Semi-autonomous telerobotic manipulation in Mars drilling operation
Bibliographic record
Abstract
This paper examines several technologies currently available in the market to develop a simple and reliable robotic system for a Mars drilling mission, currently proposed by the Northern Light team. Northern Light is a Canadian mission to send one or more landers to the surface of Mars as early as 2011. Northern Light will assist in the international effort to explore Mars and will provide niche science using Canadian expertise. The Northern Light lander will be equipped with sophisticated scientific instruments to examine the Martian environment and surface features. The science goals include the search for water, the search for life, the investigation of the Martian atmosphere, and preparation for sample return. The mission is being developed by a public-private consortium of academic and industrial organizations led by Thoth Technology, Inc., of Kettleby, Ontario, Canada. One of the critical operations in the Northern Light mission is the drilling procedure. Using the drilling tool currently developed by T.C. Ng, a Martian rock will be drilled to 10 mm depth in search of water and life. This paper provides an overview of the development plan for a new manipulator system to carry the drilling tool along with the camera and strain gauge to drill on the Martian surface. The manipulator will be mounted on the edge of the lander where it will be able to extend and reach areas of interest within its vicinity. Once the drilling site is chosen, the manipulator system will carry out the operation semi-autonomously. In the first phase of the proposed project, the requirements and constraints for the manipulator have been identified, and the mission scenario and proposed control schemes have been designed. The mission was examined through a series of simulation analyses. This paper describes the advances made during this phase with a description of the manipulator system and a plan for the subsequent phases.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".