Omnidirectional visual odometry for a planetary rover

Position estimation for planetary rovers has been typically limited to odometry based on proprioceptive measurements such as the integration of distance traveled and measurement of heading change. Here we present and compare two methods of online visual odometry suited for planetary rovers. Both methods use omnidirectional imagery to estimate motion of the rover. One method is based on robust estimation of optical flow and subsequent integration of the flow. The second method is a full structure-from-motion solution. To make the comparison meaningful we use the same set of raw corresponding visual features for each method. The dataset is an sequence of 2000 images taken during a field experiment in the Atacama desert, for which high resolution GPS ground truth is available.

Traversability estimation for a planetary rover via experimental kernel learning in a Gaussian process framework

A critical requirement for safe autonomous navigation of a planetary rover is the ability to accurately estimate the traversability of the terrain. This work considers the problem of predicting the attitude and configuration angles of the platform from terrain representations that are often incomplete due to occlusions and sensor limitations. Using Gaussian Processes (GP) and exteroceptive data as training input, we can provide a continuous and complete representation of terrain traversability, with uncertainty in the output estimates. In this paper, we propose a novel method that focuses on exploiting the explicit correlation in vehicle attitude and configuration during operation by learning a kernel function from vehicle experience to perform GP regression. We provide an extensive experimental validation of the proposed method on a planetary rover. We show significant improvement in the accuracy of our estimation compared with results obtained using standard kernels (Squared Exponential and Neural Network), and compared to traversability estimation made over terrain models built using state-of-the-art GP techniques.

Motion planning and stochastic control with experimental validation on a planetary rover

Motion planning for planetary rovers must consider control uncertainty in order to maintain the safety of the platform during navigation. Modelling such control uncertainty is difficult due to the complex interaction between the platform and its environment. In this paper, we propose a motion planning approach whereby the outcome of control actions is learned from experience and represented statistically using a Gaussian process regression model. This model is used to construct a control policy for navigation to a goal region in a terrain map built using an on-board RGB-D camera. The terrain includes flat ground, small rocks, and non-traversable rocks. We report the results of 200 simulated and 35 experimental trials that validate the approach and demonstrate the value of considering control uncertainty in maintaining platform safety.

Enhanced locomotion control for a planetary rover

This article presents an approach to improve and monitor the behavior of a skid-steering rover on rough terrains. An adaptive locomotion control generates speeds references to avoid slipping situations. An enhanced odometry provides a better estimation of the distance travelled. A probabilistic classification procedure provides an evaluation of the locomotion efficiency on-line, with a detection of locomotion faults. Results obtained with a Marsokhod rover are presented throughout the paper

Uniformity of film thickness on rotating planetary planar substrates

For the purposes of obtaining a number of components with nearly identical thickness distributions over the substrate area and of minimizing the inhomogeneities of the film, it is logical to presume that a substrate rotating on its own axis and revolving around another axis will give more uniformity in film thickness than a substrate only revolving around one axis. In relation to the practical applications, an investigation has been undertaken to study the refinement that can be achieved by using a planar planetary substrate holder. It is shown theoretically that the use of the planetary substrate holder under ideal conditions of source and geometry does not offer any further improvement in uniformity of thickness over the conventional rotary work-holder. It is also shown that the geometrical parameters alone have little influence over the uniformity achieved on a planetary substrate, because of the complex cyclidal motion of any point on it. However, for any given geometry, a non-integral speed ratio of the planetary substrate and the work-holder shows considerably less variation in thickness over the substrate area.

Investigations of planetary boundary layer processes and particle formation in the atmosphere of planet Mars

The planet Mars is the Earth's neighbour in the Solar System. Planetary research stems from a fundamental need to explore our surroundings, typical for mankind. Manned missions to Mars are already being planned, and understanding the environment to which the astronauts would be exposed is of utmost importance for a successful mission. Information of the Martian environment given by models is already now used in designing the landers and orbiters sent to the red planet. In particular, studies of the Martian atmosphere are crucial for instrument design, entry, descent and landing system design, landing site selection, and aerobraking calculations. Research of planetary atmospheres can also contribute to atmospheric studies of the Earth via model testing and development of parameterizations: even after decades of modeling the Earth's atmosphere, we are still far from perfect weather predictions. On a global level, Mars has also been experiencing climate change. The aerosol effect is one of the largest unknowns in the present terrestrial climate change studies, and the role of aerosol particles in any climate is fundamental: studies of climate variations on another planet can help us better understand our own global change. In this thesis I have used an atmospheric column model for Mars to study the behaviour of the lowest layer of the atmosphere, the planetary boundary layer (PBL), and I have developed nucleation (particle formation) models for Martian conditions. The models were also coupled to study, for example, fog formation in the PBL. The PBL is perhaps the most significant part of the atmosphere for landers and humans, since we live in it and experience its state, for example, as gusty winds, nightfrost, and fogs. However, PBL modelling in weather prediction models is still a difficult task. Mars hosts a variety of cloud types, mainly composed of water ice particles, but also CO2 ice clouds form in the very cold polar night and at high altitudes elsewhere. Nucleation is the first step in particle formation, and always includes a phase transition. Cloud crystals on Mars form from vapour to ice on ubiquitous, suspended dust particles. Clouds on Mars have a small radiative effect in the present climate, but it may have been more important in the past. This thesis represents an attempt to model the Martian atmosphere at the smallest scales with high resolution. The models used and developed during the course of the research are useful tools for developing and testing parameterizations for larger-scale models all the way up to global climate models, since the small-scale models can describe processes that in the large-scale models are reduced to subgrid (not explicitly resolved) scale.

Multiwavelength studies of regolith effects in planetary remote sensing

A large proportion of our knowledge about the surfaces of atmosphereless solar-system bodies is obtained through remote-sensing measurements. The measurements can be carried out either as ground-based telescopic observations or space-based observations from orbiting spacecraft. In both cases, the measurement geometry normally varies during the observations due to the orbital motion of the target body, the spacecraft, etc.. As a result, the data are acquired over a variety of viewing and illumination angles. Surfaces of planetary bodies are usually covered with a layer of loose, broken-up rock material called the regolith whose physical properties affect the directional dependence of remote-sensed measurements. It is of utmost importance for correct interpretation of the remote-sensed data to understand the processes behind this alteration. In the thesis, the multi-angular effects that the physical properties of the regolith have on remote-sensing measurements are studied in two regimes of electromagnetic radiation, visible to near infrared and soft X-rays. These effects are here termed generally the regolith effects in remote sensing. Although the physical mechanisms that are important in these regions are largely different, notable similarities arise in the methodology that is used in the study of the regolith effects, including the characterization of the regolith both in experimental studies and in numerical simulations. Several novel experimental setups have been constructed for the thesis. Alongside the experimental work, theoretical modelling has been carried out, and results from both approaches are presented. Modelling of the directional behaviour of light scattered from a regolith is utilized to obtain shape and spin-state information of several asteroids from telescopic observations and to assess the surface roughness and single-scattering properties of lunar maria from spacecraft observations. One of the main conclusions is that the azimuthal direction is an important factor in detailed studies of planetary surfaces. In addition, even a single parameter, such as porosity, can alter the light scattering properties of a regolith significantly. Surface roughness of the regolith is found to alter the elemental fluorescence line ratios of a surface obtained through planetary soft X-ray spectrometry. The results presented in the thesis are among the first to report this phenomenon. Regolith effects need to be taken into account in the analysis of remote-sensed data, providing opportunities for retrieving physical parameters of the surface through inverse methods.

Vertical profile of aerosol single scattering albedo over west coast of India during W_ICARB

Altitude profile of aerosol Single Scattering Albedo (SSA), derived from simultaneous in-situ airborne measurements of the coefficients of aerosol absorption and scattering off the west coast of India over the Arabian Sea (AS), during January 2009 is presented. While both the absorption and scattering coefficients decreased with altitude, their vertical structure differed significantly. Consequently, the derived SSA, with a surface value of 0.94, decreased with altitude, illustrating increasing relative dominance of aerosol absorption at higher altitudes. Altitude profile of SSA, when examined in conjunction with that of hemispheric backscatter fraction, revealed that the continental influence on the aerosol properties was higher at higher altitude, rather than the effect of marine environment. During an east-west transect across the peninsular India at an altitude of similar to 2500 m (free troposphere), it was found that the aerosol scattering coefficients remained nearly the same over both east and west coasts. (C) 2010 Elsevier Ltd. All rights reserved.

Embracing Integrability in Stellar and Planetary Dynamics

Hamiltonian systems in stellar and planetary dynamics are typically near integrable. For example, Solar System planets are almost in two-body orbits, and in simulations of the Galaxy, the orbits of stars seem regular. For such systems, sophisticated numerical methods can be developed through integrable approximations. Following this theme, we discuss three distinct problems. We start by considering numerical integration techniques for planetary systems. Perturbation methods (that utilize the integrability of the two-body motion) are preferred over conventional "blind" integration schemes. We introduce perturbation methods formulated with Cartesian variables. In our numerical comparisons, these are superior to their conventional counterparts, but, by definition, lack the energy-preserving properties of symplectic integrators. However, they are exceptionally well suited for relatively short-term integrations in which moderately high positional accuracy is required. The next exercise falls into the category of stability questions in solar systems. Traditionally, the interest has been on the orbital stability of planets, which have been quantified, e.g., by Liapunov exponents. We offer a complementary aspect by considering the protective effect that massive gas giants, like Jupiter, can offer to Earth-like planets inside the habitable zone of a planetary system. Our method produces a single quantity, called the escape rate, which characterizes the system of giant planets. We obtain some interesting results by computing escape rates for the Solar System. Galaxy modelling is our third and final topic. Because of the sheer number of stars (about 10^11 in Milky Way) galaxies are often modelled as smooth potentials hosting distributions of stars. Unfortunately, only a handful of suitable potentials are integrable (harmonic oscillator, isochrone and Stäckel potential). This severely limits the possibilities of finding an integrable approximation for an observed galaxy. A solution to this problem is torus construction; a method for numerically creating a foliation of invariant phase-space tori corresponding to a given target Hamiltonian. Canonically, the invariant tori are constructed by deforming the tori of some existing integrable toy Hamiltonian. Our contribution is to demonstrate how this can be accomplished by using a Stäckel toy Hamiltonian in ellipsoidal coordinates.

The Radiation, snow characteristics and albedo at summit (RASCALS) expedition report

The RASCALS expedition spent over three weeks at the Summit camp research station near the top of the Greenland Ice Sheet during polar summer 2010. During this time, detailed measurements of the physical and optical properties of Arctic perennial snow were carried out concurrently with snow albedo and reflectance measurements. Favorable weather conditions during the campaign enabled the collection of a large dataset on Arctic snow albedo and associated quantities for use in developing and validating remote sensing algorithms for snow albedo using satellites. This report provides a description of the measurements and conditions during the campaign. RASCALS-retkikunnan tehtävä oli tutkia Grönlannin mannerjäätikön lumen fysikaalisia ja optisia ominaisuuksia sekä Auringon valon vuorovaikutusta lumen kanssa. Retikunta vietti hieman yli kolme viikkoa mannerjäätikön keskellä sijaitsevalla Summit Camp-tutkimusasemalla tehden mittauksia. Sääolot suosivat kampanjaa, jonka seurauksena onnistuttiin keräämään laaja ja monipuolinen tietoaineisto mannerjäätikön lumen pintakerroksesta ja eritoten lumen heijastavuuden (albedon)käyttäytymisestä. Aineisto on hyödyllinen kehitettäessä ja varmennettaessa lumen albedon kaukokartoitusmenetelmiä satelliiteilla.

Albedo enhancement over land to counteract global warming: impacts on hydrological cycle

A recent modelling study has shown that precipitation and runoff over land would increase when the reflectivity of marine clouds is increased to counter global warming. This implies that large scale albedo enhancement over land could lead to a decrease in runoff over land. In this study, we perform simulations using NCAR CAM3.1 that have implications for Solar Radiation Management geoengineering schemes that increase the albedo over land. We find that an increase in reflectivity over land that mitigates the global mean warming from a doubling of CO2 leads to a large residual warming in the southern hemisphere and cooling in the northern hemisphere since most of the land is located in northern hemisphere. Precipitation and runoff over land decrease by 13.4 and 22.3%, respectively, because of a large residual sinking motion over land triggered by albedo enhancement over land. Soil water content also declines when albedo over land is enhanced. The simulated magnitude of hydrological changes over land are much larger when compared to changes over oceans in the recent marine cloud albedo enhancement study since the radiative forcing over land needed (-8.2 W m(-2)) to counter global mean radiative forcing from a doubling of CO2 (3.3 W m(-2)) is approximately twice the forcing needed over the oceans (-4.2 W m(-2)). Our results imply that albedo enhancement over oceans produce climates closer to the unperturbed climate state than do albedo changes on land when the consequences on land hydrology are considered. Our study also has important implications for any intentional or unintentional large scale changes in land surface albedo such as deforestation/afforestation/reforestation, air pollution, and desert and urban albedo modification.

On the linkage of mesospheric planetary waves with those of the lower atmosphere and ionosphere: A case study from Indian low latitudes

In this paper we study the planetary-scale wave features using concurrent observations of mesospheric wind and temperature, ionospheric h'F, and tropospheric wind from Tirunelveli, Gadanki, and Kolhapur, all located in the Indian low latitudes, made during February 2009. Our investigations reveal that 3 to 5 day periodicity, characterized as ultrafast Kelvin (UFK) waves, was persistent throughout the atmosphere during this period. These waves show clear signatures of upward wave propagation from troposphere to the upper mesosphere, linking the ionosphere through a clear correlation between mesospheric winds and h'F variations. We also note that the amplitude of this wave decreased as we moved away from the equator. These results are the first of their kind from Indian sector, portraying the vertical as well as latitudinal characteristics of the 3 to 5 day UFK waves simultaneously from the troposphere to the ionosphere.