The recent decadal survey report for planetary science (compiled by the National Research Council) has prioritized three main areas for planetary exploration: (1) the characterization of the early Solar system history...
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ISBN:
(纸本)9781457705564
The recent decadal survey report for planetary science (compiled by the National Research Council) has prioritized three main areas for planetary exploration: (1) the characterization of the early Solar system history, (2) the search for planetary habitats, and (3) an improved understanding about the nature of planetary processes. A growing number of ground and space observations suggest that small bodies are ideally suited for addressing all these three priorities. In parallel, several technological advances have been recently made for microgravity rovers, penetrators, and MEMS-based instruments. Motivated by these findings and new technologies, the objective of this paper is to study the expected science return of spatially-extended in-situ exploration at small bodies, as a function of surface covered and in the context of the key science priorities identified by the decadal survey report. Specifically, targets within the scope of our analysis belong to three main classes: main belt asteroids and irregular satellites, Near Earth Objects, and comets. For each class of targets, we identify the corresponding science objectives for potential future exploration, we discuss the types of measurements and instruments that would be required, and we discuss mission architectures (with an emphasis on spatially-extended in-situ exploration) to achieve such objectives. Then, we characterize (notionally) how the science return for two reference targets would scale with the amount (and type) of surface that is expected to be covered by a robotic mobile platform. The conclusion is that spatially-extended insitu information about the chemical and physical heterogeneity of small bodies has the potential to lead to a much improved understanding about their origin, evolution, and astrobiological relevance.
This paper summarizes an algorithm to autonomously position an extracellular recording electrode so as to first isolate the action potentials of a single neuron in a multi-unit signal, and then re-position the electro...
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This paper summarizes an algorithm to autonomously position an extracellular recording electrode so as to first isolate the action potentials of a single neuron in a multi-unit signal, and then re-position the electrode as necessary to optimize and maintain the recording quality of that neuron over an extended recording interval. We first summarize some of the technical advancements of the current algorithm over earlier versions of the “SpikeTrack” recording system in the area of multi-hypothesis cluster tracking method for spike sorting, and a new technique to optimize the signal recording interval. Novel recording experiments in macaque cortex compare the performance of autonomous extracellular recording with that of an experienced neurophysiologist. We found that the algorithm isolates cells better than a human expert.
We introduce a novel task execution capability that enhances the ability of in-situ crew members to function independently from Earth by enabling safe and effcient interaction with automated systems. This task executi...
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Current and future NASA robotic missions to planetary surfaces are tending toward longer duration and are becoming more ambitious for rough terrain access. For a higher level of autonomy in such missions, the rovers w...
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Current and future NASA robotic missions to planetary surfaces are tending toward longer duration and are becoming more ambitious for rough terrain access. For a higher level of autonomy in such missions, the rovers will require behavior that must also adapt to declining health and unknown environmental conditions. The MER (Mars Exploration Rovers) called Spirit and Opportunity have both passed 600 days of life on the Martian surface, with extensions to 1000 days and beyond depending on rover health. Changes in navigational planning due to degradation of the drive motors as they reach their lifetime are currently done on Earth for the Spirit rover. The upcoming 2009 MSL (Mars Science Laboratory) and 2013 AFL (Astrobiology Field Laboratory) missions are planned to last 300-500 days, and will possibly involve traverses on the order of multiple kilometers over challenging terrain. This paper presents a unified coherent framework called SMART (System for Mobility and Access to Rough Terrain) that uses game theoretical algorithms running onboard a planetary surface rover to safeguard rover health during rough terrain access. SMART treats rover motion, task planning, and resource management as a Two Person Zero Sum Game (TPZSG), where the rover is one player opposed by the other player called "nature" representing uncertainty in sensing and prediction of the internal and external environments. We also present preliminary results of some field studies.
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