Determining the architecture of multi-planetary systems is one of the cornerstones of understanding planet formation and evolution. Resonant systems are especially important as the fragility of their orbital configuration ensures that no significant scattering or collisional event has taken place since the earliest formation phase when the parent protoplanetary disc was still present. In this context, TOI-178 has been the subject of particular attention since the first TESS observations hinted at the possible presence of a near 2:3:3 resonant chain. Here we report the results of observations from CHEOPS, ESPRESSO, NGTS, and SPECULOOS with the aim of deciphering the peculiar orbital architecture of the system. We show that TOI-178 harbours at least six planets in the super-Earth to mini-Neptune regimes, with radii ranging from 1.152−0.070+0.073 to 2.87−0.13+0.14 Earth radii and periods of 1.91, 3.24, 6.56, 9.96, 15.23, and 20.71 days. All planets but the innermost one form a 2:4:6:9:12 chain of Laplace resonances, and the planetary densities show important variations from planet to planet, jumping from 1.02−0.23+0.28 to 0.177−0.061+0.055 times the Earth’s density between planets c and d. Using Bayesian interior structure retrieval models, we show that the amount of gas in the planets does not vary in a monotonous way, contrary to what one would expect from simple formation and evolution models and unlike other known systems in a chain of Laplace resonances. The brightness of TOI-178 (H = 8.76 mag, J = 9.37 mag, V = 11.95 mag) allows for a precise characterisation of its orbital architecture as well as of the physical nature of the six presently known transiting planets it harbours. The peculiar orbital configuration and the diversity in average density among the planets in the system will enable the study of interior planetary structures and atmospheric evolution, providing important clues on the formation of super-Earths and mini-Neptunes.

Mineralogy is the key to understanding the origin of Phobos and its position in the evolution of the Solar System. In situ Raman spectroscopy on Phobos is an important tool to achieve the scientific objectives of the Martian Moons eXploration (MMX) mission, and maximize the scientific merit of the sample return by characterizing the mineral composition and heterogeneity of the surface of Phobos. Conducting in situ Raman spectroscopy in the harsh environment of Phobos requires a very sensitive, compact, lightweight, and robust instrument that can be carried by the compact MMX rover. In this context, the Raman spectrometer for MMX (i.e., RAX) is currently under development via international collaboration between teams from Japan, Germany, and Spain. To demonstrate the capability of a compact Raman system such as RAX, we built an instrument that reproduces the optical performance of the flight model using commercial off-the-shelf parts. Using this performance model, we measured mineral samples relevant to Phobos and Mars, such as anhydrous silicates, carbonates, and hydrous minerals. Our measurements indicate that such minerals can be accurately identified using a RAX-like Raman spectrometer. We demonstrated a spectral resolution of approximately 10 cm−1, high enough to resolve the strongest olivine Raman bands at ~ 820 and ~ 850 cm−1, with highly sensitive Raman peak measurements (e.g., signal-to-noise ratios up to 100). These results strongly suggest that the RAX instrument will be capable of determining the minerals expected on the surface of Phobos, adding valuable information to address the question of the moon’s origin, heterogeneity, and circum-Mars material transport. Graphical Abstract

Semi-Global Matching (SGM) is a robust stereo method that has proven its usefulness in various applications ranging from aerial image matching to driver assistance systems. It supports pixelwise matching for maintaining sharp object boundaries and fine structures and can be implemented efficiently on different computation hardware. Furthermore, the method is not sensitive to the choice of parameters. The structure of the matching algorithm is well suited to be processed by highly paralleling hardware e.g. FPGAs and GPUs. The drawback of SGM is the temporary memory requirement that depends on the number of pixels and the disparity range. On the one hand this results in long idle times due to the bandwidth limitations of the external memory and on the other hand the capacity bounds are quickly reached. A full HD image with a size of 1920 × 1080 pixels and a disparity range of 512 pixels requires already 1 billion elements, which is at least several GB of RAM, depending on the element size, wich are not available at standard FPGA-and GPUboards. The novel memory efficient (eSGM) method is an advancement in which the amount of temporary memory only depends on the number of pixels and not on the disparity range. This permits matching of huge images in one piece and reduces the requirements of the memory bandwidth for real-time mobile robotics. The feature comes at the cost of 50% more compute operations as compared to SGM. This overhead is compensated by the previously idle compute logic within the FPGA and the GPU and therefore results in an overall performance increase. We show that eSGM produces the same high quality disparity images as SGM and demonstrate its performance both on an aerial image pair with 142 MPixel and within a real-time mobile robotic application. We have implemented the new method on the CPU, GPU and FPGA. We conclude that eSGM is advantageous for a GPU implementation and essential for an implementation on our FPGA.

Ego localization is an important prerequisite for several scientific, commercial, and statutory tasks. Only by knowing one's own position, can guidance be provided, inspections be executed, and autonomous vehicles be operated. Localization becomes challenging if satellite-based navigation systems are not available, or data quality is not sufficient. To overcome this problem, a team of the German Aerospace Center (DLR) developed a multi-sensor system based on the human head and its navigation sensors -the eyes and the vestibular system. This system is called integrated positioning system (IPS) and contains a stereo camera and an inertial measurement unit for determining an ego pose in six degrees of freedom in a local coordinate system. IPS is able to operate in real time and can be applied for indoor and outdoor scenarios without any external reference or prior knowledge. In this paper, the system and its key hardware and software components are introduced. The main issues during the development of such complex multi-sensor measurement systems are identified and discussed, and the performance of this technology is demonstrated. The developer team started from scratch and transfers this technology into a commercial product right now. The paper finishes with an outlook.

Much remains to be understood about the nature of exoplanets smaller than Neptune, most of which have been discovered in compact multi-planet systems. With its inner ultra-short period planet b aligned with the star and two larger outer planets d-c on polar orbits, the multi-planet system HD 3167 features a peculiar architecture and offers the possibility to investigate both dynamical and atmospheric evolution processes. To this purpose we combined multiple datasets of transit photometry and radial velocimetry (RV) to revise the properties of the system and inform models of its planets. This effort was spearheaded by CHEOPS observations of HD 3167b, which appear inconsistent with a purely rocky composition despite its extreme irradiation. Overall the precision on the planetary orbital periods are improved by an order of magnitude, and the uncertainties on the densities of the transiting planets b and c are decreased by a factor of 3. Internal structure and atmospheric simulations draw a contrasting picture between HD 3167d, likely a rocky super-Earth that lost its atmosphere through photo-evaporation, and HD 3167c, a mini-Neptune that kept a substantial primordial gaseous envelope. We detect a fourth, more massive planet on a larger orbit, likely coplanar with HD 3167d-c. Dynamical simulations indeed show that the outer planetary system d-c-e was tilted, as a whole, early in the system history, when HD 3167b was still dominated by the star influence and maintained its aligned orbit. RV data and direct imaging rule out that the companion that could be responsible for the present-day architecture is still bound to the HD 3167 system. Similar global studies of multi-planet systems will tell how many share the peculiar properties of the HD3167 system, which remains a target of choice for follow-up observations and simulations.