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Les missions espacials han estat significatives per a la humanitat perquè han ampliat el nostre coneixement sobre l'univers i el nostre lloc en ell. Mart és el planeta més semblant a la Terra dins del sistema solar, fet que ha captat la nostra curiositat en la recerca de vida extraterrestre. Els robots d'exploració espacial estan específicament dissenyats per a resistir les dures condicions del terreny desconegut de Mart i poder explorar àrees inaccessibles per als humans actualment L'objectiu principal d'aquest estudi és dissenyar i implementar un sistema de mapeig que permeti l'exploració del robot en un territori desconegut i la creació d'una representació cartogràfica de l'entorn. El projecte consta de dues parts principal, una part teòrica i una part pràctica. El marc teòric proporciona una breu descripció de les missions espacials al llarg dels anys, amb un enfocament especial en diverses missions que s'han enviat per a explorar Mart, així com un estudi de les característiques i condicions ambientals del planeta. En el marc pràctic, es duu a terme el disseny i implementació d'un sistema propi de mapeig SLAM basat en la tècnica d'ocupació de quadrícula. Aquest sistema permet al robot cartografiar i localitzar-se simultàniament en un entorn desconegut. S'utilitzen components de hardware per a l'adquisició de dades i el Sistema Operatiu de Robots (ROS) com a base de comunicació del programa que executa el processament de les dades recol·lectades per a generar una representació visual de l'àrea explorada., Las misiones espaciales han sido significativas para la humanidad porque han ampliado nuestro conocimiento sobre el universo y nuestra posición en él. Marte es el planeta más parecido a la Tierra en nuestro sistema solar, por lo que ha captado nuestra curiosidad en la búsqueda de formas de vida extraterrestre. Los robots de exploración espacial están específicamente diseñados para resistir las duras condiciones del terreno desconocido de Marte, lo que les permite explorar áreas inaccesibles para los humanos actualmente El objetivo principal de este estudio es diseñar e implementar un sistema de mapeo que permita la exploración del robot en un territorio desconocido y la creación de una representación cartográfica del entorno. El proyecto se compone de dos partes principales, una parte teórica y una parte práctica. El marco teórico proporciona una breve descripción de las misiones espaciales a lo largo de los años, con un enfoque especial en varias misiones que se han enviado para explorar Marte, así como un estudio de las características y condiciones ambientales del planeta. En el marco práctico, se lleva a cabo el diseño e implementación de un sistema de mapeo SLAM propio basado en la técnica de ocupación de cuadrícula. Este sistema permite al robot cartografiar y localizarse simultáneamente en un entorno desconocido. Se utilizan componentes de hardware para la adquisición de datos y el Sistema Operativo de Robots (ROS) como base de comunicación del software que ejecuta el procesamiento de los datos recolectados para generar una representación visual del área explorada., Space missions have been significant to humanity because they have expanded our knowledge about the universe and our position in it. Mars is the most Earth-like planet in our solar system so it has captured our curiosity in the search for extraterrestrial life forms. Space exploration robots are specifically designed to endure the harsh conditions of the unknown terrain of Mars, enabling them to explore areas which are inaccessible to humans at present. The primary objective of this study is to design and implement a mapping system to enable the robot’s exploration in an unfamiliar territory and the creation of a map representation of the environment. The project consists of two main parts, a theoretical part and a practical part. The theoretical framework provides a brief description of space missions over the years, with a special focus on various missions that have been sent to explore Mars as well as a study of the planet's characteristics and environmental conditions. In the practical framework, the design and implementation of a proprietary SLAM mapping system based on the occupancy grid technique is carried out. This system allows the robot to simultaneously map and localise itself in an unknown environment. Hardware components are used for data acquisition and the Robot Operating System (ROS) is used as the communication base for the software that executes the processing of the collected data to generate a visual representation of the explored area., Outgoing

Arid, rocky, cold and ’apparently’ lifeless, Mars has captured humanity’s attention for the past few decades. "It’s such a fundamental question. ’Are we alone?’ " Hubbard said. Scientists are deeply interested in the Red Planet since it was found plenty of evidence that it was once far warmer and could potentially host life as we know it. NASA’s Mars Exploration Program has built up momentum, from the first flybys, followed by orbiters, then landers and rovers to a sample-return mission. Mars is seen as a prime target for future human colonization but, before sending any astronaut to the Red Planet, more knowledge is required. The characterization of surface weather in Mars is one of the main science objectives in NASA’s Mars Exploration Program, specially, the measurement of wind direction, as it is considered to be the dominant force shaping the Red Planet’s landscape. Currently, UPC is improving a 3D miniaturised wind sensor capable of collecting data samples of Mars’ atmospheric dynamics. The purpose of this paper is to do a structural study of the UPC’s wind sensor for Mars under vibrations induced during the launching phase. In order to do so, the sensor has been evaluated under a quasi-static test, a random vibration test and a pyroshock test. The first chapter will include detailed explanation of the state of the art. This section defines the characteristics of the three spatial certification tests performed to the sensor including different Finite Element Model satellite simulations already carried out by different research groups. In the second chapter, a detailed description of the wind sensor is elaborated. Then, it has been defined the mathematical formulation behind the different test using Reissner-Mindlin flat shell theory, a Vibrations analysis and a Shock analysis. The fourth chapter details the geometry, element type and boundary conditions used to perform each of the tests. Next, the different results have been analysed and finally some conclusio

Treball desenvolupat en el marc del programa "European Project Semester"., Living on the earth and using its resources poses a fundamental risk: the depletion of resources and the alternation of the atmosphere, which makes it uninhabitable to live. Colonizing and living on an extraterrestrial planet might be a good alternative. The primary focus of the research is to determine the possibility to send four non-related humans to Mars to establish a colony. By adopting a combination of Design Thinking and Problem Based Learning, the requirements to sustain life on Mars will be investigated. The circumstances and dif iculties of Mars will be discussed and solutions will be of ered. This paper of ers solutions to sustain life on mars, a design for the location and habitat and a plan for colonization., Outgoing

Postprint (author's final draft)

Future European missions aspire to bring soil samples from Mars back to Earth. The precise identification of the site from which samples are taken leads to major constraints as to the landing accuracy of the lander. Vision-based absolute navigation now appears to be the most promising navigation method for correcting errors originated from the interplanetary voyage at the point of re-entry. The thesis has consisted in improving the vision-based absolute navigation simulator developed for the landing phase. The image processing and identification algorithms have been based on algorithms implemented in 2012: matching between the characteristic points of the embedded image and the points which come from processing the measured image. The work has been focused on improving the navigation method with the main objective of minimizing the onboard design load and improving the robustness of the navigation system performance. The main tasks to continue the development of the simulator have followed the next steps: - Implementing and validating an iterative algorithm supplying a relative position/attitude in relation to the landing site. - Implementing flexible hybridization, incorporating the level of confidence in the matching carried out. - Studying the problem of the navigation filter initialization for a Martian landing.

Postprint (author's final draft)

Postprint (author's final draft)

Postprint (author's final draft)