Life in the Atacama

1
Life in the Atacama

• Field Experiments 2004
• David WettergreenThe Robotics InstituteCarnegie
  Mellon University

2
Experimental Metrics
3
Experimental Metrics

• Measure with respect to communication cycle (or
  interaction due to fatal fault)
• Some Measurements
• time/cycle
• distance/cycle
• samples/cycle
• faults/cycle
• plans/cycle
• actions/cycle

4
Experimental Approach

• Performance Experiments
• Clear experimental procedure
• Quantified measurements
• Measurement of ground truth
• Methodology Experiments
• Clear experimental procedure
• Quantified measurements
• Experimental controls - comparative analysis

5
Technology Experiments

• Rover
• Power and Mobility
• Localization Performance
• Navigation Performance
• Long-Traverse
• Instruments
• Validate Performance

6
Sampling Approach (Remote Science)

• Mars-analog data (50Mb per cycle) versus
  terrestrial extreme data (unlimited)
• Scientist selected data versus autonomous data
  selection
• Focus on data quality (rather than quantity)
• Expect low precision in sample designation
• Rover will not sample features smaller than its
  gross mobility precision (10cm) or error (5 of
  distance traveled)
• Achieve known correlation between data products
• Samples are not useful if all associated data
  cannot be correlated (context image, details
  images, spectra, microscopy)

7
Sample Definition

• Survey Sample (was Regional Sample)
• Periodic or directed sampling
• 1 High-resolution (SPI) 1 spectra 1
  chlorophyll measurement
• Detail Sample (Subsurface and/or Fluorescence)
• Subsurface Sample (trench)
• Scientist selected
• Sample each sample location before and after
  plowing
• 1 High-resolution 1 spectra 1fluorescence
  measurement
• Fluorescence Sample (night image set)
• Scientist selected (may be following subsurface
  sample)
• 100 High-resolution visible and fluorescence
  images

8
Sampling Activities

• Survey Sampling during Traverse
• Focused Sampling Farming during Traverse
• Detailed Sampling
• Subsurface Access
• Night-time Fluorescence

9
Science Traverse
30m
Rover begins each day with satellite local
info, 700
10
Landing Site

• These measurements are taken once per landing
  site
• Data Products
• Total Data Volume 41.5 M
• Night before Landing Day 1700 take high-res pan
  and send it. Sleep. (Skip night ops)
• Landing Day rover receives commands at 1100,
  traverses

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Science Traverse
Scientists designate areas for detailed
investigation, 1100
12
Detailed Sampling

• For 25 m x 25 m area, specify interval and
  pattern
• Each Focused Sample

13
Science Traverse
Rover conducts subsurface sampling, 1130
14
Subsurface Science

• Plow trench
• Scientist select via DEM and prior image
• Sample each sample location before and after
  plowing (x2)
• Total Data Volume 11 M

15
Science Traverse
Mission planner generates feasible path (1.3km),
1230
16
Science Traverse
Rover executes traverse collecting samples, 500
17
Survey Sampling

• Periodic or directed sampling of correlated
  target
• Need to be stationary
• Once every 10 m, corresponds to far-field
  navigation
• 1 chlorophyll detector (may be replaced by single
  shot, short duration fluorescence)
  developmental, ??
• Data Volume Total 57 K

18
Science Traverse
Rover collects designated context imaging
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Surface Fluorescence

• Macro/Microscopic Fluorescence Sample
• Scientist selected (may be following subsurface
  sample)
• Full deployment of the low mag imaging system and
  a quilt
• Data Products
• Quilt 100 macro or microscopic fluorescence
  images 1m2 (developmental) Reduce data
• Total Data Volume 16 M

20
Science Traverse
Rover uplinks science data at end of traverse
21
Science Traverse
Rover wakes up for stationary night sampling
operation
22
Night Science

• Macro/Microscopic Fluorescence Sample
• Scientist selected (may be following subsurface
  sample)
• Full deployment of the low mag imaging system and
  a microscopic quilt.
• What is the earliest time for night ops?
• Data Products
• Quilt 100 macro or microscopic fluorescence
  images 1m2 (developmental) Reduce data
• Total Data Volume 16 M

23
Science Traverse
Rover wakes up and downlinks the next traverse
plan
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Daily Data Products (Remote Science)
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Operating Schedule

• Rover Science Team
• Wake up 700am
• Charged up 1000am Uplink rover traverse
• Downlink begin traverse 1100am Review
  strategy
• Subsurface sample 1130am Analyze available
  data
• Resume traverse 1230pm
• Conclude traverse 500pm Set nominal traverse
  plan
• Uplink science data 700pm Review new data
• Hibernate (low power) 800pm
• Wake up for night operation 900pm Specify
  survey sampling
• Hibernate (low power) 1000pm
• 1100pm Specify targeted sampling
• (Option) Uplink night data 1200am Review new
  data

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Total Data Products (Remote Science)

• 2 full landing site panorama (1280x960) 2 x 40Mb,
  1 per site, 2 sites
• 10 full stereo panorama (320x240) 10 x 3Mb, end
  of each day, 10 days
• 30 forward stereo panoramas (320x240), 30 x 2Mb,
  3 per day
• 30 spectral panorama (18 samples?), 30 x 1.5Mb, 3
  per day
• 1000 survey measurements, 1 per 10m, 1000 x 57Kb
• 1000 chlorophyll?, 1000 low res images (640x480),
  1000 spectra
• 10 low-angle stereo panorama, 10 x 2.7Mb
• 10 subsurface science operations, 10 x 11Mb
• 20 high-resolution images, 20 fluorescence
  procedures, 20 spectra
• 10 night science operations, 10 x 16 Mb
• 10 quilts, 10 fluorescence procedures, 1010
  spectra
• 10 fluorescence microscopic investigations, (all
  filters, all pose, DOF)
• 1440 weather samples, 1 per 10 minutes, 10 x
  300Kb
• Temp, pressure, humidity, condensation, UV, wind
• Total 572Mb

27
The Life of a Science Sample

• Discovery Something interesting observed
• Designation Where is the desired sample?
• Identification What is it named?
• Validation What is actually acquired?
• Communication Move/track the data
• Interpretation What is it?
• Curation Tag it and bag it
• Verification What is ground truth?

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The Name of a Science Sample

• ltssgt.ltnngt.ltsengt.ltdesgt.lttypgt
• ss Sol (two digits)
• nn Sample number (sequential, two digits)
• sen Instrument (three characters)
• des Optional designation (e.g., L or R, 620,
  etc.)
• typ File type (e.g., jpg, tiff, pgm, txt)