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A robotic exploration mission that would enter a lunar pit to characterize the environment is described. A hopping mechanism for the robot's mobility is proposed. Various methods of hopping drawn from research literature are discussed in detail. The feasibilities of mechanical, electric, fluid, and combustive methods are analyzed. Computer simulations

A robotic exploration mission that would enter a lunar pit to characterize the environment is described. A hopping mechanism for the robot's mobility is proposed. Various methods of hopping drawn from research literature are discussed in detail. The feasibilities of mechanical, electric, fluid, and combustive methods are analyzed. Computer simulations show the mitigation of the risk of complex autonomous navigation systems. A mechanical hopping mechanism is designed to hop in Earth gravity and carry a payload half its mass. A physical experiment is completed and proves a need for further refinement of the prototype design. Future work is suggested to continue exploring hopping as a mobility method for the lunar robot.
ContributorsMcKinney, Tyler James (Author) / Thangavelautham, Jekan (Thesis director) / Robinson, Mark (Committee member) / Asphaug, Erik (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2015-05
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When rover mission planners are laying out the path for their rover, they use a combination of stereo images and statistical and geological data in order to plot a course for the vehicle to follow for its mission. However, there is a lack of detailed images of the lunar surface

When rover mission planners are laying out the path for their rover, they use a combination of stereo images and statistical and geological data in order to plot a course for the vehicle to follow for its mission. However, there is a lack of detailed images of the lunar surface that indicate the specific presence of hazards, such as craters, and the creation of such crater maps is time-consuming. There is also little known about how varying lighting conditions caused by the changing solar incidence angle affects perception as well. This paper addresses this issue by investigating how varying the incidence angle of the sun affects how well the human and AI can detect craters. It will also see how AI can accelerate the crater-mapping process, and how well it performs relative to a human annotating crater maps by hand. To accomplish this, several sets of images of the lunar surface were taken with varying incidence angles for the same spot and were annotated both by hand and by an AI. The results are observed, and then the AI performance was rated by calculating its resulting precision and recall, considering the human annotations as being the ground truth. It was found that there seems to be a maximum incidence angle for which detect rates are the highest, and that, at the moment, the AI’s detection of craters is poor, but it can be improved. With this, it can inform future and more expansive investigations into how lighting can affect the perception of hazards to rovers, as well as the role AI can play in creating these crater maps.

ContributorsHayashi, Brent Keopele (Author) / Das, Jnaneshwar (Thesis director) / Mahanti, Prasun (Committee member) / Anand, Harish (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
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Description
Both volcanism and impact cratering produce ejecta and associated deposits incorporating a molten rock component. While the heat sources are different (exogenous vs. endogenous), the end results are landforms with similar morphologies including ponds and flows of impact melt and lava around the central crater. Ejecta from both impact and

Both volcanism and impact cratering produce ejecta and associated deposits incorporating a molten rock component. While the heat sources are different (exogenous vs. endogenous), the end results are landforms with similar morphologies including ponds and flows of impact melt and lava around the central crater. Ejecta from both impact and volcanic craters can also include a high percentage of melted rock. Using Lunar Reconnaissance Orbiter Camera Narrow Angle Camera (LROC NAC) images, crucial details of these landforms are finally revealed, suggesting a much more dynamic Moon than is generally appreciated. Impact melt ponds and flows at craters as small as several hundred meters in diameter provide empirical evidence of abundant melting during the impact cratering process (much more than was previously thought), and this melt is mobile on the lunar surface for a significant time before solidifying. Enhanced melt deposit occurrences in the lunar highlands (compared to the mare) suggest that porosity, target composition, and pre-existing topography influence melt production and distribution. Comparatively deep impact craters formed in young melt deposits connote a relatively rapid evolution of materials on the lunar surface. On the other end of the spectrum, volcanic eruptions have produced the vast, plains-style mare basalts. However, little was previously known about the details of small-area eruptions and proximal volcanic deposits due to a lack of resolution. High-resolution images reveal key insights into small volcanic cones (0.5-3 km in diameter) that resemble terrestrial cinder cones. The cones comprise inter-layered materials, spatter deposits, and lava flow breaches. The widespread occurrence of the cones in most nearside mare suggests that basaltic eruptions occur from multiple sources in each basin and/or that rootless eruptions are relatively common. Morphologies of small-area volcanic deposits indicate diversity in eruption behavior of lunar basaltic eruptions driven by magmatic volatiles. Finally, models of polar volatile behavior during impact-heating suggest that chemical alteration of minerals in the presence of liquid water is one possible outcome that was previously not thought possible on the Moon.
ContributorsStopar, Julie D (Author) / Robinson, Mark S. (Thesis advisor) / Bell, James (Committee member) / Christensen, Philip R. (Philip Russel) (Committee member) / Clarke, Amanda (Committee member) / Scowen, Paul (Committee member) / Arizona State University (Publisher)
Created2016
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Description
Water has shaped the surface of Mars, recording previous environments and inspiring the search for extinct life beyond Earth. While conditions on the Martian surface today are not conducive to the presence of liquid water, ancient erosional and depositional features indicate that this was not always so. Quantifying the regional

Water has shaped the surface of Mars, recording previous environments and inspiring the search for extinct life beyond Earth. While conditions on the Martian surface today are not conducive to the presence of liquid water, ancient erosional and depositional features indicate that this was not always so. Quantifying the regional and global history of water on Mars is crucial to understanding how the planet evolved, where to focus future exploration, and implications for water on Earth.

Many sites on Mars contain layered sedimentary deposits, sinuous valleys with delta shaped deposits, and other indications of large lakes. The Hypanis deposit is a unique endmember in this set of locations as it appears to be the largest ancient river delta identified on the planet, and it appears to have no topographic boundary, implying deposition into a sea. I have used a variety of high-resolution remote sensing techniques and geologic mapping techniques to present a new model of past water activity in the region.

I gathered new orbital observations and computed thermal inertia, albedo, elevation, and spectral properties of the Hypanis deposit. I measured the strike and dip of deposit layers to interpret the sedimentary history. My results indicate that Hypanis was formed in a large calm lacustrine setting. My geomorphic mapping of the deposit and catchment indicates buried volatile-rich sediments erupted through the Chryse basin fill, and may be geological young or ongoing. Collectively, my results complement previous studies that propose a global paleoshoreline, and support interpretations that Mars had an ocean early in its history. Future missions to the Martian surface should consider Hypanis as a high-value sampling opportunity.
ContributorsAdler, Jacob (Author) / Bell, James (Thesis advisor) / Christensen, Philip R. (Philip Russel) (Committee member) / Robinson, Mark (Committee member) / Asphaug, Erik (Committee member) / Whipple, Kelin (Committee member) / Arizona State University (Publisher)
Created2019