Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Life in the Atacama Field Experiments 2004 David Wettergreen The Robotics Institute Carnegie Mellon University

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Experimental Metrics YrActivitiesDurationDistanceSamplesLocation 03Component Testing 30 days (15 of ops with 2 of autonomy) 10 km10 RegionalCoastal Range A 04Integrated Testing 60 days (30 of ops with 5 of continuous autonomy) 50 km, 5 km/day on 10 days of traverse (average) 100 Survey Samples 10 Detail Investigation Coastal Range B Hyper Arid A 05Long- Duration Testing 100 days (50 of ops with 10 of continuous autonomy) 180+km, 10 km/day on 18+ days of traverse (average) 160+ Regional 16+ Detail Investigation Coastal Range C Hyper Arid B Transition A

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Experimental Approach Performance Experiments Clear experimental procedure Quantified measurements Measurement of ground truth Methodology Experiments Clear experimental procedure Quantified measurements Experimental controls - comparative analysis

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Technology Experiments Rover Power and Mobility Localization Performance Navigation Performance Long-Traverse Instruments Validate Performance

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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)

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Sampling Activities Survey Sampling during Traverse Focused Sampling “Farming” during Traverse Detailed Sampling Subsurface Access Night-time Fluorescence

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Science Traverse Rover begins each day with satellite & local info, 7:00 30m

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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 Data Descript ionFormatFOVResolutionCompressedTime Panorama High- Res~152 PPM image pairsall but sky and rover1280 x M10 min PanoramaSpectralone spectrum per frameall but sky and rover3-30 nm1.5-

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Science Traverse Scientists designate areas for detailed investigation, 11:00

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Detailed Sampling For 25 m x 25 m area, specify interval and pattern Each Focused Sample: Sampling Interval farming interval options:Samples (n)total time?subtotal (M)total (M) 1 m interval62530 min m interval14428 min m interval6426 min m interval3624 min m interval2522 min1.54 DataDescriptionQuantityFOVResolutionCompressedTime PanoramaCorner2 x ~39 image pairs100º320x2402 x 1 M2.5 min PanoramaSpectral2 x ~39 data files100º3-10 nm2 x 280 K- UnderbodySpectran25º3-10 nmn x 7K- UnderbodyLow Resn?320 x 240n x 50 K< 1 min UnderbodyChlorophyll?????

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Scientists pick subsurface sampling location Science Traverse Rover conducts subsurface sampling, 11:30

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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 DataDescriptionFormatFOVResolutionCompressedTime SPIHigh Res2 image21º1280x9602 x 500K1-2 s UnderbodySpectra1 data file25º3-10 nm2 x 7 K1-2 s Underbody Fluorescence Procedure25 images?1280 x 9602 x 5 M< 10 min

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Science Traverse Mission planner generates feasible path (1.3km), 12:30

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Rover executes traverse collecting samples, 5:00 Science Traverse

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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 DataDescriptionFormatFOVResolutionCompressedTime PanoramaSpectral1 data file25º3-30 nm7 K- UnderbodyLow Res1 image?320 x K< 1 min UnderbodyChlorophyll?????

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Rover collects designated context imaging Science Traverse

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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 1m 2 (developmental) Reduce data Total Data Volume: 16 M DataDescriptionFormatFOVResolutionCompressedTime UnderbodySpectra101 data files25º3-10 nm700 K1-2 s UnderbodyFluorescence Procedure25 images?1280 x 9605 M< 10 min UnderbodyQuilt800 images?320x24010 M1 hr

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Rover uplinks science data at end of traverse Science Traverse

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Science Traverse Rover wakes up for stationary night sampling operation

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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 1m 2 (developmental) Reduce data Total Data Volume: 16 M DataDescriptionFormatFOVResolutionCompressedTime UnderbodySpectra101 data files25º3-10 nm700 K1-2 s UnderbodyFluorescence Procedure25 images?1280 x 9605 M< 10 min UnderbodyQuilt800 images?320x24010 M1 hr

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Science Traverse Rover wakes up and downlinks the next traverse plan

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Daily Data Products (Remote Science) ItemQuantitySize (Actual sizes WILL vary) Weather log (with 144 samples)1300K Low-res panorama + Spectra13M + 1M = 4M Survey Sampling x (50K + 7.2K) = 5.7M (Low-res underbody + spectra) Night Science 15M + 700K + 10M = 16M (Fluresence Procedure + spectra + macroscopic quilt) Subsurface Science 11M + 10M + 14K = 11M (2 high res SPI + 2 Fluresence Procedure + 2 spectra) Subtotal (1)37 M Focused Sampling, 5m resolution 22 x 4M = 8M (2 corner panoramas + 25 low res + 25 spectra + 25 chlorophyll) Local panorama + Spectra12M K = 2.7 M Forward panorama + Spectra12M + 700K = 2.7M Subtotal (2)51.4 M Calibration data? Magic Telemetry data? Magic Total50 M

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Operating Schedule RoverScience Team Wake up 7:00am Charged up10:00amUplink rover traverse Downlink & begin traverse11:00amReview strategy Subsurface sample11:30amAnalyze available data Resume traverse12:30pm Conclude traverse 5:00pmSet nominal traverse plan Uplink science data 7:00pm Review new data Hibernate (low power) 8:00pm Wake up for night operation9:00pmSpecify survey sampling Hibernate (low power) 10:00pm 11:00pm Specify targeted sampling (Option) Uplink night data12:00amReview new data

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon The Life of a Science Sample DiscoverySomething interesting observed Designation Where is the desired sample? IdentificationWhat is it named? Validation What is actually acquired? CommunicationMove/track the data InterpretationWhat is it? CurationTag it and bag it VerificationWhat is ground truth?

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon The Name of a Science Sample.. {. }. 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)