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Supervised Autonomy for Communication-Degraded Subterranean Exploration by a Robot Team
The importance of autonomy in robotics is magnified when the robots need to be deployed and operated in areas that are too dangerous or not accessible for humans, ranging from disaster areas (to assist in emergency situations) to Mars exploration (to uncover the mystery of our neighboring planet). The DARPA Subterranean (SubT) Challenge presents a great opportunity and a formidable robotics challenge to foster such technological advancement for operations in extreme and underground environments. Robot teams are expected to rapidly map, navigate, and search underground environments including natural cave networks, tunnel systems, and urban underground infrastructure. Subterranean environments pose significant challenges for manned and unmanned operations due to limited situational awareness. In the first phase of the DARPA Subterranean Challenge (held in August 2019; targeting underground tunnels and mines), Team CoSTAR, led by NASA JPL, placed second among 11 teams across the world, accurately mapping several kilometers of two mine systems and localizing 17 target objects in the course of four one-hour missions. While the main goal of Team CoSTAR at the end of this threeyear challenge (August 2021) is a fully autonomous robotic solution, this paper describes Team CoSTAR’s results in the first phase of the challenge (August 2019), focusing on supervised autonomy of a multi-robot team under severe communication constraints. This paper also presents the design and initial results obtained from field test campaigns conducted in various tunnel-like environments, leading to the competition.
Hydrological and Thermal Dynamics of a Supra‐Permafrost Subterranean Estuary
Subterranean estuaries (STEs), where groundwater interacts with seawater, influence surface and subsurface coastal ecology and biogeochemistry. In Arctic-STEs overlying permafrost, groundwater flow and heat transport determine the fate of organic matter. Yet, direct observations of groundwater flow and heat and solute transport processes in Arctic STEs remain limited. This study characterized groundwater flow paths and fluxes and heat transport within an Arctic-STE along Alaska's Beaufort Sea coast during thawing, summer, and freeze-up. Intertidal seabed temperature-depth profiles collected along a 10-m transect captured the active groundwater flow period, from thaw and flow onset in mid-June to freeze-up in late-September. During this period, aquifer geometry evolved non-uniformly due to spatially varying thaw rates across the STE (mean (m) thaw depths–beach: 0.25 to 0.55–0.6 m on 20 June, 25 July, 1 October; seabed: 0.6–0.9 m from 25 July to 1 October). Groundwater and surface water levels, salinity, and subsurface temperature profiles measured over tidal time scales were interpreted alongside groundwater flow-heat transport numerical simulations. Fresh groundwater discharge was sporadic during thawing (m: 0.32 m 3 /day/m), abundant in summer (m: 0.45 m 3 /day/m), and was largely absent during freeze-up. During freeze-up, groundwater flow was driven exclusively by seawater recirculation via tidal pumping (from thawing to summer to freeze-up: 0.00025–0.15–0.5 m3/day/m) and convection. Heat advection dominated near aquatic interfaces (shaping intertidal ice), and conduction controlled vertical temperature gradients in low-flow and unsaturated sediments. These findings will help predict how prolonged summers will alter Arctic-STE cryo-hydrology and biogeochemistry.
Volatilized Ammonia Supports Subterranean Ecosystems with Unusual Nitrogen Isotopic Signatures
The Frasassi cave system hosts a robust subterranean ecosystem based on microbial lithoautotrophy. Curiously, acidic biofilms forming above degassing sulfidic cave streams, and the invertebrates that feed on them, are extremely depleted in nitrogen-15 (δ 15 N values less than −20‰). In this study, we tested the hypothesis that these low δ 15 N values result from the volatilization, trapping, and uptake of ammonia degassed from circumneutral streams. We found that dissolved ammonium in the streams had δ 15 N values near +3‰, whereas NH 3(g) in the cave atmosphere above streams exhibited δ 15 N values as low as −27‰, consistent with fractionation by NH 3 volatilization. Extremely acidic condensation droplets on cave walls efficiently trapped airborne NH 3 , accumulating up to 4 mM NH 4 + with δ 15 N values as low as −29‰, thereby confirming volatilized and trapped ammonia as the primary N source to cave wall biofilms and the extensive subsurface ecosystem they support. Airborne ammonia trapping represents a novel mechanism for biological N acquisition and provides abundant N for growth in an extreme subsurface environment that otherwise receives very limited nutrient input.
Energy-related contaminants in subterranean waterbodies: The role of geocolloids on facilitated and hindered transport
Not Available
Aritifact detection and localization in perceptually-degraded subterranean environments
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RaDAR-inertial ego velocity estimation with applications to subterranean environments
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Supervised Autonomy for Communication-Degraded Subterranean Exploration by a Robot Team
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Active Perception and Exploration with Teams of Robots From Simulation to Subterranean
No abstract provided
Subterranean karst environments as a global sink for atmospheric methane
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Analysis of the origin of Aufeis feed-water on the arctic slope of Alaska
The origin of water feeding large aufeis fields (overflow river ice) on the Arctic Slope of Alaska is analyzed. Field measurements of two large aufeis fields on the eastern Arctic Slope were taken during July of 1978 and 1979. Measurements of aufeis extent and distribution were made using LANDSAT Multispectral Scanner Subsystem (MSS) satellite data from 1973 through 1979. In addition, ice cores were analyzed in the laboratory. Results of the field and laboratory studies indicate that the water derived from aufeis melt water has a chemical composition different from the adjacent upstream river water. Large aufeis fields are found in association with springs and faults thus indicating a subterranean origin of the feed water. In addition, the maximum extent of large aufeis fields was not found to follow meteorological patterns which would only be expected if the origin of the feed water were local. It is concluded that extent of large aufeis in a given river channel on the Arctic Slope is controlled by discharge from reservoirs of groundwater. It seems probable that precipitation passes into limestone aquifers in the Brooks Range, through an interconnecting system of subterranean fractures in calcareous rocks and ultimately discharges into alluvial sediments on the coastal plain to form aufeis. It is speculated that only small aufeis patches are affected by local meteorological parameters in the months just prior to aufeis formation.
Europa Science Platforms and Kinetic Energy Probes
This presentation will outline a proposed mission for the Jupiter Icy Moons Orbiter (JIMO). The mission outlined will concentrate on an examination of Europa. Some of the primary science goals for the JIMO mission are: 1) to answer broad science questions, 2) improved knowledge of Jovian system; specifically, lunar geological and geophysical properties, 3) chemical composition of Jovian lunar surfaces and subterranean matter, and 4) the search for life. In order to address these issues, the experiment proposed here will deploy orbiting, surface, and subterranean science platforms.
Towards Resilient Autonomous Navigation of Drones
Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a reliable and robust state estimation solution. The main body of literature in robot state estimation focuses on developing complex algorithms favoring accuracy. Typically, these approaches rely on a strong underlying assumption: the main estimation engine will not fail during operation. In contrast, we propose an architecture that pursues robustness in state estimation by considering redundancy and heterogeneity in both sensing and estimation algorithms. The architecture is designed to expect and detect failures and adapt the behavior of the system to ensure safety. To this end, we present HeRO (Heterogeneous Redundant Odometry): a stack of estimation algorithms running in parallel supervised by a resiliency logic. This logic carries out three main functions: a) perform confidence tests both in data quality and algorithm health; b) re-initialize those algorithms that might be malfunctioning; c) generate a smooth state estimate by multiplexing the inputs based on their quality. The state and quality estimates are used by the guidance and control modules to adapt the mobility behaviors of the system. The validation and utility of the approach are shown with real experiments on a ying robot for the use case of autonomous exploration of subterranean environments, with particular results from the STIX event of the DARPA Subterranean Challenge.
Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments
In recent years, unsupervised deep learning ap-proaches have received a significant attention to estimate depthand visual odometry (VO) from unlabelled monocular imagesequences. However, their performance is limited in challengingenvironments due to perceptual degradation, occlusions andrapid motions. Moreover, the existing unsupervised methodssuffer from the lack of scale-consistency constraints acrossframes, which causes that the VO estimators fail to providepersistent trajectories over long sequences. In this study, wepropose a unsupervised monocular deep VO framework thatpredicts 6 degrees-of-freedom pose camera motion and depthmap of the scene from unlabelled RGB image sequences.We provide detailed quantitative and qualitative evaluationsof the proposed framework on a) a challenging dataset col-lected during the DARPA Subterranean challenge1; and b)the benchmark KITTI and Cityscapes datasets. The proposedapproach outperforms both traditional and state-of-the-artunsupervised deep VO methods providing better results for bothpose estimation and depth recovery. The presented approach ispart of the solution used by the COSTAR team participatingat the DARPA Subterranean Challenge
Thermally unstable roosts influence winter torpor patterns in a threatened bat species
Abstract Many hibernating bats in thermally stable, subterranean roosts have experienced precipitous declines from white-nose syndrome (WNS). However, some WNS-affected species also use thermally unstable roosts during winter that may impact their torpor patterns and WNS susceptibility. From November to March 2017–19, we used temperature-sensitive transmitters to document winter torpor patterns of tricolored bats (Perimyotis subflavus) using thermally unstable roosts in the upper Coastal Plain of South Carolina. Daily mean roost temperature was 12.9 ± 4.9°C SD in bridges and 11.0 ± 4.6°C in accessible cavities with daily fluctuations of 4.8 ± 2°C in bridges and 4.0 ± 1.9°C in accessible cavities and maximum fluctuations of 13.8 and 10.5°C, respectively. Mean torpor bout duration was 2.7 ± 2.8 days and was negatively related to ambient temperature and positively related to precipitation. Bats maintained non-random arousal patterns focused near dusk and were active on 33.6% of tracked days. Fifty-one percent of arousals contained passive rewarming. Normothermic bout duration, general activity and activity away from the roost were positively related to ambient temperature, and activity away from the roost was negatively related to barometric pressure. Our results suggest ambient weather conditions influence winter torpor patterns of tricolored bats using thermally unstable roosts. Short torpor bout durations and potential nighttime foraging during winter by tricolored bats in thermally unstable roosts contrasts with behaviors of tricolored bats in thermally stable roosts. Therefore, tricolored bat using thermally unstable roosts may be less susceptible to WNS. More broadly, these results highlight the importance of understanding the effect of roost thermal stability on winter torpor patterns and the physiological flexibility of broadly distributed hibernating species.
Characterization of prokaryotic communities in Puerto Rican caves using 16S rDNA amplicon sequencing
The cave ecosystems host microbial communities adapted to extreme environments. This study utilized 16S rDNA to investigate the prokaryotic diversity across seven caves in Puerto Rico’s northern limestone karst belt. Microbial profiling revealed distinct subterranean communities, enhancing our understanding of cave microbiology and potential applications in environmental conservation and microbial research.
TCF - Sustainable Well Cement for Geothermal, Thermal Recovery, and Carbon Storage wells
Primary cementing is the most important operation performed on a subterranean well. Cement, placed in the annulus between the casing and the formations, serves as a hydraulic seal preventing fluids and gas migrations, protecting steel casing from corrosion, and supporting the well structure. Poor cementing jobs can be directly responsible for wells not reaching their full capacity, casing corrosion, compromised well integrity and, in the worst-case scenarios, well collapse. Geothermal, thermal recovery, and carbon storage wells offer environments that are especially difficult for cements to survive while the required lifespan of these wells can be years. In these wells currently used cements cannot provide durable well integrity, and new solutions are necessary. The necessity of stabilizing the electric grid, increasing its flexibility, and providing energy on demand will further expand the market of durable cement solutions for applications in high-temperature underground reservoir thermal energy storage wells (HT RTES). The design challenges of special cement systems for such wells originate from chemistry limitations of currently used well cements, aggressive environments, temperature and repeated shock conditions associated with them, and very weak formations that are not uncommon in these wells. During the last 70 years the most common systems for thermal-well construction have been Ordinary Portland Cement (OPC) (absolute majority of the wells), silica-lime system, and high aluminum cement-containing formulations. The major issues of calcium-silicate hydrates, that form during the hydration of OPC resulting in hardened material, are their poor chemical resistance to acids due to the calcium interactions with acid anions followed by its eventual dissolution, even in mild acids, such as carbonic acid from CO 2 dissolution, and inadequate bonding to the steel causing serious casing corrosion problems (Sugama & Pyatina, 2019). Performance of OPC-based cement may be significantly improved with organic additives; however, those are limited by their temperature stability. An alternative to calcium-silicate cement was developed by BNL and commercialized by Halliburton as ThermaLock TM cement. Calcium-aluminate-phosphate-based chemistry of the material allowed overcoming acid-resistance problems of OPC, especially in CO 2 -rich geothermal environments. In 2012-2015, building upon this experience, BNL developed Thermal Shock Resistant Cement (TSRC) with the support of Geothermal Technology Office (GTO) of DOE. TSRC has high-temperature stable chemistry, superior properties of cement-metal casing bond and corrosion protection (4-times better than currently used OPC-based formulation), significantly outperforms common well-cements in thermal-shock tests, has self-healing properties, and like ThermaLock TM is CO 2 resistant incorporating carbonate ions into stable hydrates (Gill et al., 2012).