Phobos and deimos on Mars - two autonomous robots for the DLR SpaceBot Cup

In 2013, ten teams from German universities and research institutes participated in a national robot competition called SpaceBot Cup organized by the DLR Space Administration. The robots had one hour to autonomously explore and map a challenging Mars-like environment, find, transport, and manipulate two objects, and navigate back to the landing site. Localization without GPS in an unstructured environment was a major issue as was mobile manipulation and very restricted communication. This paper describes our system of two rovers operating on the ground plus a quadrotor UAV simulating an observing orbiting satellite. We relied on ROS (robot operating system) as the software infrastructure and describe the main ROS components utilized in performing the tasks. Despite (or because of) faults, communication loss and breakdowns, it was a valuable experience with many lessons learned.

On the dynamics of some resonances of Phobos in the future

A probable capture of Phobos into an interesting resonance was presented in our previous work. With a simple model, considering Mars in a Keplerian and circular orbit, it was shown that once captured in the resonance, the inclination of the satellite reaches very high values. Here, the integrations are extended to much longer times and escape situations are analyzed. These escapes are due to the interaction of new additional resonances, which appear as the inclination starts to increase reaching some specific values. Compared to classical capture in mean motion resonances, we see some interesting differences in this problem. We also include the effect of Mars' eccentricity in the process of the capture. The role played by this eccentricity becomes important, particularly when Phobos encounters a double resonance at a approximate to 2.619R(M). Planetary perturbations acting on Mars and variation of its equator are also included. In general, some possible scenarios of the future of Phobos are presented.

Possible effects of secular resonances in Phobos and Triton

Due to the tides, the orbits of Phobos and Triton are contracting. While their semi major axes are decreasing, several possibilities of secular resonances involving node, argument of the pericenter and mean motion of the Sun will take place. In the case of Mars, if the obliquity (epsilon), during the passage through some resonances, is not so small, very significant variations of the inclination will appear. In one case, capture is almost certain provided that epsilon greater than or equal to 20degrees. For Triton there are also similar situations, but capture seems to be not possible, mainly because in S-1 state, Triton's orbit is sufficiently inclined (far) with respect to the Neptune's equator. Following Chyba et al. (Astron. Astrophys. 219 (1989) 123), a simplified equation that gives the evolution of the inclination versus the semi major axis, is derived. The time needed for Triton crash onto Neptune is longer than that one obtained by these authors, but the main difference is due to the new data used here. In general, even in the case of non-capture passages, some significant jumps in inclination and in eccentricities are possible. (C) 2002 Elsevier B.V. Ltd. All rights reserved.

Possíveis ressonâncias nos sistemas de Marte-Phobos e Netuno-Triton-Proteus

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Phobos: The design and implementation of embedded software for a low cost radar warning receiver

This portfolio thesis describes work undertaken by the author under the Engineering Doctorate program of the Institute for System Level Integration. It was carried out in conjunction with the sponsor company Teledyne Defence Limited. A radar warning receiver is a device used to detect and identify the emissions of radars. They were originally developed during the Second World War and are found today on a variety of military platforms as part of the platform’s defensive systems. Teledyne Defence has designed and built components and electronic subsystems for the defence industry since the 1970s. This thesis documents part of the work carried out to create Phobos, Teledyne Defence’s first complete radar warning receiver. Phobos was designed to be the first low cost radar warning receiver. This was made possible by the reuse of existing Teledyne Defence products, commercial off the shelf hardware and advanced UK government algorithms. The challenges of this integration are described and discussed, with detail given of the software architecture and the development of the embedded application. Performance of the embedded system as a whole is described and qualified within the context of a low cost system.

High-accuracy same-beam VLBI observations using Shanghai and Urumqi telescopes

The same-beam VLBI observations of Rstar and Vstar, which were two small satellites of Japanese lunar mission, SELENE, were successfully performed by using Shanghai and Urumqi 25-m telescopes. When the separation angle between Rstar and Vstar was less than 0.1 deg, the differential phase delay of the X-band signals between Rstar and Vstar on Shanghai-Urumqi baseline was obtained with a very small error of 0.15 mm rms, which was reduced by 1-2 order compared with the former VLBI results. When the separation angle was less than 0.56 deg, the differential phase delay of the S-band signals was also obtained with a very small error of several mm rms. The orbit determination for Rstar and Vstar was performed, and the accuracy was improved to a level of several meters by using VLBI and Doppler data. The high-accuracy same-beam differential VLBI technique is very useful in orbit determination for a spacecraft, and will be used in orbit determination for Mars missions of China Yinghuo-1 and Russia Phobos-grunt.

NeXSPheRIO results on elliptic flow and directed flow for Au plus Au and Cu plus Cu collisions at RHIC

Hydrodynamics has been rather successful at describing results obtained in relativistic nuclear collisions at RHIC. Here we show results obtained with NeXSPheRIO on Au+Au collisions and the less studied Cu+Cu collisions. We study elliptic flow and its connection with eccentricity suggested by PHOBOS, as well as present elliptic flow fluctuations. We also show results for directed flow and compare with PHOBOS and STAR data.

Composition of Surface Materials on the Moons of Mars

The two small asteroid-like bodies orbiting Mars, Phobos and Deimos, are low albedo and exhibit similar visible to near-infrared spectra. Determining the origin of these moons is closely tied to determining their composition. From available spectroscopic data Phobos exhibits two distinct types of materials across its surface, and data from both Mars Express and Mars Reconnaissance Orbiter have provided additional details about the properties of these materials and their spatial relation to one another. Although no prominent diagnostic absorptions have been detected, systematic weak features are seen in some data. An extensive regolith is observed to have developed on both moons with characteristics that may be unique due to their special environment in Mars orbit. Understanding the character and evolution of the regolith of Phobos and Deimos is central to interpreting the moons׳ physical and optical properties. The cumulative data available for compositional analyses across the surface of Phobos and Deimos, however, remain incomplete in scope and character and ambiguous in interpretation. Consequently the composition of the moons of Mars remains uncertain.