Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)

Geomorphological studies of the hidden and protected subsurface environments are crucial to obtain a greater insight into the evolution of planetary landforms, hydrology, climate, geology and mineralogy. From an astrobiological point of view subsurface environments are of interest for their potentia...

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Autores: Mathanlal, Thasshwin, Bhardwaj, Anshuman, Ramachandran, Abhilash Vakkada, Zorzano, María Paz, Martín-Torres, F. J., Cockell, Charles S.
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2021
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/275946
Acceso en línea:http://hdl.handle.net/10261/275946
https://doi.org/10.1017/S1473550420000385
Access Level:acceso abierto
Palabra clave:Astrobiology
COTS
Geomorphology
Mining
Rover development
3D-mapping
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network_name_str España
repository_id_str
dc.title.none.fl_str_mv Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)
title Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)
spellingShingle Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)
Mathanlal, Thasshwin
Astrobiology
COTS
Geomorphology
Mining
Rover development
3D-mapping
title_short Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)
title_full Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)
title_fullStr Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)
title_full_unstemmed Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)
title_sort Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)
dc.creator.none.fl_str_mv Mathanlal, Thasshwin
Bhardwaj, Anshuman
Ramachandran, Abhilash Vakkada
Zorzano, María Paz
Martín-Torres, F. J.
Cockell, Charles S.
author Mathanlal, Thasshwin
author_facet Mathanlal, Thasshwin
Bhardwaj, Anshuman
Ramachandran, Abhilash Vakkada
Zorzano, María Paz
Martín-Torres, F. J.
Cockell, Charles S.
author_role author
author2 Bhardwaj, Anshuman
Ramachandran, Abhilash Vakkada
Zorzano, María Paz
Martín-Torres, F. J.
Cockell, Charles S.
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Agencia Estatal de Investigación (España)
Kempe Foundation
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Astrobiology
COTS
Geomorphology
Mining
Rover development
3D-mapping
topic Astrobiology
COTS
Geomorphology
Mining
Rover development
3D-mapping
description Geomorphological studies of the hidden and protected subsurface environments are crucial to obtain a greater insight into the evolution of planetary landforms, hydrology, climate, geology and mineralogy. From an astrobiological point of view subsurface environments are of interest for their potential habitability as they are local environments that are partially or fully shielded from the high levels of space and solar radiation. Furthermore, in the case of Mars, there is an increasing interest in searching for the presence of past or extant life in its subsurface. These applications make it mandatory to investigate equipment and instrumentation that allow for the study of subsurface geomorphology, as well as organic chemical biomarkers, such as biomolecules, carbon, nitrogen and sulphur isotopes, and other biologically significant minerals and gases. Mines on Earth can be used as analogues to investigate the geomorphology of Martian subsurface environments and perform astrobiology studies. With that goal, we have developed a low-cost, robust, remotely operable subsurface rover called KORE (KOmpact Rover for Exploration). This work illustrates the studies of a terrestrial analogue for the exploration of Mars using KORE during the Mine Analogue Research 6 (MINAR 6) campaign with the low-cost 3D mapping technology InXSpace 3D (In situ 3D mapping tool eXploration of space 3D). InXSpace 3D utilizes an RGB-D camera that captures depth information in addition to the RGB data of an image, operating based on the structured light principle capable of providing depth information in mm scale resolution at sub 3 m mapping range. InXSpace 3D is used to capture point clouds of natural and artificial features, thereby obtaining information about geologically relevant structures and also to incorporate them in earth mining safety. We tested two of the dense simultaneous localization and mapping (SLAM) algorithms: Kintinuous and Real-Time Appearance-Based Mapping (RTAB-Map) to check the performance of InXSpace 3D in a dark mine environment. Also, the air accumulation of volatiles such as methane and formaldehyde due to thermogenic and mining process was measured with the environmental station payload on the rover platform, which caters to both astrobiological significance and mine safety. The main conclusions of this work are: (1) a comparison made between the RTAB-Map algorithm and Kintinuous algorithm showed the superiority of Kintinuous algorithm in providing better 3D reconstruction; although RTAB-Map algorithm captured more points than the Kintinuous algorithm in the dark mine environment; (2) a comparison of point cloud images captured with and without lighting conditions had a negligible effect on the surface density of the point clouds; (3) close-range imaging of the polygonal features occurring on the halite walls using InXSpace 3D provided mm-scale resolution to enable further characterization; (4) heuristic algorithms to quickly post-process the 3D point cloud data provided encouraging results for preliminary analyses; (5) we successfully demonstrated the application of KORE to mine safety; and (6) the multi-sensors platform on KORE successfully monitored the accumulated volatiles in the mine atmosphere during its operation. The findings obtained during this KORE campaign could be incorporated in designing and planning future subsurface rover explorations to potential planetary bodies such as Mars with synergistic applications to subsurface environments in mines on Earth.
publishDate 2021
dc.date.none.fl_str_mv 2021
2022
2022
2022
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/275946
https://doi.org/10.1017/S1473550420000385
url http://hdl.handle.net/10261/275946
https://doi.org/10.1017/S1473550420000385
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv http://dx.doi.org/10.1017/S1473550420000385
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dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Cambridge University Press
publisher.none.fl_str_mv Cambridge University Press
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
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spelling Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK: Part II (Results and Discussion)Mathanlal, ThasshwinBhardwaj, AnshumanRamachandran, Abhilash VakkadaZorzano, María PazMartín-Torres, F. J.Cockell, Charles S.AstrobiologyCOTSGeomorphologyMiningRover development3D-mappingGeomorphological studies of the hidden and protected subsurface environments are crucial to obtain a greater insight into the evolution of planetary landforms, hydrology, climate, geology and mineralogy. From an astrobiological point of view subsurface environments are of interest for their potential habitability as they are local environments that are partially or fully shielded from the high levels of space and solar radiation. Furthermore, in the case of Mars, there is an increasing interest in searching for the presence of past or extant life in its subsurface. These applications make it mandatory to investigate equipment and instrumentation that allow for the study of subsurface geomorphology, as well as organic chemical biomarkers, such as biomolecules, carbon, nitrogen and sulphur isotopes, and other biologically significant minerals and gases. Mines on Earth can be used as analogues to investigate the geomorphology of Martian subsurface environments and perform astrobiology studies. With that goal, we have developed a low-cost, robust, remotely operable subsurface rover called KORE (KOmpact Rover for Exploration). This work illustrates the studies of a terrestrial analogue for the exploration of Mars using KORE during the Mine Analogue Research 6 (MINAR 6) campaign with the low-cost 3D mapping technology InXSpace 3D (In situ 3D mapping tool eXploration of space 3D). InXSpace 3D utilizes an RGB-D camera that captures depth information in addition to the RGB data of an image, operating based on the structured light principle capable of providing depth information in mm scale resolution at sub 3 m mapping range. InXSpace 3D is used to capture point clouds of natural and artificial features, thereby obtaining information about geologically relevant structures and also to incorporate them in earth mining safety. We tested two of the dense simultaneous localization and mapping (SLAM) algorithms: Kintinuous and Real-Time Appearance-Based Mapping (RTAB-Map) to check the performance of InXSpace 3D in a dark mine environment. Also, the air accumulation of volatiles such as methane and formaldehyde due to thermogenic and mining process was measured with the environmental station payload on the rover platform, which caters to both astrobiological significance and mine safety. The main conclusions of this work are: (1) a comparison made between the RTAB-Map algorithm and Kintinuous algorithm showed the superiority of Kintinuous algorithm in providing better 3D reconstruction; although RTAB-Map algorithm captured more points than the Kintinuous algorithm in the dark mine environment; (2) a comparison of point cloud images captured with and without lighting conditions had a negligible effect on the surface density of the point clouds; (3) close-range imaging of the polygonal features occurring on the halite walls using InXSpace 3D provided mm-scale resolution to enable further characterization; (4) heuristic algorithms to quickly post-process the 3D point cloud data provided encouraging results for preliminary analyses; (5) we successfully demonstrated the application of KORE to mine safety; and (6) the multi-sensors platform on KORE successfully monitored the accumulated volatiles in the mine atmosphere during its operation. The findings obtained during this KORE campaign could be incorporated in designing and planning future subsurface rover explorations to potential planetary bodies such as Mars with synergistic applications to subsurface environments in mines on Earth.The authors of this paper would like to thank Kempe Foundation for its generous funding support to develop KORE, the workshop at the Teknikens Hus, Luleå, for their invaluable and unconditional support in helping with the fabrication of the KORE components and the organizers of the MINAR campaign comprising the UK Centre of Astrobiology, ICL Boulby Mine and STFC Boulby Underground Laboratory, UK. MPZ has been partially funded by the Spanish State Research Agency (AEI) Project No. MDM-2017-0737 Unidad de Excelencia ‘María de Maeztu’- Centro de Astrobiología (INTA-CSIC).Cambridge University PressAgencia Estatal de Investigación (España)Kempe FoundationConsejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]2022202220212022info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionhttp://hdl.handle.net/10261/275946https://doi.org/10.1017/S1473550420000385reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttp://dx.doi.org/10.1017/S1473550420000385Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2759462026-05-22T06:33:51Z
score 15,811543

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