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ESTEC-CNES Remote Experiment #2 with Pancam, WISDOM and CLUPI

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ESTEC-CNES Remote Experiment #2 with Pancam, WISDOM and CLUPI ESTEC-CNES ROVER REMOTE EXPERIMENT #2 WITH PANCAM, WISDOM AND CLUPI Luc Joudrier (1), Mateusz Malinowski (1), Xavier Rave(2 Dave Barnes (3), Gerhard Paar (4), Valerie Ciarletti(5) Jean-Luc Josset (6) et al. (1) ESA/ESTEC/TEC-MMA (Netherlands), Email: [email protected] (2) Robotic Group CNES Toulouse (France), Email: [email protected] (3) Aberystwyth University (UK), (4) Joanneum Research (Austria), (5) LATMOS (France), (6) Space Exploration Institute - SPACE-X, (CH) ABSTRACT PanCam breadboard with a 50cm stereo-baseline. A new experiment was prepared during 2011 and was conducted in November 2011, involving the ExoMars In November 2011, a new remote experiment, was PanCam breadboard “AUPE”. In addition, WISDOM conducted between ESTEC, CNES and three ground penetrating radar (GPR) breadboard and CLUPI ExoMars Pasteur Payload instrument Team the ExoMars close-up imager breadboard were invited members, as follow-up of the first Remote too. Experiment performed in 2010. Together with the IARES rover that had been enhanced The breadboards of PanCam, WISDOM and with visual odometry functionality[2], the system was CLUPI instruments have been mounted onto the functionally representative of the ExoMars rover. The CNES rover IARES. While the rover remained in objective of this new experiment was therefore to Toulouse on the CNES outdoor Mars Yard, the rehearse the activities involving navigation and the three operation team was distributed between ESTEC ExoMars instruments [7]. (NL), CNES Toulouse (France), Aberystwyth While each instruments had been in the field many University (UK), Joanneum Research (Austria) times , (e.g. the yearly AMASE campaign in Norway and LATMOS (France). The rover was [8]), it was the first time that all three instrument commanded mainly from ESTEC while the breadboards have been integrated together on a individual instruments were commanded from representative rover. operators on the field at CNES. Data acquired While this experiment focused on learning about rover operations, evolutions of the ground supporting tool was post-processed off-line by scientists at their 3DROV [6] have been also tested in a representative home locations and they could follow the context: the operations have been (mainly) conducted experiment via phone. In one single day, three remotely from ESTEC, scientists have been invited to typical sols of ExoMars rover operations could be be part of the ground control, whether at ESTEC or rehearsed and instrument data could be acquired from their home location, and finally, a strict separation in a relevant environment. was applied between the scientists room and the rover This experiment is paving the way to grow ESA’s commanding room where an external webcam view of experience in planetary rover operations. the rover on the Mars Yard was available. 1. INTRODUCTION The instruments: In June 2010, a first remote experiment had been AUPE, the ExoMars PanCam breadboard from conducted between ESTEC and CNES [1]. It mainly Aberystwyth University is a functionally representative consisted of commanding the IARES rover on the breadboard including Wide Angle stereo Cameras SEROM Mars Yard from ESTEC. The IARES rover (WAC) with a 50 cm baseline, each having filter wheels had autonomous navigation capabilities [5], the main to acquire multispectral images and a High Resolution challenge was therefore to define the proper coordinates Camera [12]. of the target locations using simple ground tools and the The WISDOM GPR is composed of the an electronics panorama composed from the navigation camera unit and two antennas accommodated at the back of the images. Because the stereo-baseline of the ExoMars- rover –see Figure 14. It allows sounding the shallow like navigation camera was only 10cm, it could not be subsurface (down to 2-3 meters) within a few used to define targets coordinates beyond 10m. One of centimetres accuracy [13]. the main conclusion was to use next time the ExoMars The close-up imager CLUPI breadboard is composed of a commercial camera with a representative sensor and optic while an Engineering Model is being various resolutions manufactured. With ExoMars, CLUPI [14] will be Sol#3 Run a WISDOM pattern at a selected mounted on the drill box and will have a mirror to location change views. In this experiment, the CLUPI camera is Sol#4 Drive the rover to a selected drilling fixed in the front of the rover. location on the pattern (this activity was optional, not having a drill tool on the rover 2. EXPERIMENT PREPARATION & and in view of the already heavy schedule) STRATEGIC PLAN The ExoMars rover is being developed as part of the ESA ExoMars project [7]. Looking for traces of past life on Mars, its unique characteristic is the drill allowing to acquire a sample down to 2 m under the surface of Mars, where the possible organic molecules should be preserved from radiation from space. The samples will be then crushed and analysed with a suite of analytical instruments constituting the Pasteur Payload Analytical Laboratory Drawer (ALD). In this remote experiment, the three instrument breadboards of the Pasteur Payload available are the one allowing to select the location from where to drill and acquire a sample. The ExoMars rover operations [3], [4] as such are sequential and can be summarized as follows: Figure 1: Strategic planning for the test (Orange is for 1. Drive autonomously toward a site selected by PanCam Wide Angle Cameras and High Resolution scientists based on available knowledge including Camera (HRC), Green is for the WISDOM ground orbital data penetrating radar used with the rover, Blue is for rover 2. Take pictures at various resolution and locations to mobility and Red is for the Close Up Imager CLUPI understand the geological context of the site 3. While travelling at the site, use WISDOM GPR to An interesting paper from MEPAG summarizing understand roughly the underground science objectives and rover capabilities of a potential 4. Perform a specific WISDOM pattern to map a Martian mission, including some ExoMars objectives specific candidate drilling region can be found in [11]. 5. Drill at the selected location and acquire a sample to be analysed in the ALD The preparation was conducted through webex telecons These steps are meant to be repeated a number of times over a few months with main objective to define the during the nominal mission. The order actually cannot mechanical, power and data interfaces of the be logically mixed as one cannot obviously analyse a instruments toward the rover for a smooth integration subsurface sample before drilling, one must understand and execution of the remote operation. the underground before drilling (drilling blind would In order to limit the developments, it was decided to increase the risk of drilling through very hard soil have instrument expert operators in the field at CNES before reaching the desired depth, making the drilling SEROM to calibrate and operate the instruments operation very long and risking premature wear on the manually when the ground would command (i.e. tell by drill bit), one must understand the geological context to phone). select a scientifically promising area and one needs to drive to such interesting location. However there were shared resources between the rover and the instruments that needed special attention: With PanCam, CLUPI and WISDOM and a functional 1. The PanCam instrument is on the mast sitting on rover, we can rehearse steps 1 to 4. the same Pan&Tilt unit than the Navigation As part of the preparation, a strategic plan (see figure 1 cameras, one being controlled by the rover below), was prepared to cover the objectives. computer the other by the instrument’s laptop. A client-server application was adapted to achieve As this test is running with very limited budget, using such mutual operation. The combined mass of the mostly what is available with minimal development, the two instruments threatened the integrity of the mast objective was to perform in one day, 4 sols of activities and the capabilities of the P&T itself. This threat by the ExoMars rover: was de-risked by manufacturing a new mast and Sol#1 Drive toward a selected outcrop prior P&T testing with a representative dummy Sol#2 Approach the outcrop and image it at mass. 2. In order to perform the WISDOM pattern, the rover With respect to remote control, the system established must be stopped so that two subsequent positions by CNES for the first experiment [1] was extended to of the WISDOM antennas are not exceeding 10 cm, include the scientists at their home locations to retrieve, so to allow proper radar signal post-processing. post process and send images to ESTEC to support the Note that since the antennas are located at the back tactical planning. of the rover, the rover’s heading influences the With respect to operations, a detailed step-by-step location of the antenna as much as the rover procedure had been written, listing the operations translation does). To solve this, an automatic trigger defined by the strategic plan. This tactical plan was of the radar was linked to the localisation and shared to everyone operating the rover and instruments. trajectory execution functions of the rover. Rough estimates of the duration of each activities had been computed and specific not-to-exceed times had The integration of the three instruments on the rover been assigned per sol-activities, so as to make sure that went smoothly in one single day- thanks to an excellent all the instruments would be operated during the day. preparation of the rover and instrument teams. Being performed at CNES site and not in a remote field 3. EXPERIMENT EXECUTION allowed the teams to cope more easily with logistical issues. 1.1. SOL#1 Sol#1 started with 180 degrees panoramas with the A second day was used for recalibration of the inertial PanCam-AUPE Wide Angle cameras (see Figure 3), sensor of the rover and an on-board software update.
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