Contemporary planetary robotics: an approach toward autonomous systems

Content: Cover
 Title Page
 Copyright
 Contents
 List of Contributors
 Chapter 1 Introduction
 1.1 Evolution of Extraterrestrial Exploration and Robotics
 1.2 Planetary Robotics Overview
 1.3 Scope and Organization of the Book
 1.4 Acknowledgments
 Chapter 2 Planetary Robotic System Design
 2.1 Introduction
 2.2 A System Design Approach: From Mission Concept to Baseline Design
 2.2.1 Mission Scenario Definition
 2.2.2 Functional Analysis
 2.2.3 Requirements Definition and Review
 2.2.4 Design Drivers Identification
 2.2.5 Concept Evaluation and Trade-Off 2.3 Mission Scenarios: Past, Current, and Future2.3.1 Lander Missions
 2.3.1.1 Luna Sample-Return Landers
 2.3.1.2 Viking Landers
 2.3.1.3 Mars Surveyor Lander Family and Successors
 2.3.1.4 Huygens Lander
 2.3.1.5 Beagle 2 Lander
 2.3.1.6 Philae Lander
 2.3.2 Rover Missions
 2.3.2.1 Lunokhod 1 and 2 Rovers
 2.3.2.2 Prop-M Rover
 2.3.2.3 Sojourner Rover
 2.3.2.4 Spirit and Opportunity Rovers
 2.3.2.5 Curiosity Rover
 2.3.2.6 Chang'E 3 Rover
 2.3.2.7 ExoMars Rover
 2.3.2.8 Mars 2020 Rover
 2.3.3 Future Mission Concepts
 2.3.3.1 Toward New Business Models
 2.3.3.2 Medium-Term Mission Concepts 2.3.3.3 Long-Term Mission Ideas2.4 Environment-Driven Design Considerations
 2.4.1 Gravity
 2.4.2 Temperature
 2.4.3 Atmosphere and Vacuum
 2.4.4 Orbital Characteristics
 2.4.4.1 Distance to the Sun
 2.4.4.2 Length of Days
 2.4.5 Surface Conditions
 2.4.5.1 Rocks
 2.4.5.2 Dusts
 2.4.5.3 Liquid
 2.4.6 Properties of Planetary Bodies and Moons
 2.5 Systems Design Drivers and Trade-Offs
 2.5.1 Mission-Driven System Design Drivers
 2.5.1.1 Mass
 2.5.1.2 Target Environment
 2.5.1.3 Launch Environment
 2.5.1.4 Surface Deployment
 2.5.1.5 Surface Operations 2.5.2 System Design Trade-Offs: A Case Study2.5.2.1 Mission Scenario Definition: MSR/SFR
 2.5.2.2 SFR System Design Drivers
 2.5.2.3 SFR Subsystem Design Drivers
 2.5.2.4 SFR Design Evaluation
 2.6 System Operation Options
 2.6.1 Operation Sequence
 2.6.2 Operational Autonomy
 2.6.2.1 Autonomous Functions
 2.6.2.2 Autonomy Levels: Teleoperation versus Onboard Autonomy
 2.7 Subsystem Design Options
 2.7.1 Power Subsystem
 2.7.1.1 Power Generation
 2.7.1.2 Power Storage
 2.7.2 Thermal Subsystem
 2.7.2.1 Sizing Warm/Cold Cases
 2.7.2.2 Heat Provision 2.7.2.3 Heat Management (Transport and Dissipation)2.7.2.4 Trade-Off Options
 References
 Chapter 3 Vision and Image Processing
 3.1 Introduction
 3.2 Scope of Vision Processing
 3.2.1 Onboard Requirements
 3.2.2 Mapping by Vision Sensors: Stereo as Core
 3.2.3 Physical Environment
 3.3 Vision Sensors and Sensing
 3.3.1 Passive Optical Vision Sensors
 3.3.2 Active Vision Sensing Strategies
 3.3.3 Dedicated Navigation Vision Sensors: Example Exomars
 3.3.3.1 Navigation (Perception/Stereo Vision)
 3.3.3.2 Visual Localization and Slippage Estimation
 3.3.3.3 Absolute Localization