arXiv subjects

Douglas Jerolmack

Publications and source records attributed to Douglas Jerolmack.

5 recordsLinked to original sources

arXiv2026

Scout-Rover cooperation: online terrain strength mapping and traversal risk estimation for planetary-analog explorations

Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters, remain hazardous due to loose, deformable regolith. We present a scout-rover cooperation framework that expands safe access to such terrain using a hybrid team of legged and wheeled robots. In our approach, a high-mobility legged robot serves as a mobile scout, using proprioceptive leg-terrain interactions to estimate regolith strength during locomotion and construct spatially resolved terrain maps. These maps are integrated with rover locomotion models to estimate traversal risk and inform path planning. We validate the framework through analogue missions at the NASA Ames Lunar Simulant Testbed and the White Sands Dune Field. Experiments demonstrate (1) online terrain strength mapping from legged locomotion and (2) rover-specific traversal-risk estimation enabling safe navigation to scientific targets. Results show that scout-generated terrain maps reliably capture spatial variability and predict mobility failure modes, allowing risk-aware path planning that avoids hazardous regions. By combining embodied terrain sensing with heterogeneous rover cooperation, this framework enhances operational robustness and expands the reachable science workspace in deformable planetary environments.

cs.RO↗

arXiv2025

Learning the nature of viscoelasticity in geologic materials with MCMC

Rock and ice are ubiquitous geologic materials. While apparently solid, they also exhibit fluid behavior under stress - a property termed viscoelasticity. Viscoelastic convection of Earth's mantle drives tectonic plate motion with consequences for earthquakes and sea-level rise, while viscoelastic deformation of ice controls glacier flow and the flexure of icy moons. For crystalline materials, "flow laws" describing bulk rheology can be derived from understanding microstructural dynamics such as crystal-defect migration. Common geologic materials like ice and olivine have grain sizes and crystal orientations that evolve with strain; this complexity precludes a first principles approach. Here we use a Bayesian inference method to learn the connection between microstructure and flow in ice and olivine, from fits to experimental data of these materials undergoing steady-state deformation and forced oscillations. We demonstrate that this method can constrain a nonlinear viscoelastic model for each material, that is capable of capturing both steady and transient dynamics and can also predict dynamics for data it was not trained on. Our results may improve geodynamic models that rely on parameterized constitutive equations, while our approach will be useful for experimental design and hypothesis testing.

physics.geo-ph↗

arXiv2023

Sedimentation dynamics of passive particles in dilute bacterial suspensions: emergence of bioconvection

Microorganisms are ubiquitous in nature and technology. They inhabit diverse environments ranging from small river tributaries and lakes to oceans, as well as wastewater treatment plants and food manufacturing. In many of these environments, microorganisms coexist with settling particles. Here, we investigate the effects of microbial activity (swimming \textit{E. coli}) on the settling dynamics of passive colloidal particles using particle tracking methods. Our results reveal the existence of two distinct regimes in the correlation length scale ($L_u$) and the effective diffusivity of the colloidal particles ($D_{e\!f\!f}$), with increasing bacterial concentration ($ϕ_b$). At low $ϕ_b$, the parameters $L_u$ and $D_{e\!f\!f}$ monotonically increases with increasing $ϕ_b$. Beyond a critical $ϕ_b$, second regime is found in which both $D_{e\!f\!f}$ and $L_u$ are independent of $ϕ_b$. We demonstrate that the transition between these regimes is characterized by the emergence of bioconvection. We use experimentally-measured particle-scale quantities ($L_u$, $D_{e\!f\!f}$) to predict the critical bacterial concentration for the diffusion-bioconvection transition.

physics.flu-dyn↗

arXiv2023

Soft matter physics of the ground beneath our feet

Inspired by presentations by the authors during a workshop organized at the Princeton Center for Theoretical Science (PCTS) in January 2022, we present a perspective on some of the outstanding questions related to the "physics of the ground beneath our feet." These identified challenges are intrinsically shared with the field of Soft Matter but also have unique aspects when the natural environment is studied.

cond-mat.soft↗

arXiv2020

Spatial and temporal development of incipient dunes

In zones of loose sand, wind-blown sand dunes emerge due the linear instability of a flat sedimentary bed. This instability has been studied in experiments and numerical models but rarely in the field, due to the large time and length scales involved. We examine dune formation at the upwind margin of the White Sands Dune Field in New Mexico (USA), using 4 years of lidar topographic data to follow the spatial and temporal development of incipient dunes. Data quantify dune wavelength, growth rate, and propagation velocity and also the characteristic length scale associated with the growth process. We show that all these measurements are in quantitative agreement with predictions from linear stability analysis. This validation makes it possible to use the theory to reliably interpret dune-pattern characteristics and provide quantitative constraints on associated wind regimes and sediment properties, where direct local measurements are not available or feasible.

physics.geo-ph↗