scholarly journals Visual SLAM-Based Robotic Mapping Method for Planetary Construction

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7715
Author(s):  
Sungchul Hong ◽  
Antyanta Bangunharcana ◽  
Jae-Min Park ◽  
Minseong Choi ◽  
Hyu-Soung Shin
Keyword(s):  
Mapping Method ◽  
Disparity Map ◽  
Camera System ◽  
Lava Tubes ◽  
Water Ice ◽  
Robotic Mapping ◽  
Localization And Mapping ◽  
Human Exploration

With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the development of in-situ resource utilization (ISRU) technology, the recent planetary exploration has focused on rover (or lander)-based surface missions toward the base construction for long-term human exploration and habitation. However, a 3D terrain map, mostly based on orbiters’ terrain images, has insufficient resolutions for construction purposes. In this regard, this paper introduces the visual simultaneous localization and mapping (SLAM)-based robotic mapping method employing a stereo camera system on a rover. In the method, S-PTAM is utilized as a base framework, with which the disparity map from the self-supervised deep learning is combined to enhance the mapping capabilities under homogeneous and unstructured environments of planetary terrains. The overall performance of the proposed method was evaluated in the emulated planetary terrain and validated with potential results.

scholarly journals Sublimation of terrestrial permafrost and the implications for ice-loss processes on Mars

2021 ◽  
Author(s):  
Douglas Thomas ◽  
Mellon Michael
Keyword(s):  
Effective Diffusion ◽  
Near Surface ◽  
Landing Sites ◽  
Ice Wedge ◽  
Rate Controlled ◽  
Ice Content ◽  
Surface Ice ◽  
Human Exploration

Sublimation of ice is rate-controlled by vapor transport away from its outer surface and may have generated landforms on Mars. In ice-cemented ground (permafrost), the lag of soil particles remaining after ice loss decreases subsequent sublimation. Varying soil-ice ratios lead to differential lag development. Here we report 52 years of sublimation measurements from a permafrost tunnel near Fairbanks, Alaska, and constrain models of sublimation, diffusion through porous soil, and lag formation. We derive the first long-term in situ effective diffusion coefficient of ice-free loess, a Mars analog soil, of 9.05 × 10⁻⁶ m² s⁻¹, ~5× larger than past theoretical studies. Exposed ice-wedge sublimation proceeds ~4× faster than predicted from analogy to heat loss by buoyant convection, a theory frequently employed in Mars studies. Our results can be used to map near-surface ice-content differences, identify surface processes controlling landform formation and morphology, and identify target landing sites for human exploration of Mars.

scholarly journals North polar trough formation due to in-situ erosion as a source of young ice in mid-latitudinal mantles on Mars

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
J. Alexis P. Rodriguez ◽  
Kenneth L. Tanaka ◽  
Ali M. Bramson ◽  
Gregory J. Leonard ◽  
Victor R. Baker ◽  
...  
Keyword(s):  
Katabatic Wind ◽  
Spiral Pattern ◽  
Near Surface ◽  
Valuable Source ◽  
History Of ◽  
North Polar ◽  
Human Exploration ◽  
Erosional Event

AbstractThe clockwise spiral of troughs marking the Martian north polar plateau forms one of the planet’s youngest megastructures. One popular hypothesis posits that the spiral pattern resulted as troughs underwent poleward migration. Here, we show that the troughs are extensively segmented into enclosed depressions (or cells). Many cell interiors display concentric layers that connect pole- and equator-facing slopes, demonstrating in-situ trough erosion. The segmentation patterns indicate a history of gradual trough growth transversely to katabatic wind directions, whereby increases in trough intersections generated their spiral arrangement. The erosional event recorded in the truncated strata and trough segmentation may have supplied up to ~25% of the volume of the mid-latitude icy mantles. Topographically subtle undulations transition into troughs and have distributions that mimic and extend the troughs’ spiraling pattern, indicating that they probably represent buried trough sections. The retention of the spiral pattern in surface and subsurface troughs is consistent with the megastructure’s stabilization before its partial burial. A previously suggested warm paleoclimatic spike indicates that the erosion could have occurred as recently as ~50 Ka. Hence, if the removed ice was redeposited to form the mid-latitude mantles, they could provide a valuable source of near-surface, clean ice for future human exploration.

scholarly journals Global soil moisture data derived through machine learning trained with in-situ measurements

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Sungmin O. ◽  
Rene Orth
Keyword(s):  
Machine Learning ◽  
Soil Moisture ◽  
Large Scale ◽  
Short Term Memory ◽  
Temporal Dynamics ◽  
Soil Moisture Data ◽  
Wide Range ◽  
Global Soil

AbstractWhile soil moisture information is essential for a wide range of hydrologic and climate applications, spatially-continuous soil moisture data is only available from satellite observations or model simulations. Here we present a global, long-term dataset of soil moisture derived through machine learning trained with in-situ measurements, SoMo.ml. We train a Long Short-Term Memory (LSTM) model to extrapolate daily soil moisture dynamics in space and in time, based on in-situ data collected from more than 1,000 stations across the globe. SoMo.ml provides multi-layer soil moisture data (0–10 cm, 10–30 cm, and 30–50 cm) at 0.25° spatial and daily temporal resolution over the period 2000–2019. The performance of the resulting dataset is evaluated through cross validation and inter-comparison with existing soil moisture datasets. SoMo.ml performs especially well in terms of temporal dynamics, making it particularly useful for applications requiring time-varying soil moisture, such as anomaly detection and memory analyses. SoMo.ml complements the existing suite of modelled and satellite-based datasets given its distinct derivation, to support large-scale hydrological, meteorological, and ecological analyses.

scholarly journals A Study of UVER in Santiago, Chile Based on Long-Term In Situ Measurements (Five Years) and Empirical Modelling

Energies ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 368
Author(s):  
Lisdelys González-Rodríguez ◽  
Amauri Pereira de Oliveira ◽  
Lien Rodríguez-López ◽  
Jorge Rosas ◽  
David Contreras ◽  
...  
Keyword(s):  
Urban Areas ◽  
Solar Spectrum ◽  
Sun Exposure ◽  
Great Accuracy ◽  
In Situ Measurements ◽  
Uv Index ◽  
Empirical Modelling ◽  
The People

Ultraviolet radiation is a highly energetic component of the solar spectrum that needs to be monitored because is harmful to life on Earth, especially in areas where the ozone layer has been depleted, like Chile. This work is the first to address the long-term (five-year) behaviour of ultraviolet erythemal radiation (UVER) in Santiago, Chile (33.5° S, 70.7° W, 500 m) using in situ measurements and empirical modelling. Observations indicate that to alert the people on the risks of UVER overexposure, it is necessary to use, in addition to the currently available UV index (UVI), three more erythema indices: standard erythemal doses (SEDs), minimum erythemal doses (MEDs), and sun exposure time (tery). The combination of UVI, SEDs, MEDs, and tery shows that in Santiago, individuals with skin types III and IV are exposed to harmfully high UVER doses for 46% of the time that UVI indicates is safe. Empirical models predicted hourly and daily values UVER in Santiago with great accuracy and can be applied to other Chilean urban areas with similar climate. This research inspires future advances in reconstructing large datasets to analyse the UVER in Central Chile, its trends, and its changes.

scholarly journals In-Situ Annealed Ti3C2Tx MXene Based All-Solid-State Flexible Zn-Ion Hybrid Micro Supercapacitor Array with Enhanced Stability

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
La Li ◽  
Weijia Liu ◽  
Kai Jiang ◽  
Di Chen ◽  
Fengyu Qu ◽  
...  
Keyword(s):  
High Energy ◽  
High Rate ◽  
High Energy Density ◽  
Electrochemical Performances ◽  
Integrated Electronics ◽  
Long Term Stability ◽  
Hybrid Supercapacitors ◽  
Portable Electronics

AbstractZn-ion hybrid supercapacitors (SCs) are considered as promising energy storage owing to their high energy density compared to traditional SCs. How to realize the miniaturization, patterning, and flexibility of the Zn-ion SCs without affecting the electrochemical performances has special meanings for expanding their applications in wearable integrated electronics. Ti3C2Tx cathode with outstanding conductivity, unique lamellar structure and good mechanical flexibility has been demonstrated tremendous potential in the design of Zn-ion SCs, but achieving long cycling stability and high rate stability is still big challenges. Here, we proposed a facile laser writing approach to fabricate patterned Ti3C2Tx-based Zn-ion micro-supercapacitors (MSCs), followed by the in-situ anneal treatment of the assembled MSCs to improve the long-term stability, which exhibits 80% of the capacitance retention even after 50,000 charge/discharge cycles and superior rate stability. The influence of the cathode thickness on the electrochemical performance of the MSCs is also studied. When the thickness reaches 0.851 µm the maximum areal capacitance of 72.02 mF cm−2 at scan rate of 10 mV s−1, which is 1.77 times higher than that with a thickness of 0.329 µm (35.6 mF cm−2). Moreover, the fabricated Ti3C2Tx based Zn-ion MSCs have excellent flexibility, a digital timer can be driven by the single device even under bending state, a flexible LED displayer of “TiC” logo also can be easily lighted by the MSC arrays under twisting, crimping, and winding conditions, demonstrating the scalable fabrication and application of the fabricated MSCs in portable electronics.

scholarly journals Poly(ethylene glycol)-b-poly(1,3-trimethylene carbonate) Copolymers for the Formulation of In Situ Forming Depot Long-Acting Injectables

Pharmaceutics ◽  
2021 ◽  
Vol 13 (5) ◽  
pp. 605
Author(s):  
Marie-Emérentienne Cagnon ◽  
Silvio Curia ◽  
Juliette Serindoux ◽  
Jean-Manuel Cros ◽  
Feifei Ng ◽  
...  
Keyword(s):  
Ethylene Glycol ◽  
Surface Erosion ◽  
Sustained Delivery ◽  
Trimethylene Carbonate ◽  
Poly Ethylene Glycol ◽  
In Situ Forming ◽  
Poly Ethylene ◽  
Long Acting

This article describes the utilization of (methoxy)poly(ethylene glycol)-b-poly(1,3-trimethylene carbonate) ((m)PEG–PTMC) diblock and triblock copolymers for the formulation of in situ forming depot long-acting injectables by solvent exchange. The results shown in this manuscript demonstrate that it is possible to achieve long-term drug deliveries from suspension formulations prepared with these copolymers, with release durations up to several months in vitro. The utilization of copolymers with different PEG and PTMC molecular weights affords to modulate the release profile and duration. A pharmacokinetic study in rats with meloxicam confirmed the feasibility of achieving at least 28 days of sustained delivery by using this technology while showing good local tolerability in the subcutaneous environment. The characterization of the depots at the end of the in vivo study suggests that the rapid phase exchange upon administration and the surface erosion of the resulting depots are driving the delivery kinetics from suspension formulations. Due to the widely accepted utilization of meloxicam as an analgesic drug for animal care, the results shown in this article are of special interest for the development of veterinary products aiming at a very long-term sustained delivery of this therapeutic molecule.

In Situ Tests on Creep Behavior of Rock Mass with Joint or Shearing Zone in Foundation of Large-Scale Hydroelectric Projects

2004 ◽  
Vol 261-263 ◽  
pp. 1097-1102 ◽  
Author(s):  
Jian Liu ◽  
Xia Ting Feng ◽  
Xiu Li Ding ◽  
Huo Ming Zhou
Keyword(s):  
Rock Mass ◽  
Creep Behavior ◽  
Large Scale ◽  
Time Dependent ◽  
Three Gorges Project ◽  
Three Gorges ◽  
The Three Gorges ◽  
The Three Gorges Project

The time-dependent behavior of rock mass, which is generally governed by joints and shearing zones, is of great significance for engineering design and prediction of long-term deformation and stability. In situ creep test is a more effective method than laboratory test in characterizing the creep behavior of rock mass with joint or shearing zone due to the complexity of field conditions. A series of in situ creep tests on granite with joint at the shiplock area of the Three-Gorges Project and basalt with shearing zone at the right abutment of the Xiluodu Project were performed in this study. Based on the test results, the stress-displacement-time responses of the joints and basalt are analyzed, and their time-dependent constitutive model and model coefficients are given, which is crucial for the design to prevent the creep deformations of rock masses from causing the failure of the operation of the shiplock gate at the Three-Gorges Project and long-term stability of the Xiluodu arc dam.

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