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Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations

Julia Di, Sara Cuevas-Quinones, Stephanie Newdick, Tony G. Chen, Marco Pavone, Mathieu G. A. Lapotre, Mark Cutkosky

Abstract

As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging environments. ReachBot is a robot that enables navigation in planetary caves by using extendable and retractable limbs to locomote. This paper outlines the potential science return and mission operations for a notional mission that deploys ReachBot to a martian lava tube. In this work, the motivating science goals and science traceability matrix are provided to guide payload selection. A Concept of Operations (ConOps) is also developed for ReachBot, providing a framework for deployment and activities on Mars, analyzing mission risks, and developing mitigation strategies

Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations

Abstract

As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging environments. ReachBot is a robot that enables navigation in planetary caves by using extendable and retractable limbs to locomote. This paper outlines the potential science return and mission operations for a notional mission that deploys ReachBot to a martian lava tube. In this work, the motivating science goals and science traceability matrix are provided to guide payload selection. A Concept of Operations (ConOps) is also developed for ReachBot, providing a framework for deployment and activities on Mars, analyzing mission risks, and developing mitigation strategies
Paper Structure (15 sections, 3 figures, 2 tables)

This paper contains 15 sections, 3 figures, 2 tables.

Table of Contents

  1. INTRODUCTION
  2. MELT Science Investigation
  3. Why Lava Tubes?
  4. MELT Science Goals and Objectives
  5. Site Selection
  6. Science Payload
  7. MELT Mission Architecture
  8. Concept of Operations
  9. Modes of Operations
  10. Physical Environment and Environmental Impacts
  11. Nominal Conditions
  12. Off-Nominal Conditions
  13. Planetary Protection
  14. Risks and Potential Issues
  15. Conclusions

Figures (3)

  • Figure 1: A depiction of a tethered ReachBot entering a lava tube via a skylight. ReachBot uses deployable booms as prismatic limbs, allowing the negotiation of sparse anchor points along the cliff and access to scientifically interesting areas such as stratigraphy along underhangs or fractures that would be inaccessible with other robot morphologies.
  • Figure 2: State diagram of ReachBot's six operational modes.
  • Figure 3: (From left to right) ReachBot first deploys from the mothercraft, entering a lava tube via skylight by using a boom in tension on the opposing rock face; next, it reaches a scientifically-valuable area and collects spectroscopy measurements; it then uses remote imaging to inform navigation.