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dc.contributor.authorCastilla-Arquillo, Raúl
dc.contributor.authorMandow, Anthony 
dc.contributor.authorPérez-del-Pulgar-Mancebo, Carlos Jesús 
dc.contributor.authorÁlvarez-Llamas, César
dc.contributor.authorVadillo-Pérez, José Miguel 
dc.contributor.authorLaserna-Vázquez, José Javier 
dc.date.accessioned2024-01-22T12:31:41Z
dc.date.available2024-01-22T12:31:41Z
dc.date.issued2023-12-25
dc.identifier.citationR. Castilla-Arquillo, A. Mandow, C. J. Pérez-del-Pulgar, C. Álvarez-Llamas, J. M. Vadillo and J. Laserna, "Thermal Imagery for Rover Soil Assessment Using a Multipurpose Environmental Chamber Under Simulated Mars Conditions," in IEEE Transactions on Instrumentation and Measurement, vol. 73, pp. 1-12, 2024, Art no. 5007012, doi: 10.1109/TIM.2023.3346528.es_ES
dc.identifier.urihttps://hdl.handle.net/10630/28982
dc.description.abstractPlanetary rover missions on Mars have suffered entrapments and serious mobility incidents due to soil assessment limitations of stereo RGB cameras, which cannot characterize relevant physical phenomena such as thermal behavior that depend on granularity and cohesion. In particular, thermal inertia estimations are already being used to assess geophysical properties from 1-D low-resolution measurements by onboard thermopiles. However, no high-resolution measurements are currently available to characterize Martian soils for safer navigation in future missions, so new experimental methods are required to capture and analyze thermal images with planetary conditions in Earth-based experiments. In this work, we propose a novel measurement system configuration and experimental methodology to capture thermal images using isolated multipurpose environmental chambers (MECs) to replicate the temperature and pressure conditions of Mars. Furthermore, the system has allowed to measure diurnal cycles for four soil types of known physical characteristics under Martian and Earth pressures to perform a unique quantitative analysis and comparison of thermal behavior and thermal inertia for soil assessment. Even if no actual Martian infrared (IR) images are available for comparison, results indicate a correlation between granularity and thermal inertia that is consistent with available thermopile measurements recorded by rover’s onsite. Furthermore, the set of measurements acquired in the experiments has been made available to the scientific community.es_ES
dc.description.sponsorshipFunding for open access charge: Universidad de Málaga/CBUA. This work was supported in part by the Andalusian Regional Government through the Project Intelligent Multimodal Sensor for Identification of Terramechanic Characteristics in Off-Road Vehicles (IMSITER) under Grant P18-RT-991.es_ES
dc.language.isoenges_ES
dc.publisherIEEEes_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectIngeniería aeronáuticaes_ES
dc.subjectRobots industrialeses_ES
dc.subjectTermografíaes_ES
dc.subject.otherMeasurement equipmentes_ES
dc.subject.otherPlanetary roboticses_ES
dc.subject.otherThermal imageryes_ES
dc.subject.otherThermal inertiaes_ES
dc.titleThermal imagery for rover soil assessment using a multipurpose environmental chamber under simulated Mars conditionses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.centroEscuela de Ingenierías Industrialeses_ES
dc.identifier.doi10.1109/TIM.2023.3346528
dc.rights.ccAtribución 4.0 Internacional*
dc.type.hasVersioninfo:eu-repo/semantics/publishedVersiones_ES


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