2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment
JPL is developing a versatile and highly intelligent Exobiology Extant Life Surveyor (EELS) robot that would enable access to subsurface oceans and near-surface liquid reservoirs through existing conduits, such as the vents at the south pole of Enceladus or the putative geysers on Europa. A key mobi...
Published in: | 2024 IEEE Aerospace Conference |
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Main Authors: | , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , |
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IEEE
2024
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Online Access: | https://orca.cardiff.ac.uk/id/eprint/169718/ https://doi.org/10.1109/AERO58975.2024.10521174 |
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Cardiff University: ORCA (Online Research @ Cardiff) |
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JPL is developing a versatile and highly intelligent Exobiology Extant Life Surveyor (EELS) robot that would enable access to subsurface oceans and near-surface liquid reservoirs through existing conduits, such as the vents at the south pole of Enceladus or the putative geysers on Europa. A key mobility requirement for future vent exploration missions will be the ability to carefully descend and hold position in the vent to collect and analyze samples while withstanding plume forces without human intervention. Furthermore, this must be accomplished in a highly uncertain environment, requiring versatile hardware and intelligent autonomy. To work towards that goal, we have prototyped the EELS 1.0 and EELS 1.5 robots for horizontal and vertical mobility, respectively, in icy terrain. Autonomous surface mobility of EELS 1.0 was previously validated in a variety of terrain, including snowy mountains, ice rinks, and desert sand. Vertical mobility of EELS 1.5 was developed on laboratory ice walls. This paper presents the first mobility trials for both robots on large-scale, natural icy terrain: the Athabasca Glacier located in Alberta, Canada, a terrestrial analogue to the surfaces and subsurfaces of icy moons. This paper provides a preliminary written record of the test campaign’s four major trials: 1) surface mobility with EELS 1.0, 2) vertical mobility with EELS 1.5, 3) science instrument validation, and 4) terramechanics experiments. During this campaign, EELS 1.5 successfully held position and descended ~1.5 m vertically in an icy conduit and EELS 1.0 demonstrated surface mobility on icy surfaces with undulations and slopes. A miniaturized capillary electrophoresis (CE) instrument built to the form factor of an EELS module was tested in flowing water on the glacier and successfully demonstrated automated sampling and in-situ analysis. Terramechanics experiments designed to better understand the interaction between different ice properties and the screws that propel the robot forwards were performed on horizontal ... |
format |
Conference Object |
author |
Paton, Michael Rieber, Richard Cruz, Sarah Gildner, Matt Abma, Chantelle Abma, Kevin Aghli, Sina Ambrose, Eric Archanian, Avak Bagshaw, Elizabeth A. Baroco, Cathy Blackstock, Andrew Bowkett, Joseph Cable, Morgan L. Cartaya, Eduardo Daddi, Guglielmo Drevinskas, Tomas Etheredge, Rachel Gall, Tom Gardner, Alex S. Gavrilov, Peter Georgiev, Nikola Graham, Katie Hockman, Benjamin Jones, Bryson Linn, Scott Malaska, Michael J. Marteau, Eloïse Maslen, Nick Melikyan, Hovhannes Nakka, Yashwanth Kumar Nelson, Jason Pazzini, Michele Peticco, Martin Prior-Jones, Michael Robinson, Matthew Roman, Christiahn Royce, Rob Ryan, Mary Shiraishi, Lori Stenner, Christian Strub, Marlin Swan, Robert Michael Swerdlow, Ben Thakker, Rohan Tosi, Luis Phillipe Tran, Tony Vaquero, Tiago Stegun Veismann, Marcel Wood, Tom Zade, Harshad Ono, Masahiro |
spellingShingle |
Paton, Michael Rieber, Richard Cruz, Sarah Gildner, Matt Abma, Chantelle Abma, Kevin Aghli, Sina Ambrose, Eric Archanian, Avak Bagshaw, Elizabeth A. Baroco, Cathy Blackstock, Andrew Bowkett, Joseph Cable, Morgan L. Cartaya, Eduardo Daddi, Guglielmo Drevinskas, Tomas Etheredge, Rachel Gall, Tom Gardner, Alex S. Gavrilov, Peter Georgiev, Nikola Graham, Katie Hockman, Benjamin Jones, Bryson Linn, Scott Malaska, Michael J. Marteau, Eloïse Maslen, Nick Melikyan, Hovhannes Nakka, Yashwanth Kumar Nelson, Jason Pazzini, Michele Peticco, Martin Prior-Jones, Michael Robinson, Matthew Roman, Christiahn Royce, Rob Ryan, Mary Shiraishi, Lori Stenner, Christian Strub, Marlin Swan, Robert Michael Swerdlow, Ben Thakker, Rohan Tosi, Luis Phillipe Tran, Tony Vaquero, Tiago Stegun Veismann, Marcel Wood, Tom Zade, Harshad Ono, Masahiro 2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment |
author_facet |
Paton, Michael Rieber, Richard Cruz, Sarah Gildner, Matt Abma, Chantelle Abma, Kevin Aghli, Sina Ambrose, Eric Archanian, Avak Bagshaw, Elizabeth A. Baroco, Cathy Blackstock, Andrew Bowkett, Joseph Cable, Morgan L. Cartaya, Eduardo Daddi, Guglielmo Drevinskas, Tomas Etheredge, Rachel Gall, Tom Gardner, Alex S. Gavrilov, Peter Georgiev, Nikola Graham, Katie Hockman, Benjamin Jones, Bryson Linn, Scott Malaska, Michael J. Marteau, Eloïse Maslen, Nick Melikyan, Hovhannes Nakka, Yashwanth Kumar Nelson, Jason Pazzini, Michele Peticco, Martin Prior-Jones, Michael Robinson, Matthew Roman, Christiahn Royce, Rob Ryan, Mary Shiraishi, Lori Stenner, Christian Strub, Marlin Swan, Robert Michael Swerdlow, Ben Thakker, Rohan Tosi, Luis Phillipe Tran, Tony Vaquero, Tiago Stegun Veismann, Marcel Wood, Tom Zade, Harshad Ono, Masahiro |
author_sort |
Paton, Michael |
title |
2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment |
title_short |
2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment |
title_full |
2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment |
title_fullStr |
2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment |
title_full_unstemmed |
2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment |
title_sort |
2023 eels field tests at athabasca glacier as an icy moon analogue environment |
publisher |
IEEE |
publishDate |
2024 |
url |
https://orca.cardiff.ac.uk/id/eprint/169718/ https://doi.org/10.1109/AERO58975.2024.10521174 |
geographic |
Canada South Pole |
geographic_facet |
Canada South Pole |
genre |
South pole |
genre_facet |
South pole |
op_relation |
Paton, Michael, Rieber, Richard, Cruz, Sarah, Gildner, Matt, Abma, Chantelle, Abma, Kevin, Aghli, Sina, Ambrose, Eric, Archanian, Avak, Bagshaw, Elizabeth A., Baroco, Cathy, Blackstock, Andrew, Bowkett, Joseph, Cable, Morgan L., Cartaya, Eduardo, Daddi, Guglielmo, Drevinskas, Tomas, Etheredge, Rachel, Gall, Tom, Gardner, Alex S., Gavrilov, Peter, Georgiev, Nikola, Graham, Katie, Hockman, Benjamin, Jones, Bryson, Linn, Scott, Malaska, Michael J., Marteau, Eloïse, Maslen, Nick, Melikyan, Hovhannes, Nakka, Yashwanth Kumar, Nelson, Jason, Pazzini, Michele, Peticco, Martin, Prior-Jones, Michael https://orca.cardiff.ac.uk/view/cardiffauthors/A2463340F.html orcid:0000-0002-0980-4027 orcid:0000-0002-0980-4027, Robinson, Matthew, Roman, Christiahn, Royce, Rob, Ryan, Mary, Shiraishi, Lori, Stenner, Christian, Strub, Marlin, Swan, Robert Michael, Swerdlow, Ben, Thakker, Rohan, Tosi, Luis Phillipe, Tran, Tony, Vaquero, Tiago Stegun, Veismann, Marcel, Wood, Tom, Zade, Harshad and Ono, Masahiro 2024. 2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment. Presented at: IEEE Aerospace Conference, Big Sky, MT, USA, 02-09 March 2024. 2024 IEEE Aerospace Conference Proceedings. IEEE, pp. 1-18. 10.1109/AERO58975.2024.10521174 https://doi.org/10.1109/AERO58975.2024.10521174 doi:10.1109/AERO58975.2024.10521174 |
op_doi |
https://doi.org/10.1109/AERO58975.2024.10521174 |
container_title |
2024 IEEE Aerospace Conference |
container_start_page |
1 |
op_container_end_page |
18 |
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1809943375772647424 |
spelling |
ftunivcardiff:oai:https://orca.cardiff.ac.uk:169718 2024-09-09T20:09:14+00:00 2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment Paton, Michael Rieber, Richard Cruz, Sarah Gildner, Matt Abma, Chantelle Abma, Kevin Aghli, Sina Ambrose, Eric Archanian, Avak Bagshaw, Elizabeth A. Baroco, Cathy Blackstock, Andrew Bowkett, Joseph Cable, Morgan L. Cartaya, Eduardo Daddi, Guglielmo Drevinskas, Tomas Etheredge, Rachel Gall, Tom Gardner, Alex S. Gavrilov, Peter Georgiev, Nikola Graham, Katie Hockman, Benjamin Jones, Bryson Linn, Scott Malaska, Michael J. Marteau, Eloïse Maslen, Nick Melikyan, Hovhannes Nakka, Yashwanth Kumar Nelson, Jason Pazzini, Michele Peticco, Martin Prior-Jones, Michael Robinson, Matthew Roman, Christiahn Royce, Rob Ryan, Mary Shiraishi, Lori Stenner, Christian Strub, Marlin Swan, Robert Michael Swerdlow, Ben Thakker, Rohan Tosi, Luis Phillipe Tran, Tony Vaquero, Tiago Stegun Veismann, Marcel Wood, Tom Zade, Harshad Ono, Masahiro 2024-05-13 https://orca.cardiff.ac.uk/id/eprint/169718/ https://doi.org/10.1109/AERO58975.2024.10521174 unknown IEEE Paton, Michael, Rieber, Richard, Cruz, Sarah, Gildner, Matt, Abma, Chantelle, Abma, Kevin, Aghli, Sina, Ambrose, Eric, Archanian, Avak, Bagshaw, Elizabeth A., Baroco, Cathy, Blackstock, Andrew, Bowkett, Joseph, Cable, Morgan L., Cartaya, Eduardo, Daddi, Guglielmo, Drevinskas, Tomas, Etheredge, Rachel, Gall, Tom, Gardner, Alex S., Gavrilov, Peter, Georgiev, Nikola, Graham, Katie, Hockman, Benjamin, Jones, Bryson, Linn, Scott, Malaska, Michael J., Marteau, Eloïse, Maslen, Nick, Melikyan, Hovhannes, Nakka, Yashwanth Kumar, Nelson, Jason, Pazzini, Michele, Peticco, Martin, Prior-Jones, Michael https://orca.cardiff.ac.uk/view/cardiffauthors/A2463340F.html orcid:0000-0002-0980-4027 orcid:0000-0002-0980-4027, Robinson, Matthew, Roman, Christiahn, Royce, Rob, Ryan, Mary, Shiraishi, Lori, Stenner, Christian, Strub, Marlin, Swan, Robert Michael, Swerdlow, Ben, Thakker, Rohan, Tosi, Luis Phillipe, Tran, Tony, Vaquero, Tiago Stegun, Veismann, Marcel, Wood, Tom, Zade, Harshad and Ono, Masahiro 2024. 2023 EELS field tests at Athabasca Glacier as an icy moon analogue environment. Presented at: IEEE Aerospace Conference, Big Sky, MT, USA, 02-09 March 2024. 2024 IEEE Aerospace Conference Proceedings. IEEE, pp. 1-18. 10.1109/AERO58975.2024.10521174 https://doi.org/10.1109/AERO58975.2024.10521174 doi:10.1109/AERO58975.2024.10521174 Conference or Workshop Item PeerReviewed 2024 ftunivcardiff https://doi.org/10.1109/AERO58975.2024.10521174 2024-06-19T00:02:43Z JPL is developing a versatile and highly intelligent Exobiology Extant Life Surveyor (EELS) robot that would enable access to subsurface oceans and near-surface liquid reservoirs through existing conduits, such as the vents at the south pole of Enceladus or the putative geysers on Europa. A key mobility requirement for future vent exploration missions will be the ability to carefully descend and hold position in the vent to collect and analyze samples while withstanding plume forces without human intervention. Furthermore, this must be accomplished in a highly uncertain environment, requiring versatile hardware and intelligent autonomy. To work towards that goal, we have prototyped the EELS 1.0 and EELS 1.5 robots for horizontal and vertical mobility, respectively, in icy terrain. Autonomous surface mobility of EELS 1.0 was previously validated in a variety of terrain, including snowy mountains, ice rinks, and desert sand. Vertical mobility of EELS 1.5 was developed on laboratory ice walls. This paper presents the first mobility trials for both robots on large-scale, natural icy terrain: the Athabasca Glacier located in Alberta, Canada, a terrestrial analogue to the surfaces and subsurfaces of icy moons. This paper provides a preliminary written record of the test campaign’s four major trials: 1) surface mobility with EELS 1.0, 2) vertical mobility with EELS 1.5, 3) science instrument validation, and 4) terramechanics experiments. During this campaign, EELS 1.5 successfully held position and descended ~1.5 m vertically in an icy conduit and EELS 1.0 demonstrated surface mobility on icy surfaces with undulations and slopes. A miniaturized capillary electrophoresis (CE) instrument built to the form factor of an EELS module was tested in flowing water on the glacier and successfully demonstrated automated sampling and in-situ analysis. Terramechanics experiments designed to better understand the interaction between different ice properties and the screws that propel the robot forwards were performed on horizontal ... Conference Object South pole Cardiff University: ORCA (Online Research @ Cardiff) Canada South Pole 2024 IEEE Aerospace Conference 1 18 |