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Science Objectives

 

Atmosphinder harnesses Martian winds to observe CO2 gas jet expulsions in the southern polar region for environmental science on Mars.

 

 

 

 

Why is this important?

 

⚠️  To date, there have not been observations of a plume in action! [5]

 

⚠️  There are puzzles that remain in the understanding of the CO2 gas jet process

 

⚠️  By investigating this on the surface of Mars, the information could be validated with on the ground data

 

What are the CO2 jets?

 

Sublimation of frozen CO2 to gas creates ‘jets’ from vents that have formed. The jets expel plumes of sediment from underneath the ice layer. The fans and blotches that have been seen from satellite imagery is evidence of this process.

 

Plumes reaching 100 meters occur daily during the Mars south pole spring season. After the ice cap recedes, spider-like patterns are found in the sediment from channels of the gas, known as araneiforms. The process repeats year after year, with some hypothesis that the activity is linked to Mars’ global dust storms.

 

Why are CO2 jets relevant?

 

Orbital studies from High Resolution Imaging Science Experiment (HiRISE) on Mars Reconnaissance Orbiter (MRO) have shown that winds transport fine-grained sediments across Mars [19].

 

Image source: [20], NASA Goddard Media Studios

 

This similar impact can also be seen on Earth with grains of sand being transported from the Saharan desert to the Amazon rainforest [20].

 

This environmental process is significant because nutrients are transported for plant proteins and growth [20] across vast distances as demonstrated by the Earth example.

 

Science Objectives

 

1. Observe a plume in action, recording the duration, height, and apparent particle size

 

2. Conduct a visual survey of the debris from previously erupted jets

 

3. Characterize the troughs, seasonal boundary zone, and layered terrain

 

A concept rover, Atmosphinder, is proposed to conduct these science objectives. The outcomes would provide a ground truth to existing satellite imagery by capturing photos from the surface and an aerial view.

 

Photography from the aerial view is well suited for several of these activities, as a similar technique has been used on Earth to map periglacial geomorphology for analyzing ice networks [24].


How do the CO2 jets form?

 

 

Image source: [4]

 

The process is known as the solid state greenhouse effect [1, 5]. This occurs after the seasonal CO2 has frozen, forming an impermeable slab of translucent ice [2].

 

Approximately 70% of the sunlight reaches the subsurface [2, 3], which then heats up the sediment and regolith underneath [4].

 

The thermal radiation cannot escape. The pressure is building, causing a portion of the slab to levitate [4] momentarily, until finally the ice ruptures and forms a vent [5].

 

A massive plume escapes from the vent containing gas and grains of sediment [5], reaching 100 m [6].

 

As the eruption subsides, the dust settles onto the surface in the form of fans and blotches [5].

 

The understanding of the CO2 jet process stems from the “Kieffer” model [2, 7, 8, 9], with information from numerous Mars instruments, primarily from the Mars Reconnaissance Orbiter (MRO) High Resolution Imaging Science Experiment (HiRISE) [2, 10].

 

 

 

 

 

 

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Kite Control

KiteView software tracks the kite using computer vision.

 

KiteView works by filtering the image based on a range of hue colours. Blobs of those hues are tracked. The blob that is of newest age and of largest size is designated as the kite.

 

 

The trim motors that change the length of the line that is attached to the kite are controlled based on the kite’s position in view.

 

 

Colours are assigned to the kite track:
💚 Green: Central location. No need to move motors.
⚠️ Yellow: Deviation in X or Y axis. Motors moved at slow speed.
🔴 Red: Far away from central. Motors moved at faster speed.

 

 

Custom logic developed in this software includes stopping the track of the kite if the distance was too far in a short period of time. This filters out erroneous blobs.

 

As well, the landscape can be cropped out of the image by setting two points on the image.

 

 

The software connects to the microcontroller and sends commands via a minimal 8 bit API.

 

The commands are rate limited to every 80 ms as to not overflow the serial buffer on the microcontroller.

 

 

Software in the loop testing can be conducted by using previously recorded video instead of live webcam. For future data analysis, the trace points (X, Y, W, H) are saved to a .csv file.


Kite Modes

 

The goal is to let the kite be controlled in different modes:

  • Towing (including forwards, reverse, arc turns)
  • Steady-State
  • Jump
  • Launch & Ascent
  • Descent & Landing


Code

 

KiteView is built on desktop Processing version 3. This was chosen because of the flexibility needed for the development of this type of robot.

 

The following libraries are used:

 

Conclusion

 

KiteView software is in active development. See it on Github here.

 

 

Although on Mars the rover will not have to contend with trees as obstacles, it will be important to improve the control system and algorithms.

 

 

On the test computer, the frames per second that is able to be achieved ranges from 4 - 10 frames per second.

 

In the future, the aim is for this to be running on a single board computer, such as the Nvidia Jetson Nano, in order to be directly embedded on the rover.

 

 

 

 

 

 

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Prototype

 

Moving the kite trim lines enables the rover to be actively steered. This aspect of control is explored first for the prototype.

 

 

The motorized spools are controlled from the software. The direction (forwards or reverse), and three levels of speed (slow, medium, fast) are sent as commands for both sides (left and right).

 

 

The prototype consists of numerous components:

 

 

Prototype Ground Test

 

A ground test was conducted to validate the system interoperability.

 

 

The system worked as expected and from the test more insights were gathered on ways to further improve the prototype.

 

 

Electronics & Firmware

 

At the heart of every rover is an embedded system.

 

 

Microcontroller is an ARM Cortex-M4 at 180 MHz, known as the Teensy 3.6 development board. It is connected on a custom circuit board from a previous robot.

 

The primary peripheral is the motor driver, using 4 GPIO pins (direction) and 2 PWM pins (speed). One of the UARTs is connected to the computer via a USB to Serial driver.

 

 

Software in the loop testing is possible as the KiteView software can use previously recorded videos as input for the kite position, and thereby the commands sent to the microcontroller.

 

A minimal 8 bit command line interface was developed as an API between the software and firmware. Commands from the software are rate limited to send every 80 ms to avoid overflowing the serial buffer on the microcontroller.

 

Above image: Testing the switch and power circuitry on the lab bench

 

The robot is powered by a rechargeable lithium-polymer battery with 4 cells for a nominal voltage of 14.8 V, and fully charged is 16.4 V. Capacity is 2650 mAh, which would be fully capable of running the prototype for several hours. Voltage is regulated down to 5 V for the uC and 6 V for the motors with separate switching regulators rated at 3 A and 8 A respectively. DC brushed 75:1 gear motor driven at up to 1 A per motor.

 

Design

 

Pieces are 3D printed and some are recycled from a previous robot. Wooden dowels used for mast. Hot glue and tape are used to keep everything in place temporarily.

 

 

Constraints

 

The rover is bound for an experiment at the Mars Desert Research Station (MDRS), therefore the constraints are based on that of traveling. It will need to fit within a 55 L hiking backpack, and weigh less than 20 kg. Based on this the design must be modular. Fortunately, the constraints lend themselves well to the rapid prototyping approach!

 

Next Steps

 

A test with active winds will need to take place. Further improvements on KiteView and the prototype will be made. The next goal will be to re-incorporate mobility into the design, to test the steering.

 

 

 

 

 

 

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Experiment

Result: Yes! Kite can pull rover!

 

 

Initial prototype experiment demonstrated that a kite can pull a rover prototype

 

 

The prototype was placed on the grass. With windspeed of 20 km/h, the kite pulled the wheels, and was able to change directions depending on the wind direction. The software worked for tracking the position of the kite.

 

 

 

Design

 

The design of this prototype was a dual-wheel single-axel device, ~30 cm in diameter. The kite line is attached to a freely rotating collar on the axle between the two wheels (yellow piece). Mass was ~1 kg. The pieces were 3D printed in polylactic acid (PLA) plastic.

 

 

Criteria

 

Criteria for future experiments will include:

  • Travel forwards
  • Arc turn
  • Travel backwards
  • Hold stationary

 

 

The performance of these movements will serve as a benchmark for evaluating the upcoming prototypes.

 

Next Steps

 

The goal for the next design revision is to have the trim line control mechanism working. A dual-line kite will be used to give more control over the direction and movements.

 

 

As always with 3D printing, there is a never ending list of repairs to do! This was a nozzle upgrade on a 9 year old printer.

 

 

 

 

 

 

 

 

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Region of Interest

 

Map image source: [7]

 

Located within the cryptic region of the south pole of Mars, Manhattan is the region of interest. The CO2 jets are daily active processes, as seen below after 106 hours.

 

Image credit: NASA / JPL-Caltech / UArizona [11, 12]

 

Why Manhattan?

 

✅ Smooth terrain surface

✅ Abundance of fans

✅ Low incline

✅ Access to a South Polar Layered Deposit (SPLD)

 

Why are those factors important?

 

⬆️ Increased chance of seeing plume in action with more fans

⬇️ Less risk for the rover and easier to locomote on smooth terrains

⬆️ Better observability for rover, easier to navigate, with the low incline

⬆️ Access to the SPLD makes it excellent for science observations

 

A weighted matrix including the above factors was used to arrive at the choice of Manhattan.

 

Other candidate locations included Ithaca, Giza, and Inca City.

Manhattan's Latitude: -86.39°, Longitude: 99°.

 

Surface Features

 

Image source: [7]

 

The fans and blotches that speckle the region give information regarding the wind direction and speed. Citizen science efforts have led to the quantification of this [2, 6] through Planet Four.

 

Fans form days to weeks later than when the spots first appear [4], and the spots repeat year after year [4, 13, 14].

 

Image credit: NASA / JPL / UArizona using the HiRISE instrument onboard the Mars Reconnaissance Orbiter (MRO)

 

The surface is also host to a feature called araneiforms [5]. These spider-like features form large troughs, with the central depression of the araneiform spanning ~50 m across and the entire branches reaching up to 1 km across [5, 17, 18].

 

These features are carved out by erosion from the CO2 jet process. It is hypothesized that this araneiform morphology is what establishes the year to year repeatability for the spot locations [4].

 

Mission Duration

 

Starting at the southern spring equinox, Ls = 180°, the temperatures begin to warm. By Ls = 260°, the seasonal ice has completely disappeared. That is approximately 4 months.

 

Image credit: NASA/JPL

 

The temperature of the fans are within that of the CO2 ice temperature (~145 K) [4], compared to bare soil which warms to > 225 K within days of when the CO2 ice melts [4, 15, 16].

 

Image: Southern pole surface temperatures during Mars Year 31 (MY31), as measured by Mars Odyssey - Thermal Emission Imaging System (THEMIS). Source: [22]

 

During those 4 months, there are milestones to meet in order for the rover to be in the correct location and position to collect the best science data.

 

 

The mission could extend through the summer to conduct additional science and gather observations.

 

 

 

 

 

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Future Work

Data from Atmosphinder could  give insight into Mars' atmospheric climate, and lead to larger missions such as deep ice cores.

Upcoming mission planned at the Mars Desert Research Station in 2023 with Crew 261.

 

Image source: Mars Society MDRS

 

Startup

 

Atmosphinder joins the lineup of robotic developments at Robot Missions.

 

Above photo: Bowie the robot racing a rover from the Canadian Space Agency (CSA)

 

The prototype kite control aspect is intended to be further developed and brought to market as a do-it-yourself educational kit for budding engineers.

 

 

Active development is underway, see GitHub repository.

 

Advanced Concepts

 

One of the possible paths to further Atmosphinder would be through the NASA Innovative Advanced Concepts (NIAC) program. The first phase would explore the overall viability of Atmosphinder.

 

The Atmosphinder concept would transform planetary environmental and atmospheric science missions — enabling long durations at low and sustainable energy in cold conditions.

 

Several areas could be explored in depth:

 

  1. Experimentally observing the reduced friction and flow of gas that occurs as the rover’s keel is heated, causing the CO2 to sublimate
  2. Kite control algorithms for achieving different modes of operation during varying environmental conditions.
  3. Design and materials of the kite-balloon to add rigidity, while keeping it lightweight, experimentally tested for performance in Mars’ low atmospheric pressure.

 

Other Planets

 

Eruptions on Triton. Image source: Ron Miller

 

This concept could be applicable to missions on other planets as well:

  • Triton, Neptune’s moon, is also host to geyser-like eruptions.
  • Venus, there could be flights above the clouds in short durations [37].
  • Jupiter and Saturn, similar and in longer durations [37].
  • Titan, the largest moon of Saturn, has 4x the atmosphere and thus a small balloon could lift a heavy payload to a high altitude [36].
  • Finally, there is applicability on Earth for exploring the arctic regions.


Conclusion

 

The dynamic south pole region of Mars has a wealth of insights waiting to be discovered.

 

Atmosphinder could be a precursor to a larger mission at the poles with deep drills for ice cores — giving unprecedented insight into Mars’ climatic changes over time.

 

Ultimately, knowledge collected by Atmosphinder could be used to inform measures for protecting fragile environments.

 

Let’s go!

 

 

 

 

OPEN

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