Changes for page Amadee-24-Genes4Mars

Last modified by Hermann Hinterhauser on 2024/03/26 12:01

From version < 21.1 >

edited by Hermann Hinterhauser
on 2024/03/25 11:18

To version < 24.1 >

edited by Hermann Hinterhauser
on 2024/03/25 11:37

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--Amadee-24-GeoPrep
++Amadee-24-MEROP

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  === Details ===
--|**Acronym**|GeoPrep
--|**Description**|Geo-sampling selection and curation within habitat; performing a petrological analysis with simple tools (incl. cutting / polishing samples), microscopy optical/Raman/IR; post mission lab analysis.
--|**Principal Investigator (PI)**|Dominik Jäger ~| [[dominik.jaeger@uibk.ac.at>>mailto:dominik.jaeger@uibk.ac.at]]
--|**Organisation** |University of Innsbruck
++|**Acronym**|MEROP
++|**Description**|Human-robotic multimodal teleoperation interface for AA teleoperations and MSC t/m visualization; this shall allow AA's to switch between semi-autonomous teleoperation and direct control.
++|**Principal Investigator (PI)**|Rute Luz ~| [[rute.luz@tecnico.ulisboa.pt>>mailto:rute.luz@tecnico.ulisboa.pt]]
++|**Organisation** |Institute for Systems and Robotics, Instituto Superior Técnico, University of Lisbon
  |**Co-Investigators**|(((
--Bastian Joachim-Mrosko, University of Innsbruck, Geology Department
++Jéssica Corujeira | [[jessica.corujeira@tecnico.ulisboa.pt>>mailto:jessica.corujeira@tecnico.ulisboa.pt]]
--Jürgen Konzett, University of Innsbruck, Geology Department
++Rodrigo Ventura | [[rodrigo.ventura@isr.tecnico.ulisboa.pt>>mailto:rodrigo.ventura@isr.tecnico.ulisboa.pt]]
++
++José Luís Silva | [[jlcsa@iscte-iul.pt>>mailto:jlcsa@iscte-iul.pt]]
  )))
  === Summary ===
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  [[image:ACT_manifest.png||height="266" width="399"]]
  )))
--The analysis of rock samples allows us to unravel the history of a terrestrial planet. This includes its accretion, the tectonic and magmatic processes that shape its interior, and the processes that shape its surface morphological features. In addition, rock samples can preserve information about the evolution of a planet’s atmosphere and hold clues to the former presence of a biosphere, the nature of its various ecosystems and possible causes of its demise. In case of Mars, the planet’s major surface morphological features testify to an extensive history of volcanic activity and provide strong evidence for the former presence of large bodies of liquid water.
++Effective interaction between the analog astronaut and a remote rover is essential to take out full advantage of the supporting asset and to ensure a successful exploration during a mission. A rover is teleoperated via the Operator Control Unit (OCU). The physical distance from the operator and the robotic vehicle leads to poor situation awareness and may cause inadequate decision-making. The OCU must be designed wisely to ensure proper human-robot interaction.
--The GeoPrep experiment is designed to prepare a rock sample for a first microscopic examination. This will improve the selection process of samples on other planets which will be sent back to Earth by integrating the results into a decision-making process aimed at selecting the suitable samples.
++MEROP improvesthe teleoperation of rovers by providing a problem-solving toolbox to the OCU. It addresses two major issues: situation awareness and communication. Unexpected, autonomous action of the robot may cause operator insecurity and influences situation awareness in a negative way. The second challenge deals with communication and communication reliability between the operator and the robot. Issues concerning bandwidth or loss of communication impose constant risks, which need to be mitigated.
--GeoPrep will investigate whether it is possible to set up a rock sample preparation facility in a Martian field lab using as simple a technical and operational approach as possible to produce thin sections of different materials. The experiment will also show if this facility can be operated by an analog astronaut with no previous knowledge about rock sample preparation.
++The expected outcome of the MEROP experiment is an improved teleoperation of robotic vehicles and the implementation of an effective visualization tool that support the flight planning team in the decision-making process.
--To realize this experiment, a sample of appropriate size will be collected in an inflatable glove bag, to avoid contamination. After cleaning, a piece of that sample will be cut off and examined using a petrographic microscope. The quality of the sample aswell as to what extent it can be analyzed using different techniques will also be studied.
++To achieve experiment objectives, the MEROP team will implement a teleoperation interface, where the analog astronaut can choose between two interaction levels: Semi-autonomous teleoperation and direct teleoperation. Semi-autonomous teleoperation features indirect control of the robot using a virtual avatar and interface augmentation techniques. Direct teleoperation allows for the direct control of the robot to enhance situation awareness.