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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.
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.