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Mission planning for space prospecting missions is a complex undertaking that involves several phases, variables, and systems. MARMOT, Multi-Agent Resource Mission Operations Tools, is an extensible, open-source tool that allows operators to expand and improve current functionalities and automation capabilities of mission planning systems for extra-terrestrial operation by aiming to reduce the exhaustive mental load accumulated by mission operators. This paper presents the first iteration of the tool that provides homogeneous and heterogeneous multi-agent global trajectory planning and optimization suggestions for different tasks and goals in a Lunar environment. The resulting tool leverages collaborative action plans and optimization strategies for enhancing in-situ resource exploitation and discovery on the Moon.

Trabajo presentado en las XI Jornadas de Investigación en la Zona No Saturada del Suelo celebradas en Lugo del 6 al 8 de noviembre de 2013., [ES]: La técnica de Reflectometría de Dominio Temporal (TDR) permite estimar la humedad (θ) y la conductividad eléctrica aparente del suelo (σa). Esta comunicación presenta una nueva versión del programa TDR-Lab para la medida de θ y σa. El TDR-Lab 2.0 es compatible con tres ecómetros TDR diferentes y puede conectarse a multiplexores SDMX50 (Campbell Sci). Puede estimar θ y σa por métodos gráficos y numéricos y incluye nuevas aplicaciones para la medida de niveles de agua, potencial mátrico o conductividad eléctrica de la solución del suelo. Está disponible en una versión ligera que trabaja con ficheros XML y una versión completa que centraliza los datos en una base SQL. Una robusta interface de importación-exportación de datos permite comunicar ambas versiones., [EN]: Time Domain Reflectometry (TDR) is a widely used technique that allows real time estimation of soil volumetric water content (θ), and bulk electrical conductivity (σa). This work presents an enhanced release of TDR-Lab, software which controls instrumentation for measurements of θ and σa. TDR-Lab 2.0 supports three different TDR equipments and can be connected to a multiplexing system (SDMX50, Campbell Sci). Graphical or numerical methods can be used for the estimation of θ and σa. Additional features to carry out water-surface-level measurements such as matric potential and soil solution electrical conductivity are also available. A little and a full release, for field and laboratory applications have been developed. The light version works with XML-files instead of the SQL database engine of the extended TDRLab. A robust import/export graphical user interface facilitates transferring projects between the centralized SQL database and XML files., This research was supported by the Ministerio de Educación y Ciencia of Spain (grant AGL2010-22050-C03-02) and DGA- Obra social La Caixa (Grants: 2012/ GA LC 074).

6 Pagss. 2 Tabls, 5 Figs., [EN] The water retention curve (θ(ψ)), which defines the relationship between soil volumetric water content (θ) and matric potential (ψ), is of paramount importance in characterizing the hydraulic behavior of soils. We present a design of TDR-pressure cell (TDRCell) for estimating θ(ψ) in undisturbed soil samples. The TDR-Cell consists of a 50-mm-long and 50-mm internal diameter stainless steel cylinder attached to a porous ceramic disc and closed at the ends with two aluminum lids. A 49-mm-long and 3-mm-diameter stainless steel rod, which runs longitudinally through the centre of the cylinder, constitutes the inner rod of a coaxial TDR probe. The TDR-Cell was used to determine the θ(ψ) curves of packed sand and seven undisturbed soil samples from three profiles of agricultural soils. These θ(ψ) curves were subsequently compared to those obtained from the corresponding 2-mm sieved soils using the pressure plate method. An excellent correlation (R2 = 0.988) was found between the θ values measured by TDR on the different undisturbed soils and the corresponding θ obtained from the soil gravimetric water content. A typical bimodal θ(ψ) function was found for most of the undisturbed soil samples. Comparison between the θ(ψ) curves measured with the TDR-Cell and those obtained from the 2-mm sieved soils showed that the pressure plate method overestimates θ at low ψ values., [ES] La curva de retención de agua en el suelo, θ(ψ), definida como la relación entre el contenido volumétrico de agua en el suelo (θ) y el potencial mátrico (ψ), es una propiedad fundamental para caracterizar el comportamiento hidráulico del suelo. Este trabajo presenta un diseño de cámara de presión por TDR (Celda-TDR) para la medida de θ(ψ) en muestras intactas de suelo. Esta cámara consiste en un cilindro de acero inoxidable de 50 mm de longitud y 50 mm diámetro interno, que reposa sobre un disco cerámico y cerrado por los dos extremos con dos tapas de aluminio perforadas. La tapa superior tiene insertada una varilla de acero inoxidable de 49 mm de longitud y 3 mm de diámetro que cruza longitudinalmente el centro del cilindro. Ambos elementos, cilindro y varilla, conforman una sonda coaxial cilíndrica que permite medir la humedad del suelo contenido en la cámara de presión. Se efectuó un primer experimento de laboratorio para comprobar la fiabilidad el método TDR para la medida de θ. Posteriormente se estimó, utilizando la Celda-TDR, la curva de retención de siete muestras de suelo inalterado procedentes de los horizontes genéticos de tres calicatas. Las curvas θ(ψ) obtenidas con la Celda-TDR fueron posteriormente comparadas con las obtenidas sobre las mismas muestras de suelo tamizadas a 2 mm de diámetro utilizando el método clásico de las ollas de presión. La correlación entre θ medida por TDR y el método gravimétrico fue excelente (R2 = 0.988). Las curvas θ(ψ) obtenidas con la Celda-TDR en las muestras de suelo inalterado muestran un claro comportamiento bimodal. Sin embargo, se observaron grandes diferencias entre θ(ψ) medida en las muestras inalteradas de suelo y las obtenidas en el suelo tamizado, dando estas últimas una clara sobreestimación de θ en condiciones próximas a saturación., El presente trabajo ha sido financiado por la Comisión Interministerial de Ciencia y Tecnología (proyectos: AGL2007-66320- CO2-02/AGR) CSIC (Proyectos: PIE-200840I214 and 2008401246) y DGA- Obra social La Caixa (Proyectos: GA-LC-010/2008; GA-LC-006- 2008).

30 Pags., 4 Tabls., 5 Figs.-- The .pdf file is the last author version.-- The definitive version is avalaible at: http://onlinelibrary.wiley.com/journal/10.1002/(ISSN)1099-1085, The water retention curve (θ(ψ)), which defines the relationship between soil volumetric water content (θ) and matric potential (ψ), is of paramount importance in characterizing the hydraulic behaviour of soils. However, few methods are so far available for estimating θ(ψ) in undisturbed soil samples. We present a new design of TDR-pressure cell (TDR-Cell) for estimating θ(ψ) in undisturbed soil samples. The TDR-Cell consists of a 50-mm-long and 50-mm internal diameter stainless steel cylinder (which constitutes the outer frame of a coaxial line) attached to a porous ceramic disc and closed at the ends with two aluminium lids. A 49-mm-long and 3-mm-diameter stainless steel rod, which runs longitudinally through the centre of the cylinder, constitutes the inner rod of a coaxial TDR probe. The TDR-Cell was used to determine the θ(ψ) curves of a packed sand and seven undisturbed soil samples from three profiles of agricultural soils. These θ(ψ) curves were subsequently compared to those obtained from the corresponding 2-mm sieved soils using the pressure plate method. Measurements of bulk electrical conductivity, σa, as a function of the water content, σa(θ), of the undisturbed soil samples were also performed. An excellent correlation (R2 = 0·988) was found between the θ values measured by TDR on the different undisturbed soils and the corresponding θ obtained from the soil gravimetric water content. A typical bimodal θ(ψ) function was found for most of the undisturbed soil samples. Comparison between the θ(ψ) curves measured with the TDR-Cell and those obtained from the 2-mm sieved soils showed that the pressure plate method overestimates θ at low ψ values. The σa(θ) relationship was well described by a simple power expression (R2 > 0·95), in which the power factor, defined as tortuosity, ranged between 1·18 and 3·75., This research was supported by the Ministerio de Ciencia e Inovación (Grants: AGL2007-66320-CO2-02/AGR), CSIC (Grants: PIE-200840I214 and 2008401246) and DGA-Obra social La Caixa (Grants: GA-LC-010/2008; GA-LC-006-2008).

The definitive version is available at: http://vzj.scijournals.org/, Time Domain Reflectometry (TDR) is a valuable technique that allows simultaneous estimation of the apparent permittivity (a) and the bulk electrical conductivity (a). However, in highly conductive media the signal is completely attenuated which precludes permittivity measurements. This paper shows that a can be estimated in conductive media by applying the long-time TDR waveform analysis to a TDR probe partially insulated with a high-dielectric coating. Four 10-cm-long three-rod TDR probes with identical geometry but different percentages of rod-coating were tested: an uncoated sensor (P0) and probes with 50% (P50), 75% (P75) and 95% (P95) of the rod-length, respectively, coated with an insulator with a relative permittivity (r) equal to 32.3. A good relationship (r2 = 0.99) was found between the a estimated, if possible, with P0 immersed in several conductive and nonconductive media and the corresponding values estimated with P50, P75 and P95. The cell constant value (m-1) for P0 (5.10), P50 (9.60), P75 (16.92) and P95 (51.31), which were experimentally determined in different NaCl-water solutions, were on average 10% greater than the corresponding values calculated using a numerical model. The results show that, for a values ranging between 0.4 and 0.75 S m-1, simultaneous measurements of a and a were only possible using the partially coated probes. A good correlation was found between the a estimated with P0 inserted in different soil columns wetted with highly saline solutions (i.e. a > 0.2 S m-1) and those values estimated with P50, P75 and P95 (R2 = 0.96, RMSE = 1.08 and SD = 0.38). For a values lower than 0.2 S m-1 the accuracy of the partially coated TDR probes for estimations of a decreases as increases the percentage of the rod-coating, with errors up to 292% when a determined by P95 was compared to that estimated by P0., This research was supported by the Comisión Interministerial de Ciencia y Tecnología of Spain (grant AGL2007-66320-CO2-02/AGR) and the European Union (FEDER funds).