Carnegie Mellon Rover Concept of Operation Life in the Atacama 2004 Science & Technology Workshop David Wettergreen The Robotics Institute Carnegie Mellon University

2Carnegie Mellon Operational Concept Our operational hypothesis is that planetary astrobiology requires extensive mobility Our operational concept is to conduct survey science over long traverse Some Implications: Time at any individual location limited Sampling will not be exhaustive Some things will be missed More things will be encountered

3Carnegie Mellon Operational Concept Some questions What distances and sampling strategy accomplish the investigation? What rover capabilities are both scientifically productive and technically feasible? How to use mobility as tool for investigation? How precisely to specify rover activities? How are survey and focused samples defined?

4Carnegie Mellon Mobility Hypothesis Mobility is essential to investigation Conjecture that mobility is necessary for life seeking Prove (or disprove) this hypothesis by developing rover capable of an investigation based on mobility Experiments quantify performance while measuring distribution of life Compare rover investigation to ground truth Conduct intensive ground truth to determine rover accuracy Compare traverse strategy to other rover field experiments

5Carnegie Mellon Operating Schedule RoverScience Team 0600Wake up Wake up0700More analysis 0800Specify survey traverse 0955Finalize target selection Charged up / Plan / Downlink1000Uplink rover traverse Begin traverse1100 Subsurface sample option1130 Conclude traverse / hibernate Review strategy Wake up for night observation 2100Study prior data Subsurface sample option2130 Uplink science data 2200Downlink / initial analysis Sleep (low power) 2300

6Carnegie Mellon Science Traverse Rover begins each day with satellite & local information 30m

7Carnegie Mellon Science Traverse Scientists designate areas for detailed investigation

8Carnegie Mellon Scientists pick subsurface sampling location Science Traverse Scientists designate site for subsurface sampling

9Carnegie Mellon Science Traverse Mission planner generates feasible path (1.3km)

10Carnegie Mellon Rover executes traverse collecting survey samples Science Traverse

11Carnegie Mellon Rover collects designated context imaging Science Traverse

12Carnegie Mellon Rover uplinks science data at end of traverse Science Traverse

13Carnegie Mellon Science Traverse Rover wakes up for stationary night sampling operation

14Carnegie Mellon Science Traverse Rover wakes up and downlinks the next traverse plan

15Carnegie Mellon Sampling Metrics YrActivitiesDurationBandwdthDistanceSamplesLocation 03Component Testing 30 days (15 of ops with 2 of autonomy) No a priori limit 10 km10 Detail Samples Site A 04Integrated Testing 60 days (30 of ops with 5 of continuous autonomy) 100 MB / cycle 50 km, 5 km/day on 10 days of traverse (average) 100 Survey 10 Detail Samples Site B Site C 05Long- Duration Testing 100 days (50 of ops with 10 of continuous autonomy) 100 MB / cycle 180+km, 10 km/day on 18+ days of traverse (average) 160+ Survey 16+ Detail Samples Site D Site E Site F

16Carnegie Mellon Sampling Approach Limit data volume to 100MB/cycle (day) Focus on data quality (rather than quantity) Expect low precision in sample designation Rover will not sample features smaller than it’s gross mobility precision (10 cm) 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). Ideally, sampling of same target. Unless otherwise specified all measurements include calibration and spectral data

17Carnegie Mellon Daily Data Products 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

18Carnegie Mellon Total Data Products 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 positions, DOF) 1440 weather samples, 1 per 10 minutes, 10 x 300Kb Temp, pressure, humidity, condensation, UV, wind Total 572Mb

19Carnegie Mellon Scenarios Landing Subsurface Science (“Trench”) Night Science Surface Fluorescence Focused Sampling (“Farming”) Survey Sampling Other

20Carnegie Mellon Data Descriptio nFormatFOVResolutionCompressedTime PanoramaHigh-Res~152 PPM image pairsall but sky and rover1280 x M10 min PanoramaSpectral one spectrum per frameall but sky and rover3-30 nm1.5- Landing Data Products 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

21Carnegie Mellon DataDescriptionFormatFOVResolution Compresse dTime 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 Subsurface Science “Trench” Scientist selected via DEM and other prior data Sample each sample location before and after plowing (x2) Total Data Volume: 11 M

22Carnegie Mellon DataDescriptionFormatFOVResolutionCompressedTime UnderbodySpectra101 data files25º3-10 nm700 K1-2 s UnderbodyFluorescence Procedure25 images?1280 x 9605 M< 10 min UnderbodyQuilt800 images?320x24010 M1 hr 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. Data Products Quilt: 100 macro or microscopic fluorescence images 1m 2 (developmental) Reduce data Total Data Volume: 16 M

23Carnegie Mellon DataDescriptionFormatFOVResolutionCompressedTime UnderbodySpectra101 data files25º3-10 nm700 K1-2 s UnderbodyFluorescence Procedure25 images?1280 x 9605 M< 10 min UnderbodyQuilt800 images?320x24010 M1 hr 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

24Carnegie Mellon 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????? Focused Sampling (“Farming”) For 25 m x 25 m area, scientists specify interval and pattern Each Focused Sample:

25Carnegie Mellon DataDescriptionFormatFOVResolutionCompressedTime PanoramaSpectral1 data file25º3-30 nm7 K- UnderbodyLow Res1 image?320 x K< 1 min UnderbodyChlorophyll????? Survey Sampling Periodic or directed sampling of correlated target Need to be stationary Once every 10 m, corresponds to far-field navigation Data Volume Total: 57 K

26Carnegie Mellon Other possible detailed investigations Forward Panorama, 2 M Local Panorama, 2 M Low Angle Panorama, 2.5 M Low Resolution Panorama, 3 M Fluorescence Quilts, 1m2, 10 M