TY - RPRT A1 - Rossi, Angelo Pio A1 - Maurelli, Francesco A1 - Unnithan, Vikram A1 - Dreger, Hendrik A1 - Mathewos, Kedus A1 - Pradhan, Nayan A1 - Corbeanu, Dan-Andrei A1 - Pozzobon, Riccardo A1 - Massironi, Matteo A1 - Ferrari, Sabrina A1 - Pernechele, Claudia A1 - Paoletti, Lorenzo A1 - Simioni, Emanuele A1 - Maurizio, Pajola A1 - Santagata, Tommaso A1 - Borrmann, Dorit A1 - Nüchter, Andreas A1 - Bredenbeck, Anton A1 - Zevering, Jasper A1 - Arzberger, Fabian A1 - Reyes Mantilla, Camilo Andrés T1 - DAEDALUS - Descent And Exploration in Deep Autonomy of Lava Underground Structures BT - Open Space Innovation Platform (OSIP) Lunar Caves-System Study N2 - The DAEDALUS mission concept aims at exploring and characterising the entrance and initial part of Lunar lava tubes within a compact, tightly integrated spherical robotic device, with a complementary payload set and autonomous capabilities. The mission concept addresses specifically the identification and characterisation of potential resources for future ESA exploration, the local environment of the subsurface and its geologic and compositional structure. A sphere is ideally suited to protect sensors and scientific equipment in rough, uneven environments. It will house laser scanners, cameras and ancillary payloads. The sphere will be lowered into the skylight and will explore the entrance shaft, associated caverns and conduits. Lidar (light detection and ranging) systems produce 3D models with high spatial accuracy independent of lighting conditions and visible features. Hence this will be the primary exploration toolset within the sphere. The additional payload that can be accommodated in the robotic sphere consists of camera systems with panoramic lenses and scanners such as multi-wavelength or single-photon scanners. A moving mass will trigger movements. The tether for lowering the sphere will be used for data communication and powering the equipment during the descending phase. Furthermore, the connector tether-sphere will host a WIFI access point, such that data of the conduit can be transferred to the surface relay station. During the exploration phase, the robot will be disconnected from the cable, and will use wireless communication. Emergency autonomy software will ensure that in case of loss of communication, the robot will continue the nominal mission. T3 - Forschungsberichte in der Robotik = Research Notes in Robotics - 21 KW - Lunar Caves KW - Spherical Robot KW - Lunar Exploration KW - Mapping KW - 3D Laser Scanning KW - Mond KW - Daedalus-Projekt KW - Lava Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-227911 SN - 978-3-945459-33-1 SN - 1868-7466 ER - TY - THES A1 - Geiger, Markus T1 - An Explanation of the Geological Map 1:10000 of the Namibian borderland along the Orange River at Zwartbas - Warmbad District - Karas Region - Namibia N2 - The locality of Zwartbas is situated at the border of Namibia and South Africa about 15 km west of Noordoewer. The mapped area is confined by the Tandjieskoppe Mountains in the north and the Orange River in the south. Outcropping rocks are predominantly sediments of the Nama Group and of the Karoo Supergroup. During the compilation of this paper doubts arose about the correct classification of the Nama rocks as it is found in literature. Since no certain clues were found to revise the classification of the Nama rocks, the original classification remains still valid. Thus the Kuibis and Schwarzrand Subgroup constitute the Nama succession and date it to Vendian age. A glacial unconformity represents a hiatus for about 260 Ma. This is covered by sediments of the Karoo Supergroup. Late Carboniferous and early Permian glacial deposits of diamictitic shale of the Dwyka and shales of the Ecca Group overlie the unconformity. The shales of the Dwyka Group contain fossiliferous units and volcanic ash-layers. A sill of the Jurassic Tandjiesberg Dolerite Complex (also Karoo Supergroup) intruded rocks at the Dwyka-Ecca-boundary. Finally fluvial and aeolian deposits and calcretes of the Cretaceous to Tertiary Kalahari Group and recent depositionary events cover the older rocks occasionally. N2 - Die Lokalität Zwartbas liegt an der namibisch-südafrikanischen Grenze, etwa 15 km westlich von Noordoewer. Das Kartiergebiet wird durch die Tandjiesberge im Norden und den Oranje Fluß im Süden begrenzt. Die anstehenden Gesteine bestehen hauptsächlich aus Sedimenten der Nama Gruppe und der Karoo Supergruppe. Während der Erarbeitung dieser Abhandlung entstanden Zweifel an der Klassifikation der Nama Gesteine, so wie sie in der Literatur zu finden ist. Da keine sicheren Hinweise zur Revision der Klassifikation der Nama Gesteine gefunden wurden, bleibt die ursprünglich Klassifikation jedoch gültig. Die Kuibis und Schwarzrand Untergruppe bilden also die Nama Abfolge und datieren sie ins Vendian. Eine glaziale Diskontinuität repräsentiert einen Hiatus von etwa 260 Mio Jahren. Sie wird überlagert von Sedimenten der Karoo Supergruppe. Spät-karbone und früh-permische glaziale Ablagerungen von diamiktitischen Tonsteinen der Dwyka Gruppe und Tonsteine der Ecca Gruppe liegen über dieser Diskontinuität. Die Sedimente der Dwyka Gruppe sind fossilführend und enthalten Tufflagen. Ein Sill des jurassischen Tandjiesberg Dolerit Komplex (auch Karoo Supergruppe) intrudierte in die Gesteine an der Dwyka-Ecca Grenze. Schließlich bedecken lokal fluviatile und äolische Ablagerungen und Kalkkrusten der kretazischen und tertiären Kalahari Gruppe und jüngerer Ablagerungsereignisse die älteren Gesteine. KW - Namibia KW - Karbon KW - Permokarbon KW - Vereisung KW - Tuff KW - Oranje KW - Fossil KW - Geochemie KW - Schwermineral KW - Diamiktit KW - Tillit KW - Tonstein KW - Präkambrium KW - Geologische Kartierung KW - Nama KW - Karoo KW - Dwyka KW - Mapping KW - glaciation Y1 - 1999 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-46269 ER -