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This system includes a C-code software program and a set of MATLAB software tools for statistical analysis and rock distribution mapping. The major functions include rock detection and rock detection validation. The rock detection code has been evolved into a production tool that can be used by engineers and geologists with minor training.
In this paper we introduce a general framework for an image based autonomous rock detection process for Martian terrain. A rock detection algorithm, based on this framework, is described and demonstrated on examples of real Mars Rover data. An attempt is made to produce a system that is independent of parameters to ease on-board implementation for real time in-situ operation.
Missions to Mars already under study call for very long autonomous traverses (on the order of hundreds of meters per sol) during which there will be limited contact with Earth. The onboard Autonomous Science Investigation System (OASIS) is a technology for increasing science return during rover traverses by prioritizing science opportunities. By prioritizing data for downlink onboard, it is expected that the set of images selected for downlink by OASIS will have a consistently higher scientific interest then any set of equal number of images of the same traverse obtained using random or periodic sampling. Thus, OASIS can be used to increase the science returned from a long traverse. OASIS prioritizes data and identifies science opportunities by extracting information from image data and then using this information to prioritize the data and identify potential new science opportunities. Currently, the information extracted from the images is the location of the rocks in the image and several properties of these rocks such as size, albedo, texture and shape, In this paper we give an overview of the role of rock detection in the OASIS system and describe the functionality of the rock detector. We then present results on representative images
Assessing structural integrity of large underground tunnel facilities is often a time consuming and human-labor intensive task. Thus, research using various modes of sensing and automated detection of key structural components in mines is posed to aid in safety assessments and establishing overall structural health. We propose an approach utilizing off-the-shelf camera and lidar technology fixed to a custom sensing platform, image stitching techniques, fine-tuned object detection models, and specialized model-inference methods to automatically detect, count, and map roof bolts for assessment of structural safety in man-made underground tunnels. Results show a novel workflow for effective object counting in orthomosaic tunnel ceiling images generated from collections in GPS-denied mining environments. Additionally, we demonstrate effective fine-tuning of EfficientDet object detectors utilizing state-of-the-art image augmentation techniques known as the mosaic and mixup transformations. Our work is demonstrated on sensed data and imagery collected from the Department of Energy (DOE) Waste Isolation Pilot Plant (WIPP) where miles of tunnel ceiling must be assessed for structural integrity.
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Martian gullies are found on steep slopes of all origins, on all sorts of terrains of all ages, scattered across nearly all of Mars. Gullies are observed on all manner of substrates (layered, massive, shattered, rubble), with or without nearby mantling deposits. Gullies are most common in the southern midlatitudes but also occur in the northern hemisphere, in near polar terrain, on equatorial volcanoes, and on northern plains. Most gullies in the southern hemisphere are on south-facing slopes, but they occur on slopes of all orientations. Gullies are among the youngest features on Mars but locally are overlain by eolian deposits and cut by faults. Old or eroded gullies are rare, and those found have been partially stripped from slopes, leaving no rock debris behind. Most gully deposits contain no detectable rocks. These data are inconsistent with published hypotheses of gully formation, including seeps and breakouts of water or brine, hydrothermal activity, cryovolcanism, and breakouts from liquid carbon dioxide. The data are consistent with gullies being dry flows of eolian material (dust and silt), comparable to climax snow avalanches on Earth. Eolian sedimentation should be correlated little with underlying geology: cause of slope, age of terrain, type of terrain, or the nature of the rocks. Eolian sedimentation should be correlated with wind deceleration (which will cause suspended sediment to drop), and areas with common gullies are those with strong wind deceleration (predicted by global circulation model). In such areas, sediment will be deposited preferentially in the lee of obstacles; for the gully-rich areas of the southern midlatitudes, winds blow from the NNW, so that sediment is deposited on SSE-facing slopes (i.e., poleward). These predictions are in accord with observations.
We investigate the physical properties, and changes through time, of lunar impact ejecta using radar and thermal infrared data. We use data from two instruments on the Lunar Reconnaissance Orbiter (LRO) - the Diviner thermal radiometer and the Miniature Radio Frequency (Mini-RF) radar instrument - together with Earth-based radar observations. We use this multiwavelength intercomparison to constrain block sizes and to distinguish surface from buried rocks in proximal ejecta deposits. We find that radar-detectable rocks buried within the upper meter of regolith can remain undisturbed by surface processes such as micrometeorite bombardment for greater than 3 Gyr. We also investigate the thermophysical properties of radar-dark haloes, comprised of fine-grained, rock-poor ejecta distal to the blocky proximal ejecta. Using Diviner data, we confirm that the halo material is depleted in surface rocks, but show that it is otherwise thermophysically indistinct from background regolith. We also find that radar-dark haloes, like the blocky ejecta, remain visible in radar observations for craters with ages greater than 3 Ga, indicating that regolith overturn processes cannot replenish their block populations on that timescale.
The condition sensor system comprises a condition detector which produces a pulse when a parameter of the monitored condition exceeds a desired threshold. A resettable condition counter counts each pulse. A resettable timer is preset to produce a particular time frame. The counter produces a condition signal when the accumulated number of pulses within the time frame is equal to or greater than a preset count. Control means responsive to the incoming pulses and to the condition signal produce control signals that control utilization devices. After a suitable delay, the last detected pulse simultaneously resets the pulse counter and the timer, and prepares them for sensing another condition occurrence within the time frame. The invention has particular utility in the process of detecting rocking motions of blind people. A controlled, audible, bio-feedback signal is provided which constitutes a warning to the blind person that he is rocking.
We are developing an automated science analysis system that could be utilized by robotic or human explorers on Mars (or even in remote locations on Earth) to improve the quality and quantity of science data returned. Three components of this system (our rock, layer, and horizon detectors) [1] have been incorporated into the JPL CLARITY system for possible use by MSL and future Mars robotic missions. Two other components include a multi-spectral image compression (SPEC) algorithm for pancam-type images with multiple filters and image fusion algorithms that identify the in focus regions of individual images in an image focal series [2]. Recently, we have been working to combine image and spectral data, and other knowledge to identify both rocks and minerals. Here we present our progress on developing an igneous rock detection system.
The objective of this paper is three-fold: 1) to describe the engineering challenges in the surface mobility of the Mars 2020 Rover mission that are considered in the landing site selection processs, 2) to introduce new automated traversability analysis capabilities, and 3) to present the preliminary analysis results for top candidate landing sites. The analysis capabilities presented in this paper include automated terrain classification, automated rock detection, digital elevation model (DEM) generation, and multi-ROI (region of interest) route planning. These analysis capabilities enable to fully utilize the vast volume of high-resolution orbiter imagery, quantitatively evaluate surface mobility requirements for each candidate site, and reject subjectivity in the comparison between sites in terms of engineering considerations. The analysis results supported the discussion in the Second Landing Site Workshop held in August 2015, which resulted in selecting eight candidate sites that will be considered in the third workshop.
Two study areas in a cratonic platform underlain by flat-lying sedimentary rocks were analyzed to determine if a quantitative relationship exists between fracture trace patterns and their frequency distributions and subsurface structural closures which might contain petroleum. Fracture trace lengths and frequency (number of fracture traces per unit area) were analyzed by trend surface analysis and length frequency distributions also were compared to a standard Gaussian distribution. Composite rose diagrams of fracture traces were analyzed using a multivariate analysis method which grouped or clustered the rose diagrams and their respective areas on the basis of the behavior of the rays of the rose diagram. Analysis indicates that the lengths of fracture traces are log-normally distributed according to the mapping technique used. Fracture trace frequency appeared higher on the flanks of active structures and lower around passive reef structures. Fracture trace log-mean lengths were shorter over several types of structures, perhaps due to increased fracturing and subsequent erosion. Analysis of rose diagrams using a multivariate technique indicated lithology as the primary control for the lower grouping levels. Groupings at higher levels indicated that areas overlying active structures may be isolated from their neighbors by this technique while passive structures showed no differences which could be isolated.
The author has identified the following significant results. Day-visible and day-IR imagery of northwest Queensland show that large scale geological features like the Mitakoodi anticlinorium, which involves rocks of contrasting lithological type, can be delineated. North of Cloncurry, the contrasting lithological units of the Knapdale quartzite and bedded argillaceous limestones within the Proterozoic Corella sequence are clearly delineated in the area of the Dugald River Lode. Major structural features in the Mount Isa area are revealed on the day-visible cover. Which provides similar but less detailed information than the LANDSAT imagery. The day-IR cover provides less additional information for areas of outcropping bedrock than had been expected. Initial studies of the day-IR and night-IR cover for parts of South Australia suggest that they contain additional information on geology compared with day-visible cover.
Only photographic prints and negative films of day-visible, day-IR and night-IR imagery were received. For northwest Queensland, only five day-visible and day-IR frames of acceptable quality were received. A master-grid was established over these frames within which selected grid sections are being enlarged photographically for the identification of stream courses and geological features permitting an interpretation of the imagery relative to ground truth information. The imagery is also being scanned and digitized using a Joyce-Loebl microdensitometer for classification purposes. For areas for which good quality HCMM imagery is available, valuable information is obtained on ephemeral and seasonal drainage systems. The day-IR cover is particularly helpful.
We developed a fast algorithm to detect hazards on a planetary surface using a single image from a descent spacecraft camera. This is used when landing a mission vehicle.
Sub-pixel analysis techniques applied to MPF IMP data indicate the presence of several rock and soil types. These techniques confirm the presence of a "black" rock type and indicate a new soil type. Additional information is contained in the original extended abstract.
Steep increases were detected in the concentration profiles of He-3 and possibly of Ne-21 in the near-surface layers of lunar rock 68815, which was exposed on the lunar surface for 2 Myr. The concentration profile of He-3 is inconsistent with either spallation or solar wind components, but it agrees with expected ranges of stopped solar flare particles. Although the He-3 retention in this rock is determined to be very low (approximately 3% at the surface), a long-term average solar flare ratio He-4/He-3 can be estimated at 12 to within a factor of about 3. This ratio is two orders of magnitude smaller than the same ratio observed in the solar wind, but it is consistent with solar flare data from recent satellite observations.