Demonstration of Autonomous Sampling Techniques in an Icy Moon Terrestrial Analog

A collection of functional autonomy behaviors to allow unsupervised science sample selection and collection on Icy Moons such as Europa or Enceladus was demonstrated on the terrestrial analog of Matanuska Glacier, AK, USA. Candidate sample sites are autonomously identified within the workspace, assessed for feasibility of successful collection, and surface material excavated while both preventing and responding to tool faults arising during interaction with the environment. A description of the system and lessons learned from the field application are discussed with respect to how they may impact potential future surface sampling missions to Icy Moons.

本数据集包含可用于木卫二（Europa）、土卫二（Enceladus）等冰卫星（Icy Moons）开展无监督科学样本选取与采集的功能自主行为，相关方案已在美国阿拉斯加州马塔努斯卡冰川（Matanuska Glacier）的地球类比场地中完成演示验证。该系统可在作业区域内自主识别候选样本点位，评估其成功采集的可行性，并在挖掘表层物质的同时，预防并响应与环境交互过程中出现的工具故障。本文还对该系统的设计说明与野外试验所得经验教训进行了阐述，并探讨了其对未来冰卫星表面采样任务的潜在影响。