.doi.org/10.1089/ast.2016.1532.

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Sivo, Stefano, Angelo Stio, Francesco Mocera, and Aurelio Somà. "A study of a rover wheel for Martian explorations, based on a flexible multibody approach." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 234, no. 2 (December 6, 2019): 306–21. http://dx.doi.org/10.1177/1464419319893489.

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Vehicles for planetary exploration have to operate in completely different environments from Earth. For this reason, the design process of the exploration unit has an important role and can affect the requirements of the entire mission for the different space agencies involved. These operations are very expensive and time consuming, so that, over the years, ad hoc CAE methods have been developed to help engineers in the design stage. These methods are used to simulate several working conditions, evaluating which manoeuvres robots can safely perform during their mission. In this framework, a study was performed by Politecnico di Torino and Thales Alenia Space Italia. The goal was to find an efficient way to implement flexibility properties of a special wheel of a Rover for Martian explorations in a commercial (general purpose) MTB code. The ExoMars Rover was considered as case study of this work. When dealing with manoeuvres feasibility analysis, the best compromise between solution accuracy and computational time required must be found. The aim of this study was to explore pros and cons of several techniques which could allow modelling a complex flexible wheel using a commercial general-purpose MTB code. The absolute nodal coordinate formulation was compared with the other reduced-order modelling strategies proposed by the authors to implement the flexibility of a wheel in a multibody model of the full vehicle. Numerical results show good performance of the reduced morphing model in terms of computational time versus numerical accuracy.

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Bergeot, Nicolas, Olivier Witasse, Sébastien Le Maistre, Pierre-Louis Blelly, Wlodek Kofman, Kerstin Peter, Véronique Dehant, and Jean-Marie Chevalier. "MoMo: a new empirical model of the Mars ionospheric total electron content based on Mars Express MARSIS data." Journal of Space Weather and Space Climate 9 (2019): A36. http://dx.doi.org/10.1051/swsc/2019035.

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Aims: Several scientific landers and rovers have reached the Martian surface since the 1970s. Communication between the asset (i.e., lander or rover) and Mars orbiters or Earth antennas uses radio signals in UHF to X-band frequencies passing through the Mars’ ionosphere. It is consequently necessary to take into account electron density variation in the Mars’ ionosphere to correct the refraction of the signal transmitted. Methods: We developed a new empirical model of the Mars’ ionosphere called MoMo. It is based on the large database of Total Electron Content (TEC) derived from the subsurface mode of the Mars Express MARSIS radar. The model provides vertical TEC as a function of solar zenith angle, solar activity, solar longitude and location. For validation, the model is compared with Mars Express radio occultation data as well as with the numerical model IPIM (IRAP Plasmasphere-Ionosphere Model). Results: We discussed the output of the model in terms of climatology behaviour of the Mars’ ionosphere. The output of MoMo is then uses to quantify the impact of the Martian ionosphere for radio-science experiments. From our results, the effect is of the order of 10−3 mm s−1 in Doppler observables especially around sunrise and sunset. Consequently, this new model could be used to support the data analysis of any radio-science experiment and especially for present InSight RISE and futur ExoMars LARA instruments aiming at better understand the deep-interior of Mars.

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Barrett, Alexander M., Matthew R. Balme, Mark Woods, Spyros Karachalios, Danilo Petrocelli, Luc Joudrier, and Elliot Sefton-Nash. "NOAH-H, a deep-learning, terrain classification system for Mars: Results for the ExoMars Rover candidate landing sites." Icarus 371 (January 2022): 114701. http://dx.doi.org/10.1016/j.icarus.2021.114701.

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Balme, Matt, Ellen Robson, Rob Barnes, Frances Butcher, Peter Fawdon, Ben Huber, Thomas Ortner, et al. "Surface-based 3D measurements of small aeolian bedforms on Mars and implications for estimating ExoMars rover traversability hazards." Planetary and Space Science 153 (April 2018): 39–53. http://dx.doi.org/10.1016/j.pss.2017.12.008.

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Pajola, Maurizio, Sandro Rossato, Emanuele Baratti, Riccardo Pozzobon, Cathy Quantin, John Carter, and Patrick Thollot. "Boulder abundances and size-frequency distributions on Oxia Planum-Mars: Scientific implications for the 2020 ESA ExoMars rover." Icarus 296 (November 2017): 73–90. http://dx.doi.org/10.1016/j.icarus.2017.05.011.

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Leseigneur, Guillaume, Jean-Jacques Filippi, Nicolas Baldovini, and Uwe Meierhenrich. "Absolute Configuration of Aliphatic Hydrocarbon Enantiomers Identified by Gas Chromatography: Theorized Application for Isoprenoid Alkanes and the Search of Molecular Biosignatures on Mars." Symmetry 14, no. 2 (February 5, 2022): 326. http://dx.doi.org/10.3390/sym14020326.

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Acyclic saturated hydrocarbon enantiomers were resolved by gas chromatography using a β-cyclodextrin-based chiral stationary phase. The stereospecific synthesis of single enantiomers of 4-methyloctane allowed to assign the absolute stereochemical configuration to the resolved enantiomers. Data show that the (S)-4-methyloctane shows higher chromatographic retention as compared to the (R)-4-methyloctane due to stronger van der Waals interactions with the β-cyclodextrin chiral selector. This introductive research presents future prospects for the separation of stereoisomers of larger branched hydrocarbons. We discuss the importance of chiral hydrocarbons, more precisely the stereochemistry of the isoprenoid alkanes pristane and phytane, as potential biosignatures stable on geological timescales. The origins of pristane and phytane in Earth sediments are presented, and we detail the implications for the search of extinct or extant life on Mars. The data presented here will help to systematically investigate the chirality of hydrocarbon enantiomers in biological and nonbiological samples and in samples to be analyzed by the ESA’s ExoMars rover to trace the chiral precursors of life in 2023.

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Tao, Yu, Siting Xiong, Jan-Peter Muller, Greg Michael, Susan J. Conway, Gerhard Paar, Gabriele Cremonese, and Nicolas Thomas. "Subpixel-Scale Topography Retrieval of Mars Using Single-Image DTM Estimation and Super-Resolution Restoration." Remote Sensing 14, no. 2 (January 6, 2022): 257. http://dx.doi.org/10.3390/rs14020257.

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We propose using coupled deep learning based super-resolution restoration (SRR) and single-image digital terrain model (DTM) estimation (SDE) methods to produce subpixel-scale topography from single-view ESA Trace Gas Orbiter Colour and Stereo Surface Imaging System (CaSSIS) and NASA Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (HiRISE) images. We present qualitative and quantitative assessments of the resultant 2 m/pixel CaSSIS SRR DTM mosaic over the ESA and Roscosmos Rosalind Franklin ExoMars rover’s (RFEXM22) planned landing site at Oxia Planum. Quantitative evaluation shows SRR improves the effective resolution of the resultant CaSSIS DTM by a factor of 4 or more, while achieving a fairly good height accuracy measured by root mean squared error (1.876 m) and structural similarity (0.607), compared to the ultra-high-resolution HiRISE SRR DTMs at 12.5 cm/pixel. We make available, along with this paper, the resultant CaSSIS SRR image and SRR DTM mosaics, as well as HiRISE full-strip SRR images and SRR DTMs, to support landing site characterisation and future rover engineering for the RFEXM22.

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Tao, Yu, Susan J. Conway, Jan-Peter Muller, Alfiah R. D. Putri, Nicolas Thomas, and Gabriele Cremonese. "Single Image Super-Resolution Restoration of TGO CaSSIS Colour Images: Demonstration with Perseverance Rover Landing Site and Mars Science Targets." Remote Sensing 13, no. 9 (May 2, 2021): 1777. http://dx.doi.org/10.3390/rs13091777.

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The ExoMars Trace Gas Orbiter (TGO)’s Colour and Stereo Surface Imaging System (CaSSIS) provides multi-spectral optical imagery at 4–5 m/pixel spatial resolution. Improving the spatial resolution of CaSSIS images would allow greater amounts of scientific information to be extracted. In this work, we propose a novel Multi-scale Adaptive weighted Residual Super-resolution Generative Adversarial Network (MARSGAN) for single-image super-resolution restoration of TGO CaSSIS images, and demonstrate how this provides an effective resolution enhancement factor of about 3 times. We demonstrate with qualitative and quantitative assessments of CaSSIS SRR results over the Mars2020 Perseverance rover’s landing site. We also show examples of similar SRR performance over 8 science test sites mainly selected for being covered by HiRISE at higher resolution for comparison, which include many features unique to the Martian surface. Application of MARSGAN will allow high resolution colour imagery from CaSSIS to be obtained over extensive areas of Mars beyond what has been possible to obtain to date from HiRISE.

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Tao, Yu, Siting Xiong, Susan J. Conway, Jan-Peter Muller, Anthony Guimpier, Peter Fawdon, Nicolas Thomas, and Gabriele Cremonese. "Rapid Single Image-Based DTM Estimation from ExoMars TGO CaSSIS Images Using Generative Adversarial U-Nets." Remote Sensing 13, no. 15 (July 22, 2021): 2877. http://dx.doi.org/10.3390/rs13152877.

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The lack of adequate stereo coverage and where available, lengthy processing time, various artefacts, and unsatisfactory quality and complexity of automating the selection of the best set of processing parameters, have long been big barriers for large-area planetary 3D mapping. In this paper, we propose a deep learning-based solution, called MADNet (Multi-scale generative Adversarial u-net with Dense convolutional and up-projection blocks), that avoids or resolves all of the above issues. We demonstrate the wide applicability of this technique with the ExoMars Trace Gas Orbiter Colour and Stereo Surface Imaging System (CaSSIS) 4.6 m/pixel images on Mars. Only a single input image and a coarse global 3D reference are required, without knowing any camera models or imaging parameters, to produce high-quality and high-resolution full-strip Digital Terrain Models (DTMs) in a few seconds. In this paper, we discuss technical details of the MADNet system and provide detailed comparisons and assessments of the results. The resultant MADNet 8 m/pixel CaSSIS DTMs are qualitatively very similar to the 1 m/pixel HiRISE DTMs. The resultant MADNet CaSSIS DTMs display excellent agreement with nested Mars Reconnaissance Orbiter Context Camera (CTX), Mars Express’s High-Resolution Stereo Camera (HRSC), and Mars Orbiter Laser Altimeter (MOLA) DTMs at large-scale, and meanwhile, show fairly good correlation with the High-Resolution Imaging Science Experiment (HiRISE) DTMs for fine-scale details. In addition, we show how MADNet outperforms traditional photogrammetric methods, both on speed and quality, for other datasets like HRSC, CTX, and HiRISE, without any parameter tuning or re-training of the model. We demonstrate the results for Oxia Planum (the landing site of the European Space Agency’s Rosalind Franklin ExoMars rover 2023) and a couple of sites of high scientific interest.

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