Publications related to Spirit (rover)

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Launched in April 2023, the JUICE spacecraft is currently on its journey to Jupiter, with a scheduled arrival in 2031. During the Cruise phase, the scientific payload is periodically switched-on during checkouts and planetary flybys. In addition to the payload, two cameras are part of the so-called “facility instruments” onboard the spacecraft: the JUICE Monitoring Camera (JMC) and the JUICE Navigation Camera (NAVCAM). The JMC very wide angle cameras (JMC1 and JMC2) acquire colour images using a RGYB custom

We propose a novel optimization-based safe exploration strategy for improving the robust performance of linear time-invariant systems. At each time step, the exploratory control input is obtained by solving a data-based semidefinite program (SDP) that ensures robust satisfaction of safety constraints and recursive feasibility for all admissible disturbances and all system dynamics consistent with the available data. Furthermore, the SDP is designed to systematically guide exploration toward trajectories tha

With orbiting stations and ground bases planned to be built, we are yet to master the ability to explore long term and long range over areas of the Moon often characterised by an extreme topography, dauntingly low temperatures, and wedged with what are known as Permanently Shadowed Regions (PSRs). This represents significant challenges for traditional ground exploration approaches, often relying on individual, limited-range, slow, wheeled rovers. Precise knowledge about the terrain for an optimised route pl

To investigate blob properties in the tokamak scrape-off layer (SOL), we perform dedicated numerical nonlinear simulations of plasma turbulence in the SOL of a TCV discharge using the Global Braginskii Solver code. A blob detection technique is used for th ...

An experimental framework for an echolocator robot was developed and tested. The framework includes an image processing and computer vision algorithm for visual localization, odometry analysis and the tools for calculating room impulse responses. The performance of each method was compared and first analyses of the room impulse responses were provided for different experimental setups and at multiple positions. The precision obtained with visual localization was on the order of 1 cm and significantly better

In order to separate a mixture into high purity products, Dividing Wall Distillation Columns (DWCs) have shown to be, in most cases, more convenient than using conventional distillation column sequence. In fact in DWCs the entire separation task occurs in one thermally coupled column shell hence reducing investement and operationg cost up to 60%. The DWC is a one column shell with a condensor at the top and a reboiler at the bottom. A wall located inside the shell divides a particular region of the column i

Many algorithms related to localization need good pose prediction in order to produce accurate results. This is especially the case for data association algorithms, where false feature matches can lead to the localization system failure. In rough terrain, the field of view can vary significantly between two feature extraction steps, so a good position prediction is necessary to robustly track features. This paper presents a method for combining dead reckoning sensor information in order to provide an initia

For more than two decades, Mars has been of great interest for scientific exploration, using orbiting spacecrafts or landers. Orbiters like Mars Express cover large areas and give images of the surface with a resolution limited to several meters. Rovers missions, like Pathfinder or MER , offer the ability to maneuver to scientifically interesting sites, perform analysis of soil and rock composition, but are limited in range to the immediate surroundings of the landing site. There is a strategic gap for

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a lack of robustness. A physical model of the robot is necessary for trajectory control. In this paper, quasi-static modeling of a six-wheeled robot with a passive suspension mechanism is presented together with a method for selecting the optimal torques consi

Due to the different properties of the dynamical simulation of multi-body systems, it is important to introduce a classification that allows for the right selection of a simulation type according to the user s needs. The proposed classification divides simulations with respect to the main characteristics, such as speed, accuracy, processing power, preparation work, resulting in the need for very different models of the rover. Using the SOLERO rover as an example, problems are shown that can occur when devel

In the pursuit of a portable gas detector/analyser we studied the components of an ion mobility spectrometer (IMS), which is a device that lends itself well to miniaturisation. The component we focused on was the ionizer. We fabricated a series of micro ionizers with micro electromechanical systems (MEMS) technology, which had a gap spacing between 1 and 50 μm and a thickness from 0.3 to 50 μm. They were used to examine micro discharges as such and as a means of ionization. In our measurements of electrical

Spirit (rover)

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The JMC and NAVCAM cameras on the ESA JUICE spacecraft

Data-Driven Safe Exploration to Enhance Robust Performance

Feasibility Study and Preliminary Design of Lunar Reconnaissance Drone

Blob properties in full-turbulence simulations of the TCV scrape-off layer

Experimental Setup of Sound Emitting and Processing Robot for Acoustic-Based SLAM Applications

Evaluation of advanced technologies based on integration techniques - Application on dividing wall column

Inertial and 3D-odometry fusion in rough terrain Towards real 3D navigation

SKY-SAILOR Design of an autonomous solar powered martian airplane

Wheel torque control for a rough terrain rover

Modeling and optimization of wheeled rovers

Study of gas ionization in a glow discharge and development of a micro gas ionizer for gas detection and analysis