Planetary and Space Science ] (]]]]) ]]]–]]]

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Planetary and Space Science

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Lunar PanCam: Adapting ExoMars PanCam for the ESA Lunar Lander

A.J. Coates a,b,n, A.D. Griffiths a,b, C.E. Leff a,b, N. Schmitz c, D.P. Barnes d, J.-L. Josset e, B.K. Hancock a,C.R. Cousins b,f, R. Jaumann c, I.A. Crawford b,f, G. Paar g, A. Bauer g, the PanCam teama Mullard Space Science Laboratory, University College London, UKb Centre for Planetary Science at UCL/Birkbeck, UKc German Aerospace Centre (DLR), Institute of Planetary Research, Germanyd Computer Science Department, Aberystwyth University, UKe Space Exploration Institute (SPACE-X), Switzerlandf Department of Earth and Planetary Sciences, Birkbeck College London, UKg Joanneum Research, Austria

a r t i c l e i n f o

Article history:

Received 29 February 2012

Received in revised form

6 July 2012

Accepted 13 July 2012

Keywords:

Mars

Moon

Instrumentation

Visible cameras

33/$ - see front matter & 2012 Elsevier Ltd. A

x.doi.org/10.1016/j.pss.2012.07.017

esponding author at: Mullard Space Science L

, UK. Tel.: þ44 1483 204145.

ail address: ajc@mssl.ucl.ac.uk (A.J. Coates).

e cite this article as: Coates, A.J., et ace (2012), http://dx.doi.org/10.1016

a b s t r a c t

A scientific camera system would provide valuable geological context from the surface for lunar lander

missions. Here, we describe the PanCam instrument from the ESA ExoMars rover and its possible

adaptation for the proposed ESA lunar lander. The scientific objectives of the ESA ExoMars rover are

designed to answer several key questions in the search for life on Mars. The ExoMars PanCam

instrument will set the geological and morphological context for that mission. We describe the PanCam

scientific objectives in geology, and atmospheric science, and 3D vision objectives. We also describe the

design of PanCam, which includes a stereo pair of Wide Angle Cameras (WACs), each of which has a

filter wheel, and a High Resolution Camera for close up investigations. The cameras are housed in an

optical bench (OB) and electrical interface is provided via the PanCam Interface Unit (PIU). Additional

hardware items include a PanCam Calibration Target (PCT). We also briefly discuss some PanCam

testing during field trials. In addition, we examine how such a ‘Lunar PanCam’ could be adapted for use

on the Lunar surface on the proposed ESA lunar lander.

& 2012 Elsevier Ltd. All rights reserved.

1. Introduction

As discussed elsewhere in this volume, there is renewed inter-national interest in the Moon as a target of scientific investigation(see the reviews by Jaumann et al., in this issue, Crawford et al., thisissue). Robotic lunar landers will form a key part in the next phase oflunar exploration, and such landers will require high-performancescientific camera systems. The functions of such camera systemsinclude (a) setting the context for all the other measurements,including morphological and geological context, (b) providing com-plementary data for use with those of other instruments, and(c) pursuing scientific objectives defined by the camera investiga-tors. The Lunar Lander being studied by the European Space Agency(ESA) is no exception to this, and a multispectral camera is part ofthe model payload under study (Carpenter et al., this issue). In thispaper, we discuss the science objectives for PanCam for ExoMarsand how these would be modified for use on the Moon. We alsopresent a summary of the current design of the ExoMars PanCaminstrument, which has evolved significantly (e.g. Coates et al., 2011)

ll rights reserved.

aboratory, University College

l., Lunar PanCam: Adapting/j.pss.2012.07.017

since the initial design (Griffiths et al., 2006) which was partly basedon the Beagle 2 Stereo Camera System (Griffiths et al., 2005) andpartly on the proposed Netlander Panoramic Camera (Jaumannet al., 2000); we discuss how ExoMars PanCam could be modifiedfor deployment on the lunar lander.

2. PanCam science objectives for Mars

The overall goals of the ExoMars 2018 rover (Vago et al., 2006;Vago, 2010) are to search for signs of past and present life on Mars,and to characterise the water/geochemical environment as a functionof depth in the shallow subsurface. The key new aspect of the missionas a whole is the retrieval and analysis of samples from up to 2 munder the oxidised surface of Mars. The strategy of the mission is:

1.

Ex

To land at, or to be able to reach, a location possessing highexobiological interest for past or present life signatures, i.e.,the Rover must have access to the appropriate geologicalenvironment.

2.

To collect scientific samples from different sites, using a rovercarrying a drill capable of reaching well into the subsurfaceand into surface rocky outcrops.

oMars PanCam for the ESA Lunar Lander. Planetary and Space

Fig. 1. PanCam layout (MSSL).

Table 1

A.J. Coates et al. / Planetary and Space Science ] (]]]]) ]]]–]]]2

3.

Main characteristics of ExoMars PanCam cameras.

WACs (x2) HRC

FoV (1) 34 5

Pixels 1024�1024 1024�1024

Filter type Multispectral RGB

Filter type Filter wheel On chip

Filter number 11 per ‘eye’ 3

IFOV (mrad/pixel) 580 83

Pixel scale (2 m) 1.19 mm 0.17 mm

At each site, to conduct an integral set of measurements atmultiple scales: beginning with a panoramic assessment of thegeological environment, progressing to smaller-scale investi-gations on surface outcrops, and culminating with the collec-tion of well-selected subsurface (or surface) samples to bestudied in the Rover’s analytical laboratory.

The PanCam instrument plays a key role in the mission bycontributing to item 3 above. The main objectives of the ExoMarsrover PanCam instrument are to:

Focus Fixed (1.0 m-N) Mechanical autofocus (0.98 m-N)

1.

PS

Provide context information for the rover and its environment,including digital elevation models and their proper visualisation.

2.

Geologically investigate and map the rover sites includingdrilling locations.

3.

Study the properties of the atmosphere and variable phenom-ena, including water and dust content of the atmosphere.

4.

Locate the landing site and the rover position with respect to localreferences, by comparison and data fusion with data from orbiters.

5.

Support rover track planning. 6. Image the acquired sample.

The PanCam science team has developed a detailed sciencetraceability matrix which links the high level goals to instrumentperformance (Jaumann et al., 2010).

PanCam plays a key role as part of the lander payload in severalways associated with wide angle and high resolution imaging, asmentioned above. We now consider the hardware implementationand, in broad terms, how the instrument addresses the objectives.

PanCam sets the geological and morphological context for therest of the payload. Geological and red/green/blue filters provide apowerful camera system for planetary science. A pair of Wide AngleCameras (WACs) and a close-up High Resolution Camera (HRC)provide complementary imaging at different scales. PanCam canview the lander top surface and verify mechanism deployments andpotentially landing pad interaction with the regolith. In the currentExoMars design, PanCam is the only instrument which can remotelysense the geological context of the landing site, provide detailed 3Dterrain models and measure the surface Bidirectional ReflectanceDistribution Function (BRDF). Clearly, many of these objectivescould be applied for use on the Moon, plus potentially monitoringdust levitation events (see Section 5).

3. PanCam design for Mars

The PanCam design for Mars (total mass 1.75 kg) includes thefollowing major items:

(a)

lc

Wide Angle Camera (WAC) pair, for multi-spectral stereoscopicpanoramic imaging, using a miniaturised filter wheel. The WAC

ease cite this article as: Coates, A.J., et al., Lunar PanCam: Adapting Exoience (2012), http://dx.doi.org/10.1016/j.pss.2012.07.017

camera units themselves are provided by RUAG and Space-X,Switzerland, and the filter wheels and drives are produced byMullard Space Science Laboratory, University College London(MSSL-UCL).

(b)

High Resolution Camera (HRC) for high resolution colour images.The HRC hardware is produced by Kayser-Threde, Munich andDLR Institute for Planetary Research, Berlin, Germany.

(c)

Pancam Interface Unit (PIU) to provide a single electronicinterface. The PIU is provided by MSSL-UCL.

(d)

PanCam Optical Bench (OB) to house PanCam and provideplanetary and dust protection. The OB is provided by MSSL-UCL.

The PanCam mechanical design is illustrated in Fig. 1. The opticalbench is located on a rover-supplied pan-tilt mechanism at the topof the rover mast, at a height of �1.7 m above the surface.

A summary of the main characteristics of the WACs and HRC isshown in Table 1.

Each of the WACs includes 11 filters comprising R,G and Bcolour bands, a geological filter set (optimised for use on Mars byCousins et al. (2010, in press)), and atmospheric filters to analysethe water and dust content in the Mars atmosphere. The filterwheel and WAC camera system is illustrated in Fig. 2.

The HRC includes R, G and B filters bonded to the detectorchips to provide colour information. The optical path is housedwithin the optical bench structure and comprises a baffle andmirror arrangement, a focus mechanism and a detector withassociated readout electronics (see Fig. 3).

The PIU is the main interface between the ExoMars rover andthe PanCam subsystems, and uses an FPGA implementation. Thefinal system component is the Optical Bench, which provides aplanetary protection barrier to the external environment (includ-ing HEPA filters), as well as mechanical positioning of the PanCamcomponents. A view of the prototype is shown in Fig. 4.

In addition to the major four PanCam optical bench mountedcomponents outlined above, two additional hardware componentsare part of the PanCam design to improve the scientific return andprovide useful engineering data, namely the calibration target and therover inspection mirror, both provided by Aberystwyth University.

Mars PanCam for the ESA Lunar Lander. Planetary and Space

Fig. 2. Mechanical configuration of WAC filter wheel and cameras (C.Theobald/MDO, MSSL-UCL).

Fig. 3. HRC subsystems: (a) exploded view and (b) accommodated into an Optical Bench prototype (DLR/KT/MSSL).

Fig. 4. Aluminium optical bench prototype (MSSL).

A.J. Coates et al. / Planetary and Space Science ] (]]]]) ]]]–]]] 3

The PanCam calibration target (PCT) is implemented using colouredglass elements similar to ‘stained glass’ (see prototype in Fig. 5; 3‘shadow posts’ will be added for relief). A calibration target is locatedon the rover deck.

In addition to the PanCam hardware components mentionedabove, the ExoMars PanCam team includes a 3D vision team whichprovides key software and calibration support for the PanCam team.

Please cite this article as: Coates, A.J., et al., Lunar PanCam: AdaptingScience (2012), http://dx.doi.org/10.1016/j.pss.2012.07.017

The radiometric and colourimetric data flow and operationsscenario as envisaged by the 3D vision team, for 3D vision (Paaret al., 2009) and for colour image processing (Barnes et al., 2011)is illustrated in Fig. 6a and b. Some of the procedures have beentested in the field particularly during the Arctic Mars AnalogueSvalbard Expeditions (AMASE) expeditions, as discussed in thenext section.

ExoMars PanCam for the ESA Lunar Lander. Planetary and Space

Fig. 5. Prototype PanCam Calibration Target (PCT)—Aberystwyth University.

Fig. 6. (a) Data flow and operations scenario for ExoMars PanCam 3D Vision processing

processing.

A.J. Coates et al. / Planetary and Space Science ] (]]]]) ]]]–]]]4

Please cite this article as: Coates, A.J., et al., Lunar PanCam: AdaptingScience (2012), http://dx.doi.org/10.1016/j.pss.2012.07.017

4. Science with a lunar surface camera

Multi-spectral imagery within the visible range, such as will becovered by PanCam, has long been recognised to be a powerfulmethod of distinguishing between major lunar mineralogies androck types (e.g. Pieters, 1993). Implementation of the method onthe Clementine spacecraft, which orbited the Moon for twomonths in 1994 (Nozette, 1994), demonstrated that such multi-spectral observations were able to accurately determine Fe and Tielemental abundances within an imaged area, along with therelative abundances of key lunar minerals (e.g. orthopyroxene,clinopyroxene, olivine, plagioclase, and opaque minerals such asilmenite e.g. Lucey et al., 2000; Staid and Pieters, 2000; Pieters et al.,2001; Spudis et al., 2002; Lucey, 2004). However, whereasClementine had a spacial resolution of 100 m/pixel, a PanCam-likeinstrument on the lunar surface would have a resolution of about6 mm per pixel at a distance of 10 m (Table 1), making it possible toidentify small-scale geological heterogeneities local to the landingsite. In part for these reasons, a PanCam follow-on instrument, with

. (b) Data flow scenario for ExoMars PanCam radiometric and colourimetric image

ExoMars PanCam for the ESA Lunar Lander. Planetary and Space

A.J. Coates et al. / Planetary and Space Science ] (]]]]) ]]]–]]] 5

modifications to make it suitable for deployment on the Moon, wasproposed as the context imager for the proposed MoonRise samplereturn mission (Jolliff et al., 2010), and breadboarded as part of theMoonRise phase A study (unfortunately, MoonRise was ultimatelynot selected by NASA).

For the ESA lunar lander, we will build on the ExoMarsPanCam heritage, and on studies formed in the context of Moon-Rise, to study the implementation of a powerful scientific camerafor the Lunar Lander.

Given the proposed south polar landing site of ESA’s Lunar Lander,the use of Lunar PanCam to explore the geological context of the rimof Shackleton Crater is of particular interest. Shackleton lies withinthe topographic rim of the South Pole-Aitken basin (Spudis et al.,2008), and so materials excavated from deep within the Moon (i.e.lower crust or mantle) may be exposed in Shackleton ejecta. Theseinclude orthopyroxene- and/or olivine-rich lithologies derived fromthe lower crust and mantle, respectively. Based on Clementine multi-spectra data (e.g. Pieters et al., 2001; Spudis et al., 2002; Lucey, 2004),it is known that multi-spectral imaging within the wavelength rangeof PanCam is able to discriminate between these mineralogies. LunarPanCam will therefore be able to address the extent to which thesematerials are exposed on the rim of Shackleton and available forstudy by contact instruments and/or later rover or sample returnmissions. In addition, the recent discovery of hydrated minerals in theregolith at high lunar latitudes (Pieters et al., 2009) is of greatscientific interest (e.g. Anand, 2010). Although the dominant spectralsignatures of these minerals is in the near infrared, we propose toconduct studies to determine if the PanCam filter set might beoptimised in such a way as to detect them, following the methodol-ogy described by Cousins et al. (2010,in press).

A PanCam-type multi-spectral imager on the Moon would alsobe able to search for non-lunar lithologies exposed in the surficialregolith. These might include meteoritic fragments, including sam-ples of the giant impactors responsible for lunar basin formation(small fragments of which have recently been identified in Apolloregolith breccias; Joy et al., 2012), and samples of the early Earthblasted off the Earth’s surface by giant impacts early in our planet’shistory (e.g. Armstrong et al., 2002; Gutierrez et al., 2002). Suchmaterials would be of great scientific interest, and likely to bespectrally distinct from native lunar materials (see discussion inCrawford et al., 2008). As for the identification of hydrated mineralsdiscussed above, it is our intention to conduct a detailed study offilter wavelengths and band-widths in order to optimise thesensitivity of a lunar PanCam to the detection of such extra-lunarmaterials, while retaining sensitivity to known lunar lithologies.Finally we note that while static-based imaging systems, such asenvisaged for ESA’s Lunar Lander, may be able to identify suchmaterials in the immediate locality of the landing site, in the longerterm it is clear that a rover-based mobile system would be

Fig. 7. views of AUPE PanCam simulator at tests in a Hertford

Please cite this article as: Coates, A.J., et al., Lunar PanCam: AdaptingScience (2012), http://dx.doi.org/10.1016/j.pss.2012.07.017

preferable. Given its ExoMars heritage, PanCam would of coursebe ideally suited to such an application.

In addition to studies of the local geology, and the provision oflander context including digital elevation models, Lunar PanCamwill also study dust levitation effects on the Moon, a topic of highinterest for science and exploration (e.g. Grun, et al., 2011; Pines,et al., 2011). This will be a complex and interesting problem giventhe topology near the South pole. We anticipate providingcomplementary images which will be of high interest in relationto data from the proposed plasma instruments on ESA’s LunarLander and other proposed lunar surface missions.

5. Adapting ExoMars PanCam for the moon

The Lunar Lander is anticipated to include a boom and a Pan-Tiltmechanism on the static lander, in order to provide wide panoramicviews. A study of the detailed adaptations of ExoMars PanCam hasrecently been started for ESA. In the study, considerations foradapting PanCam for the Moon are planned including:

�

shi

Ex

The requirements for the boom and Pan-Tilt mechanism on thestatic lander will be studied.

� The overall ExoMars PanCam design compatibility for the

lunar lander will be studied.

� The OB would provide dust protection, as at Mars. � The PCT is necessary, but no RIM necessary on the static

lander.

� The design will be adapted and environmental tests will be

performed for the lower temperatures, larger differencesbetween light and shade and deeper thermal cycling, expectedfor the Lunar Lander environment.

� Radiation studies will be pursued. � Micrometeorite impact studies will be made.

In summary, a suitably modified PanCam would provide impor-tant measurements on the lunar surface, setting the context for andhighly complementary with other measurements on the ESA lunarlander. Beyond the lunar lander, similar multispectral imagingsystems also have great potential on future lunar rovers, wherethey will help identify interesting lunar (and possibly extra-lunar)materials for detailed investigation and/or sample return.

6. PanCam field trials

A number of ExoMars-related field trials and tests have beenperformed in the last few years (see Fig. 7), including participation inrecent Arctic Mars Analogue Svalbard Expeditions (AMASE) 2008–11

re, UK quarry and at the AMASE campaign, Svalbard.

oMars PanCam for the ESA Lunar Lander. Planetary and Space

Fig. 8. Representative WAC data from AMASE campaign in 2009.

A.J. Coates et al. / Planetary and Space Science ] (]]]]) ]]]–]]]6

(see Steele et al., 2010, Schmitz et al., 2009). For these tests, arepresentative PanCam simulator was used, provided by Aberyst-wyth University. This simulator includes representative (though notthe final) filter wavelengths from which spectral information may beused to study mineralogy (Cousins et al., 2012b). These campaignshave been used, in combination with teams from other ExoMarsinstruments, to develop working procedures representative of amission to Mars, as well as to test instrument performance, developcalibration techniques and pursue scientific investigations of parti-cular areas. These included e.g., the Bockfjord Volcanic Complex(BVC), and the Nordaustlandet/Palander Icecap. Scientific data fromthese trials will be discussed elsewhere.

Some representative data from the AMASE expedition in 2009are shown in Fig. 8 (detailed scientific analysis will be presentedin additional papers.

Other PanCam ground tests have included ‘blind’ geologicalidentifications performed in the AU Mars analogue facility, andtests in a quarry in Hertfordshire with the Astrium UK ‘Bridget’prototype rover.

7. Conclusions

A modified version of ExoMars PanCam was proposed as theSurface Camera Package for the ESA lunar lander in response tothe 2009 ESA RFI. Clearly, ExoMars PanCam heritage providesrobust Technology Readiness Level (TRL) for reflight on the ESALunar Lander.

The ExoMars PanCam overall design provides both broad anddetailed context for the lander payload, with additional scientificobjectives in the area of dust levitation studies. The powerfulscientific performance, particularly the complementary perfor-mance of the WACs and HRC, will be essential in support of theLunar Lander mission.

The required hardware and testing modifications for the Lunarenvironment (e.g. thermal, micrometeoroid and illumination) willbe further iterated including the NASA MoonRise studies withadditional thermal and other data.

We anticipate commencing further studies of Lunar PanCamand the required modifications in the near future.

Acknowledgements

We acknowledge UK Space Agency, DLR Agency (Germany),the Swiss Space Office and Austrian support (via ESA Prodex), forExoMars PanCam.

Please cite this article as: Coates, A.J., et al., Lunar PanCam: AdaptingScience (2012), http://dx.doi.org/10.1016/j.pss.2012.07.017

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