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Extravehicular activities will play a crucial role in lunar exploration on upcoming Artemis missions and may involve astronauts operating a lunar terrain vehicle (LTV) in a standing posture. This study assessed kinematic response and injury risks using an active muscle human body model (HBM) restrained in an upright posture on the LTV by simulating dynamic acceleration pulses related to lunar surface irregularities. Linear accelerations and rotational displacements of 5 lunar obstacles (3 craters; 2 rocks) over 5 slope inclinations were applied across 25 simulations. All body injury metrics were below NASA's injury tolerance limits, but compressive forces were highest in the lumbar (250–550N lumbar, tolerance: 5300N) and lower extremity (190–700N tibia, tolerance: 1350N) regions. There was a strong association between the magnitudes of body injury metrics and LTV resultant linear acceleration (ρ = 0.70–0.81). There was substantial upper body motion, with maximum forward excursion reaching 375 mm for the head and 260 mm for the chest. Our findings suggest driving a lunar rover in an upright posture for these scenarios is a low severity impact presenting low body injury risks. Injury metrics increased along the load path, from the lower body (highest metrics) to the upper body (lowest metrics). While upper body injury metrics were low, increased body motion could potentially pose a risk of injury from flail and occupant interaction with the surrounding vehicle, suit, and restraint hardware. [ABSTRACT FROM AUTHOR]

In military applications, a highly accurate and precise navigation system is necessary for some ground-based combat system applications to navigate the vehicle and mark the location of the fuses and pickets laid by the mobile equipment. Few companies across the globe have developed expertise in manufacturing Global Navigation Satellite System (GNSS) receivers with Real Time Kinematics (RTK) capability along with integrated INS. On mobile equipment, it is not always possible to precisely place the Differential GNSS (DGNSS) antenna and GNSS receiver at the point for which the data needs to be marked. For such applications, lever arm calculation needs to be implemented. Also, due to uneven terrain conditions and slopes, the vehicle undulates up to 10o about its longitudinal and transverse axis. This dynamic condition induces considerable errors in the actual data. During the fuse laying process, there is also a continuous requirement for real-time location data in the GNSS-denied environment for a short period. INS was integrated with the GNSS receiver. We discuss test methodology for GNSS receiver performance evaluation. Experimentations were performed, taking into consideration these requirements. Data collected are also analyzed and discussed. Test results confirmed that the module is accurate with an accuracy of a few centimeters. [ABSTRACT FROM AUTHOR]

Using relative reflectance measurements from the Mastcam‐Z and SuperCam instruments on the Mars 2020 Perseverance rover, we assess the variability of Fe mineralogy in Noachian/Hesperian‐aged rocks at Jezero crater. The results reveal diverse Fe3+ and Fe2+ minerals. The igneous crater floor, where small amounts of Fe3+‐phyllosilicates and poorly crystalline Fe3+‐oxyhydroxides have been reported, is spectrally similar to most oxidized basalts observed at Gusev crater. At the base of the western Jezero sedimentary fan, new spectral type points to an Fe‐bearing mineral assemblage likely dominated by Fe2+. By contrast, most strata exposed at the fan front show signatures of Fe3+‐oxides (mostly fine‐grained crystalline hematite), Fe3+‐sulfates (potentially copiapites), strong signatures of hydration, and among the strongest signatures of red hematite observed in situ, consistent with materials having experienced vigorous water‐rock interactions and/or higher degrees of diagenesis under oxidizing conditions. The fan top strata show hydration but little to no signs of Fe oxidation likely implying that some periods of fan construction occurred either during a reduced atmosphere era or during short‐lived aqueous activity of liquid water in contact with an oxidized atmosphere. We also report the discovery of alternating cm‐scale bands of red and gray layers correlated with hydration and oxide variability, which has not yet been observed elsewhere on Mars. This could result from syn‐depositional fluid chemistry variations, possibly as seasonal processes, or diagenetic overprint of oxidized fluids percolating through strata having variable permeability. Plain Language Summary: The oxidation states of the atmosphere and waters (whether rich or poor in oxidants such as oxygen) of Mars and their evolution are poorly constrained but can be recorded in the iron (Fe) mineralogy of rocks. Using data from the Perseverance rover, we analyzed the Fe mineralogy of ∼4–3 Ga old rocks from an ancient lake at Jezero crater. Oxidized Fe is found in igneous rocks and lowermost portions of sedimentary rocks, carried by clays and poorly crystalline oxides in the former and by sulfates and crystalline oxides in the latter, pointing to past action of oxidizing fluids, affecting more intensely the sedimentary rocks. Fe shows poor to no signs of oxidation in the uppermost strata, which might be evidence for a reducing atmosphere during sediment deposition or that the aqueous environment was too cold or too short‐lived to oxidize minerals. We also report Fe mineralogy variability at the cm‐scale in alternating colored layers, which has not been observed previously on Mars and could possibly mean that seasonal processes are recorded at Jezero crater. Key Points: In situ reflectance data measured with Mars 2020 show variable Fe mineralogy in sedimentary rocks at Jezero craterStrata exposed at the fan front experienced stronger oxidative water‐rock interactions compared to the upper fan and igneous crater floorWe identify cm‐scale color banding correlated with Fe‐oxide variability that likely indicates time variation in redox [ABSTRACT FROM AUTHOR]

The spherical shape is an interesting approach to develop exploration robots, or rovers, thanks to its capability of ensuring omnidirectional motion and of being basically unsensitive to possible rollovers. This works intends to propose a novel detailed design for such a kind of robot and to discuss the performance that can be reached by adopting this solution. The work hence introduces the requirements assumed for the design of the robot and discloses the general layout that was selected, which includes a pendulum for motion transmission and two coupled gyroscopes to overcome high, steep obstacles, such as steps. The paper then summarizes the functional design computation carried out to size and selects the components of the system. Eventually, a control algorithm is described and tested on a complete multibody model of the robot. The results in the execution of standard maneuvers such as motion on a horizontal plane, as well as in the overcome of a step, are shown. The energetic balance of the rover is described, and some preliminary consideration about mission planning are reported in the final discussion. [ABSTRACT FROM AUTHOR]

This paper studies a cooperative modeling framework to reduce the complexity in deriving the governing dynamical equations of complex systems composed of multiple bodies such as biped robots and unmanned aerial and ground vehicles. The approach also allows for an optimization-based trajectory generation for the complex system. This work also studies a fast–slow model predictive control strategy with task prioritization to perform docking maneuvers on cooperative systems. The method allows agents and a single agent to perform a docking maneuver. In addition, agents give different priorities to a specific subset of shared states. In this way, overall degrees of freedom to achieve the docking task are distributed among various subsets of the task space. The fast–slow model predictive control strategy uses non-linear and linear model predictive control formulations such that docking is handled as a non-linear problem until agents are close enough, where direct transcription is calculated using the Euler discretization method. During this phase, the trajectory generated is tracked with a linear model predictive controller and addresses the close proximity motion to complete docking. The trajectory generation and modeling is demonstrated on a biped robot, and the proposed MPC framework is illustrated in a case study, where a quadcopter docks on a non-holonomic rover using a leader–follower topology. [ABSTRACT FROM AUTHOR]

India's third Moon mission Chandrayaan-3, has successfully deployed a lander and a rover at a high-latitude location on the Moon to conduct in situ scientific studies that will potentially improve our understanding on the primary crust formation and subsequent modification processes. While the primary landing site (PLS) was situated at 69.367621°S lat., 32.348126°E long., an alternate landing site (ALS) was selected at nearly the same latitude but ~450 km west of PLS, as a contingency. We carried out a detailed study of the geomorphology, composition and temperature characteristics of ALS using the best-ever high-resolution digital elevation models (DEMs) and ortho-images, and datasets obtained from Chandrayaan-1 and the on-going Lunar Reconnaissance Orbiter along with a well-established thermophysical model. Results indicate that like PLS, ALS is also an interesting site for carrying out in situ scientific studies from any future lunar-landing mission. [ABSTRACT FROM AUTHOR]

The exploration and utilization of water resources on the Moon are of substantial global interest. To utilize lunar resources and construct bases, the construction machinery should travel over the lunar surface (which is mainly covered with powdery regolith) and excavate the regolith. However, various technical issues should be resolved to achieve this efficiently. In this study, a new platform rover was developed, and its motion behavior was analyzed to better understand the traveling and excavation behaviors of construction machinery on the Moon. The rover is a four-track vehicle equipped with a robotic arm consisting of a boom, arm, and bucket. To analyze the rover's motion behavior in sandy terrain, we first developed a simulator based on terramechanics and performed a numerical analysis. Subsequently, various experiments were conducted using the rover in the JAXA Space Exploration Field, which simulates the lunar environment. In the experiments, the rover traveled over level and sloped terrains and excavated the ground. The simulation and experimental results revealed similar trends in the traveling and excavation behaviors of the rover. These results can serve as basic guidelines for the design and operation of construction machinery on the Moon. [ABSTRACT FROM AUTHOR]

Early observations from the Perseverance rover suggested a deltaic origin for the western fan of Jezero crater only from images of the Kodiak butte. Here, we use images from the SuperCam Remote Micro‐Imager and the Mastcam‐Z camera to analyze the western fan front along the rover traverse, and further assess its depositional origin. Outcrops in the middle to lower half of the hillslopes comprise planar and inclined beds of sandstone that are interpreted as foresets of deltaic deposits. Foresets are locally structured in ∼20–25 m thick, ∼80–100 m long, antiformal structures interpreted as deltaic mouth bars. Above these foresets, interbedded sandstones and boulder conglomerates are interpreted as fluvial topset beds. One well‐preserved lens of boulder conglomerate displays rounded clasts within well‐sorted sediment deposited in overall fining upward beds. We interpret these deposits as resulting from lateral accretion within fluvial channels. Estimations of peak discharge rates give a range between ∼100 and ∼500 m3 s−1. By contrast, boulder conglomerates exposed in the uppermost part of hillslopes are poorly sorted and truncate the underlying beds. The presence of these boulder deposits suggests that intense sediment‐laden flood episodes occurred after the deltaic foreset and topset beds were deposited, although the origin, timing, and relationship of these boulder deposits to the ancient lake that once filled Jezero crater remains undetermined. Overall, these observations confirm the deltaic nature of the fan front, and suggest a highly variable fluvial input. Plain Language Summary: Early observations from the Perseverance rover of the Kodiak butte suggested a deltaic origin for the western fan of Jezero crater. Here, we use images from the SuperCam Remote Micro‐Imager and the Mastcam‐Z camera to analyze the western fan front along the rover traverse, and further assess its origin. We observe strata in the lower part of the fan front that we interpret as deltaic deposits formed below water in a lake. The strata of the upper part of the fan front contain sediments interpreted as fluvial deposits formed under various fluvial regimes, with some of them being deposited by the rivers that also fed the Jezero paleolake. Overall, these observations confirm the deltaic nature of the fan front, and suggest a highly variable fluvial input. Key Points: New observations from the Perseverance rover of the western fan front confirm a deltaic originDeltaic foresets in the lower fan front are organized as antiformal structures interpreted as delta mouth barsSandstones and conglomerates in the upper part of the fan front suggest a highly variable fluvial input [ABSTRACT FROM AUTHOR]

Modern planetary rovers are based on aluminum chassis, but thanks to carbon fiber composites, the weight of such mobility platforms can be dramatically lowered. This paper describes the design of a 6-wheeled rover with a rocker-bogie suspension, adopting carbon fiber laminates and short-fiber-reinforced polymers. This last feature is an innovative approach that fits well with the use of additive manufacturing, allowing for both highly optimized parts and rapid fabrication of spares in future manned missions on the Lunar surface. The structural design was validated against a set of boundary conditions (static analyses) and requirements of launch and space environments (dynamic analyses) as prescribed by European Cooperation for Space Standardization standards. The composite rover was designed to lighten the structure itself and increase the payload-to-total-mass ratio: the composite solution offers a ratio three times higher than the typical rover (ratio from 0.12 to 0.38). [ABSTRACT FROM AUTHOR]

During its first year of operation, the Perseverance rover explored the cratered and fractured floor of Jezero crater on Mars. Here, we report the use of the Scanning Habitability Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) imaging system that includes two high‐resolution cameras, the Autofocus and Contextual Imager (ACI) and Wide Angle Topographic Sensor for Operations and eNgineering (WATSON). ACI is a fixed focus gray scale imager with a resolution of 10.1 μm/pixel whereas WATSON is a variable field of view, variable focus imager capable of resolution down to 14 μm/pixel. WATSON is a reflight of the MArs Hand Lens Imager (MAHLI) imager and has similar capabilities. During first‐time activities, WATSON was used to support both science and engineering operations related to sample and abrasion patch assessment and sample collection and caching. WATSON also documented the deployment of the Ingenuity helicopter. The Crater Floor Campaign identified two primary rock units, the Máaz formation and the Séítah formation, which have been interpreted as lava flows and an olivine cumulate, respectively. Interpretation of rock textures with WATSON and ACI images was limited to abraded surfaces because unmodified outcrop surfaces (herein termed "natural surfaces") show high degrees of dust covering, wind abrasion, and coating by secondary mineral products. WATSON and ACI images support the hypothesis that the material of both the Máaz and Séítah formations consists of largely aqueously altered mafic materials with varying igneous origins. Plain Language Summary: The SHERLOC imaging system has been used for a variety of tasks during the first year of operations as part of the Perseverance rover's mission to Jezero Crater. It has been used during scientific observations to understand textures documenting the aqueous alteration history of the crater. It has also been used to support operations by documenting the deployment of the Ingenuity helicopter and the utilization of the sampling and caching hardware. Key Points: High‐resolution imaging is a critical element of rover operationsWATSON imaging has been used for support of both science and engineering operationsImaging provides key context for the understanding of geochemical measurements [ABSTRACT FROM AUTHOR]

This paper presents a comprehensive study of ultra-wideband (UWB) and multi-band orthogonal frequency-division multiplexing (MB-OFDM) technologies for lunar rover navigation and communication in challenging terrains. Lunar missions pose unique challenges, such as signal propagation in the lunar environment, terrain elevation, and rover movement constraints. To address these challenges, we propose a hybrid communication and navigation system that leverages UWB technology for high-precision positioning and MB-OFDM for robust and high-throughput communication. We develop a realistic simulation framework that incorporates terrain elevation, obstacles, and rover movement constraints, along with a simple fading model for communication. Simulation results demonstrate the effectiveness of the proposed system in navigating lunar rovers to their target locations while maintaining reliable communication links with a lunar lander. A novel approach based on game theory for rover navigation is also presented. The study provides valuable insights into the design and optimization of communication and navigation systems for future lunar missions, paving the way for seamless integration of advanced terrestrial technologies in extraterrestrial environments. [ABSTRACT FROM AUTHOR]

The Martian Moons eXploration (MMX) mission by the Japan Aerospace Exploration Agency, JAXA, will explore the Martian moons Phobos and Deimos. In addition to investigating the moons remotely and returning samples from Phobos, MMX will also deliver a small (about 25 kg) Rover to the surface of Phobos. The payload of the Rover consists of four scientific instruments: RAX, a Raman spectrometer to measure signatures of the mineralogical composition of the surface material, NavCam, a stereo pair of cameras to investigate the terrain and allow for navigation, miniRAD a radiometer to measure the surface brightness temperature of both, regolith and rocks, and two WheelCams which will observe the wheel-surface interface, and thus investigate the properties and dynamics of the regolith. The cameras, will serve both, technological and scientific needs. The rover will be deployed during the rehearsal phase of the landing operations for the main spacecraft and will thus land in proximity to the first sampling area. During its operational lifetime on Phobos (about 100 days), the in-situ measurements performed with the rover payload will provide scientific context for the returned samples, provide ground truth, study the surface heterogeneity and obtain information on the physical properties of undisturbed surface material. The MMX launch is planned for September 2024 and the Rover delivery is scheduled for 2027. The Rover is a contribution by the Centre National d'Etudes Spatiales (CNES) and the German erospace Center (DLR) with additional contributions from INTA (Spain) and JAXA. • In this paper we give an overview of the rover, which will be part of the MMX mission to Phobos. • The MMX rover will explore the surface of Phobos with cameras, a Raman spectrometer and a radiometer. • Scientific objectives and the mission outline are discussed. [ABSTRACT FROM AUTHOR]

The spherical shape is an interesting approach to develop exploration robots, or rovers, thanks to its capability of ensuring omnidirectional motion and of being basically unsensitive to possible rollovers. This works intends to propose a novel detailed design for such a kind of robot and to discuss the performance that can be reached by adopting this solution. The work hence introduces the requirements assumed for the design of the robot and discloses the general layout that was selected, which includes a pendulum for motion transmission and two coupled gyroscopes to overcome high, steep obstacles, such as steps. The paper then summarizes the functional design computation carried out to size and selects the components of the system. Eventually, a control algorithm is described and tested on a complete multibody model of the robot. The results in the execution of standard maneuvers such as motion on a horizontal plane, as well as in the overcome of a step, are shown. The energetic balance of the rover is described, and some preliminary consideration about mission planning are reported in the final discussion.

This paper studies a cooperative modeling framework to reduce the complexity in deriving the governing dynamical equations of complex systems composed of multiple bodies such as biped robots and unmanned aerial and ground vehicles. The approach also allows for an optimization-based trajectory generation for the complex system. This work also studies a fast–slow model predictive control strategy with task prioritization to perform docking maneuvers on cooperative systems. The method allows agents and a single agent to perform a docking maneuver. In addition, agents give different priorities to a specific subset of shared states. In this way, overall degrees of freedom to achieve the docking task are distributed among various subsets of the task space. The fast–slow model predictive control strategy uses non-linear and linear model predictive control formulations such that docking is handled as a non-linear problem until agents are close enough, where direct transcription is calculated using the Euler discretization method. During this phase, the trajectory generated is tracked with a linear model predictive controller and addresses the close proximity motion to complete docking. The trajectory generation and modeling is demonstrated on a biped robot, and the proposed MPC framework is illustrated in a case study, where a quadcopter docks on a non-holonomic rover using a leader–follower topology.

Abstract During its first year of operation, the Perseverance rover explored the cratered and fractured floor of Jezero crater on Mars. Here, we report the use of the Scanning Habitability Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) imaging system that includes two high‐resolution cameras, the Autofocus and Contextual Imager (ACI) and Wide Angle Topographic Sensor for Operations and eNgineering (WATSON). ACI is a fixed focus gray scale imager with a resolution of 10.1 μm/pixel whereas WATSON is a variable field of view, variable focus imager capable of resolution down to 14 μm/pixel. WATSON is a reflight of the MArs Hand Lens Imager (MAHLI) imager and has similar capabilities. During first‐time activities, WATSON was used to support both science and engineering operations related to sample and abrasion patch assessment and sample collection and caching. WATSON also documented the deployment of the Ingenuity helicopter. The Crater Floor Campaign identified two primary rock units, the Máaz formation and the Séítah formation, which have been interpreted as lava flows and an olivine cumulate, respectively. Interpretation of rock textures with WATSON and ACI images was limited to abraded surfaces because unmodified outcrop surfaces (herein termed “natural surfaces”) show high degrees of dust covering, wind abrasion, and coating by secondary mineral products. WATSON and ACI images support the hypothesis that the material of both the Máaz and Séítah formations consists of largely aqueously altered mafic materials with varying igneous origins.

The third lunar exploration mission of ISRO Chandrayaan-3 has both robotics and lunar exploration and focuses on important terms such as "lunar exploration", "robotic technology","ISRO", and "Chandrayaan-3", which emphasizes the mission's goals, scientific endeavors, and technical advancements. This work's goal is to monitor ISRO's effort to perform a soft landing near the lunar South Pole, which is of significant scientific interest due to its potential for water ice deposits and constantly shadowed craters. An integrated orbiter, lander, and rover system called Chandrayaan-3 will be outfitted with state-of-theart scientific tools to investigate the lunar surface, identify elements, and research the geology and chemistry of the moon. The development of robotic technology crucial to strengthening the mission's capabilities is emphasized. The rover can navigate hard terrain with the help of cuttingedge autonomous navigation technologies, eliminating the need for direct human interaction. Additionally, artificial intelligence and machine learning are combined to promote intelligent decision-making, mission planning optimization, and increased mission success. This review article explores the ISRO's dedication to global cooperation, and building alliances to exchange materials, information, and experience about lunar exploration. This collaboration improves India's standing in the international space community and adds to our developing understanding of the moon. [ABSTRACT FROM AUTHOR]

The Mars 2020 Perseverance rover landed in Jezero crater on 18 February 2021. After a 100‐sol period of commissioning and the Ingenuity Helicopter technology demonstration, Perseverance began its first science campaign to explore the enigmatic Jezero crater floor, whose igneous or sedimentary origins have been much debated in the scientific community. This paper describes the campaign plan developed to explore the crater floor's Máaz and Séítah formations and summarizes the results of the campaign between sols 100–379. By the end of the campaign, Perseverance had traversed more than 5 km, created seven abrasion patches, and sealed nine samples and a witness tube. Analysis of remote and proximity science observations show that the Máaz and Séítah formations are igneous in origin and composed of five and two geologic members, respectively. The Séítah formation represents the olivine‐rich cumulate formed from differentiation of a slowly cooling melt or magma body, and the Máaz formation likely represents a separate series of lava flows emplaced after Séítah. The Máaz and Séítah rocks also preserve evidence of multiple episodes of aqueous alteration in secondary minerals like carbonate, Fe/Mg phyllosilicates, sulfates, and perchlorate, and surficial coatings. Post‐emplacement processes tilted the rocks near the Máaz‐Séítah contact and substantial erosion modified the crater floor rocks to their present‐day expressions. Results from this crater floor campaign, including those obtained upon return of the collected samples, will help to build the geologic history of events that occurred in Jezero crater and provide time constraints on the formation of the Jezero delta. Plain Language Summary: The Mars 2020 Perseverance rover, along with the Ingenuity Helicopter technology demonstration, landed in Jezero crater, Mars on 18 February 2021. Here, we detail results from the first science campaign of the mission, the purpose of which was to explore the enigmatic Jezero crater floor. By the end of the campaign, Perseverance traversed more than 5 km, created seven abrasion patches, and sealed a total of nine samples and a witness tube for return to Earth. Analysis of the rocks in the crater floor revealed two distinct geologic formations, named the Máaz and Séítah formations. Both formations were determined to be igneous in origin, the former likely from a series of lava flows and the latter formed from a slowly cooling melt or magma body. The composition of the Máaz and Séítah formation rocks also indicate that they experienced significant alteration from water in the past, consistent with Jezero crater having once been filled with water. Results from Perseverance's Jezero crater floor campaign, including those obtained upon return of the collected samples to Earth, will help build the geologic history of Jezero crater and reveal its past habitability. Key Points: The Máaz and Séítah formations are igneous, with Séítah representing olivine‐rich cumulates and Máaz representing separate lava flowsCrater floor rocks have been variably altered to produce carbonates and other alteration minerals during multiple aqueous episodesPost‐emplacement processes tilted these rocks near the Máaz‐Séítah contact, and erosion produced varied textures and olivine‐rich regolith [ABSTRACT FROM AUTHOR]

This paper examines ROVER-type systems, aimed at transporting human crew for research on other planets, and the development of such a prototype using additive manufacturing technologies. A classification of these technologies is presented. The main aim of the paper is to develop a prototype of the ROVER system at scale, to highlight its main features, and to use this type of additive manufacturing technology during its life cycle, thus benefiting from the realization of parts, sub-assemblies and assemblies. Several conclusions distinguish the main points of the paper and future objectives of the study. [ABSTRACT FROM AUTHOR]

In the context of the NASA/ESA Mars Sample Return (MSR) Campaign a Sample Fetch Rover (SFR) has been studied to acquire sample tubes cached on the surface by NASA's Perseverance rover and return them to the Sample Retrieval Lander (SRL) for launch into Mars orbit. The current SFR design, similar in size to ESA's ExoMars Rover, faced significant challenges in terms of accommodation on the lander. An alternative mini Sample Fetch Rover (mSFR) concept is explored in response to these challenges, aiming at a mass target around 20 kg. The miniaturised rover is assessed against some reduced mission requirements to evaluate its usefulness for MSR. The main areas of the mSFR design are discussed herein, with particular attention to traverse and tube fetching strategy. The study suggests that the concept is feasible and could be accommodated on SRL with minimum impact to the lander's design. Furthermore, preliminary analysis shows how the small vehicle could perform a useful role in MSR, making it particularly attractive as a simple backup to other tube delivery methods. Lastly, future investigations and areas of improvement are suggested. • Miniaturised rover concept studied for Mars Sample Return. • Rover system architecture assessed against mission requirements. • Possible to use a 20-kg-class fetch rover as a simple backup for sample retrieval. • A 20-kg rover has low risk technologies and minimum impact on the lander. [ABSTRACT FROM AUTHOR]

This paper examines ROVER-type systems, aimed at transporting human crew for research on other planets, and the development of such a prototype using additive manufacturing technologies. A classification of these technologies is presented. The main aim of the paper is to develop a prototype of the ROVER system at scale, to highlight its main features, and to use this type of additive manufacturing technology during its life cycle, thus benefiting from the realization of parts, sub-assemblies and assemblies. Several conclusions distinguish the main points of the paper and future objectives of the study.

We want to highlight the amphibious characteristics of the MAR vehicle (Multipurpose Amphibious Rover) through a deep analysis of its components and relating potentiality. MAR, thanks to its high versatility, can be used in several environments as platform both monitoring that carrying payloads such as sensors and electronic devices. It is particularly stable when moving on land, shallow water, snow and, therefore, in all those environments defined as “borderline” due to its low center of gravity. A key element of this vehicle is the polyethylene with which the external wheels are made allowing the rover to be very light. This feature would avoid damaging the marine flora and any submerged archaeological remains.

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This paper presents a comprehensive study of ultra-wideband (UWB) and multi-band orthogonal frequency-division multiplexing (MB-OFDM) technologies for lunar rover navigation and communication in challenging terrains. Lunar missions pose unique challenges, such as signal propagation in the lunar environment, terrain elevation, and rover movement constraints. To address these challenges, we propose a hybrid communication and navigation system that leverages UWB technology for high-precision positioning and MB-OFDM for robust and high-throughput communication. We develop a realistic simulation framework that incorporates terrain elevation, obstacles, and rover movement constraints, along with a simple fading model for communication. Simulation results demonstrate the effectiveness of the proposed system in navigating lunar rovers to their target locations while maintaining reliable communication links with a lunar lander. A novel approach based on game theory for rover navigation is also presented. The study provides valuable insights into the design and optimization of communication and navigation systems for future lunar missions, paving the way for seamless integration of advanced terrestrial technologies in extraterrestrial environments.

As a historic challenge for humans, Martian colonization has been initiated by nuclear energy. A moving nuclear power plant could be imaginable known as a nuclear reactor rover. The design of the nuclear reactor rover has been performed where the important matter is how to make the caterpillar move the reactor and its facilities. Hence the slider length and contact point are proposed. The normalized heat transfer is analyzed by slide length and contact point where they are normalized as 1.0 and 10.0, respectively. Although the slider length of the caterpillar is proportional to heat transfer, the contact point shows the adverse values. Longer slider length and less contact point could be the optimized heat production system by the caterpillar which is the additional heat source except the other nuclear reactor. Any other planet could be considered as a potential human colony using the nuclear terraforming technology.

This paper presents a solution to develop 3D map of indoor places using a team of rovers equipped with low cost 2D laser scanners. An orthogonal combination of two RPLidar 2D laser scanners has been used on every rover to build 3D point cloud map of the explored regions. Each rover of the team has been distantly placed inside the surveying environment in order to independently scan and built the unique 3D point cloud map of the region. The interfacing of scanners and the processing of simultaneous localization and mapping (SLAM) technique for each moving rover have been achieved using Robot Operating System (ROS). The individually build 3D maps have been merged in offline mode through sensor fusion application using Kalman Filter (KF) technique. Different indoor vicinities have been tested and complete 3D point cloud maps have been established which have been found accurate when compared to ground truths. The developed point cloud map has been further utilized to establish Building Information Model (BIM) and found valid for the surveyed region. In comparison to existing surveying and scanning solutions of the regional market, the presented method has been found precise, quick and convenient to provide structural details of surveyed entities at highly affordable rates.

At a Mars analog site in Utah, we tested two science operation methods for data acquisition and decision-making protocols: a scenario where the tactical day is preplanned, but major adjustments may still be made before plan delivery; and a scenario in which the sol path must largely be planned before a given tactical planning day and very few adjustments to the plan may be made. The goal was to provide field-tested insight into operations planning for rover missions where science operations must facilitate the efficient choice of sampling locations at a site relevant to searching for habitability and biosignatures. Results of the test indicate that preplanning sol paths did not result in a sol cost savings nor did it improve science return or optimal biologically relevant sample collection. In addition because facies variations in an environment can be subtle and evident only at scales below orbital resolution, acquiring systematic observations is crucial. We also noted that while spectral data provided insight into the chemical components as a whole at this site, they did not provide a guide to targets for which the traverse should be altered. Finally, strategic science planning must include a special effort to account for terrain. [ABSTRACT FROM AUTHOR]

As a historic challenge for humans, Martian colonization has been initiated by nuclear energy. A moving nuclear power plant could be imaginable known as a nuclear reactor rover. The design of the nuclear reactor rover has been performed where the important matter is how to make the caterpillar move the reactor and its facilities. Hence the slider length and contact point are proposed. The normalized heat transfer is analyzed by slide length and contact point where they are normalized as 1.0 and 10.0, respectively. Although the slider length of the caterpillar is proportional to heat transfer, the contact point shows the adverse values. Longer slider length and less contact point could be the optimized heat production system by the caterpillar which is the additional heat source except the other nuclear reactor. Any other planet could be considered as a potential human colony using the nuclear terraforming technology. [ABSTRACT FROM AUTHOR]

Dynamic path planning is a core research content for intelligent robots. This paper presents a CG-Space-based dynamic path planning and obstacle avoidance algorithm for 10 DOF wheeled mobile robot (Rover) traversing over 3D uneven terrains. CG-Space is the locus of the center of gravity location of Rover while moving on a 3D terrain. A CG-Space-based modified RRT* samples a random space tree structure. Dynamic rewiring this tree can handle the randomly moving obstacles and target in real time. Simulations demonstrate that the Rover can obtain the target location in 3D uneven dynamic environments with fixed and randomly moving obstacles. [ABSTRACT FROM AUTHOR]