• Advances in aircraft and spacecraft science
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• 제1권4호
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• pp.455-469
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• 2014

High-precision autonomous localization technique is essential for future Mars rovers. This paper addresses an innovative integrated localization algorithm using a multiple information fusion approach. Firstly, the output of IMU is employed to construct the two-dimensional (2-D) dynamics equation of Mars rover. Secondly, radio beacon measurement and terrain image matching are considered as external measurements and included into the navigation filter to correct the inertial basis and drift. Then, extended Kalman filtering (EKF) algorithm is designed to estimate the position state of Mars rovers and suppress the measurement noise. Finally, the localization algorithm proposed in this paper is validated by computer simulation with different parameter sets.

• 대한원격탐사학회지
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• 제32권5호
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• pp.403-412
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• 2016

Compact Reconnaissance Imaging Spectrometer for Mars(CRISM)은 489개의 밴드를 가지는 화성정찰궤도선의 초분광 카메라로써 이를 이용한 화성 지표의 광물 분포에 대한 많은 연구가 진행되어 왔다. 본 연구에서는 USGS의 스펙트럼 라이브러리를 기반으로 화성 Gusev Crater의 Spirit(Mars Exploration Rover A) 로버 착륙지에 대한 CRISM 영상에 Matched Filter와 Adaptive Cosine Estimator(ACE) 표적 탐지 알고리즘을 적용하여 광물 분포를 확인하고자 하였다. 연구 결과 감람석, 휘석, 자철석 등의 광물들이 Gusev 크레이터의 Columbia Hills에서 탐지되어 Spirit 로버의 지상 탐사 결과와 일치하고 있음을 확인하였다. 본 연구는 그간 CRISM의 광물 분포 연구가 일부 몇 개 밴드의 반사도만을 통해 계산된 광물 지수에 의존하던 것에서 관측 파장 대역 전체를 활용하는 초분광 표적 탐지 알고리즘을 이용한 새로운 적용방법을 제시한 것에 의의가 있다고 할 수 있다.

• International Journal of Aeronautical and Space Sciences
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• 제15권4호
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• pp.419-433
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• 2014

The Mars Exploration Rover Opportunity investigated plains at Meridiani Planum, where laminated sedimentary rocks are present. The Opportunity rover's Athena morphological investigation showed microstructures organized in intertwined filaments of microspherules: a texture we have also found on samples of terrestrial (biogenic) stromatolites and other microbialites. We performed a quantitative image analysis to compare images (n=45) of microbialites with the images (n=30) photographed by the rover (corresponding, approximately, to 25,000/15,000 microstructures). Contours were extracted and morphometric indexes were obtained: geometric and algorithmic complexities, entropy, tortuosity, minimum and maximum diameters. Terrestrial and Martian textures present a multifractal aspect. Mean values and confidence intervals from the Martian images overlapped perfectly with those from the terrestrial samples. The probability of this occurring by chance is $1/2^8$, less than p<0.004. Terrestrial abiogenic pseudostromatolites showed a simple fractal structure and different morphometric values from those of the terrestrial biogenic stromatolite images or Martian images with a less ordered texture (p<0.001). Our work shows the presumptive evidence of microbialites in the Martian outcroppings: i.e., the presence of unicellular life on the ancient Mars.

• 천문학회보
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• 제37권2호
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• pp.105.1-105.1
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• 2012

Moon and Mars have been explored by landers and rovers. Apollo missions landed five times on Lunar surface, and various rovers, including Curiosity landed and explored Mars. The selection of landing site have to be considered engineering and scientific side: the landing site to be available to land stably? the obstacle is not around the rover such as rocks and pothole? the landing site is valuable with scientific? And then landing site have to be the place which is satisfied two objects. We search the information about landing sites of Moon and Mars, and compile the conditions of landing sites. We expect that these data are useful when the landing site of Moon or Mars for Korean mission is selected.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.59.3-59
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• 2001

In this paper, the method of analyzing mobility of the mechanisms is suggested. The method based on the joint screws provides accurate values of mobility of the mechanisms even with the lack of geometric generality. To show its validity, the method is applied to finding mobilities of planar mobile robots and a rough-terrain mobile robot, Mars Rover. To do so, simplified joint model for each of four different typical wheels of the mobile robots are described including friction velocities, firstly. Then, mobility analyses of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars are performed. It is confirmed that the obtained results in this study coincide with the previous ones which ...

• 항공우주산업기술동향
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• 제6권1호
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• pp.27-34
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• 2008

우주 탐사의 목적 중 하나가 우주가 가지고 있는 무한한 자원의 활용임에 틀림없다. 이를 위해 선진국들은 달이나 화성에 우주기지 건설 등을 계획하고 있다. 자원탐사와 우주기지 건설을 위해서는 토양탐사가 필요하며 이를 위해 착륙선이나 로버의 활용은 필수불가결한 것이다. 우리나라도 로버를 포함한 달착륙선을 자력으로 달에 보내기 위해서는 발사체 개발 등이 우선적으로 해결되어야 하는 사항이다. 또한, 우리나라는 국제적으로 공인하는IT의 강국이며 이를 최대한 활용하여 달탐사 로버를 우주에 보낼 수 있는 기반기술이 상당부분 준비되어 있다. 다만,우주환경에 적합한 로버를 개발하는 일은, 선진국의 예에서도 볼 수 있듯, 단순한 로봇 기술만으로 될 수 있는 일은 아니다. 본 논문에서는, 해외에서 개발된 달과 화성의 로버와 현재 개발되고 있는 로버들의 현황 및 국내의 로봇 기술현황을 분석함으로써, 향후 달 탐사 로버의 개발에 구체적인 사항들이 반영될 수 있도록 하였다.

• Journal of Astronomy and Space Sciences
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• 제29권4호
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• pp.413-422
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• 2012

In recent years, a number of missions have been planned and conducted worldwide on the planets such as Mars, which involves the unmanned robotic exploration with the use of rover. The rover is an important system for unmanned planetary exploration, performing the locomotion and sample collection and analysis at the exploration target of the planetary surface designated by the operator. This study investigates the development of mobility system for the rover ground model necessary to the planetary surface exploration for the benefit of future planetary exploration mission in Korea. First, the requirements for the rover mobility system are summarized and a new mechanism is proposed for a stable performance on rough terrain which consists of the passive suspension system with 8 wheeled double 4-bar linkage (DFBL), followed by the performance evaluation for the mechanism of the mobility system based on the shape design and simulation. The proposed mobility system DFBL was compared with the Rocker-Bogie suspension system of US space agency National Aeronautics and Space Administration and 8 wheeled mobility system CRAB8 developed in Switzerland, using the simulation to demonstrate the superiority with respect to the stability of locomotion. On the basis of the simulation results, a general system configuration was proposed and designed for the rover manufacture.

• Journal of Astronomy and Space Sciences
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• 제29권4호
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• pp.375-380
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• 2012

It is a crucial matter to select a landing site for landers or rovers in planning the Mars exploration. The landing site must have not only a scientific value as a landing site, but also geographical features to lead a safe landing for Mars probes. In this regard, this study analyzed landing site of Mars probes and rovers in previous studies and discussed the adequacy of the landing site to scientific missions. Moreover, this study also examined domestic studies on the Mars. The frameworks of these studies will guide the selection of exploration sites and a landing site when sending Mars probe to the Mars through our own efforts. Additionally, this paper will be used as the preliminary data for selection of exploration site and a landing site.

• Journal of Astronomy and Space Sciences
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• 제38권4호
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• pp.237-250
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• 2021

A rover is a planetary surface exploration device designed to move across the ground on a planet or a planetary-like body. Exploration rovers are increasingly becoming a vital part of the search for scientific evidence and discoveries on a planetary satellite of the Sun, such as the Moon or Mars. Reliable behavior and predictable locomotion of a rover is important. Understanding soil behavior and its interaction with rover wheels-the terramechanics-is of great importance in rover exploration performance. Up to now, many researchers have adopted Bekker's semiempirical model to predict rover wheelsoil interaction, which is based on the assumption that soil is deformable when a pressure is applied to it. Despite this basic assumption of the model, the pressure-sinkage relation is not fully understood, and it continues to present challenges for rover designers. This article presents a new pressure-sinkage model based on dimensional analysis (DA) and results of bevameter tests. DA was applied to the test results in order to propose a new pressure-sinkage model by reducing physical quantitative parameters. As part of the work, a new bevameter was designed and built so that it could be successfully used to obtain a proper pressure-sinkage relation of Korean Lunar Soil Simulant (KLS-1). The new pressure-sinkage model was constructed by using three different sizes of flat plate diameters of the bevameter. The newly proposed model was compared successfully with other models for validation purposes.

• 항공우주기술
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• 제12권1호
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• pp.94-104
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• 2013

태양계 내에서 지구와 가장 흡사한 환경을 가진 화성은 향후 인류의 정착을 목적으로 이에 필요한 화성 환경 연구가 꾸준히 이루어지고 있다. 낮 시간 화성 전리층은 전파의 반사를 통해 착륙선과 로버의 지상-지상 통신에 활용될 수 있다. 또한 화성 전리층 정보는 화성의 물 및 대기 진화와 연관된 정보를 제공한다. 이런 정보들은 전파통신 및 기후 연구에 활용된다. 화성 전리층은 화성탐사 초기의 Mariner, Mars, Viking 시리즈와 최근의 Mars Global Surveyor의 전파엄폐 방식으로 주로 관측되었으며 Mars Express에는 전파엄폐방식 기기 외에도 저주파 레이더, 플라즈마 분석기가 탑재되었고 Viking Lander의 현장측정 자료가 활용되어 왔다. 본 연구는 국내 우주탐사 기반기술 확보를 위해 탐사선 통신에 영향을 줄 화성 전리층의 관측기기 선정에 대비하여 해외사례를 분석하였다.