DAEDALUS - Descent And Exploration in Deep Autonomy of Lava Underground Structures

Please always quote using this URN: urn:nbn:de:bvb:20-opus-227911
  • 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,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.show moreshow less

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Metadaten
Subtitle (English):Open Space Innovation Platform (OSIP) Lunar Caves-System Study
Author: Angelo Pio Rossi, Francesco Maurelli, Vikram Unnithan, Hendrik Dreger, Kedus Mathewos, Nayan Pradhan, Dan-Andrei Corbeanu, Riccardo Pozzobon, Matteo Massironi, Sabrina Ferrari, Claudia Pernechele, Lorenzo Paoletti, Emanuele Simioni, Pajola Maurizio, Tommaso Santagata, Dorit Borrmann, Andreas Nüchter, Anton Bredenbeck, Jasper Zevering, Fabian Arzberger, Camilo Andrés Reyes Mantilla
URN:urn:nbn:de:bvb:20-opus-227911
Document Type:Report
Faculties:Fakultät für Mathematik und Informatik / Institut für Informatik
Language:English
ISSN:1868-7466
Year of Completion:2021
Series (Serial Number):Würzburger Forschungsberichte in Robotik und Telematik (21)
ISBN:978-3-945459-33-1
Pagenumber:188
DOI:https://doi.org/10.25972/OPUS-22791
Sonstige beteiligte Institutionen:Jacobs University Bremen, Germany
Sonstige beteiligte Institutionen:University of Padova, Italy
Sonstige beteiligte Institutionen:INAF Padova, Italy
Sonstige beteiligte Institutionen:VIGEA, Italy
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
5 Naturwissenschaften und Mathematik / 55 Geowissenschaften, Geologie / 550 Geowissenschaften
Tag:3D Laser Scanning; Lunar Caves; Lunar Exploration; Mapping; Spherical Robot
Release Date:2021/03/01
Licence (German):License LogoCC BY-NC-ND: Creative-Commons-Lizenz: Namensnennung, Nicht kommerziell, Keine Bearbeitungen 4.0 International