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Getting Unstuck in West Valley
fredk
post Jun 23 2009, 02:30 PM
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Thanks for the info as always, RoverDriver. Sorry if you meant to answer this above, but it wasn't clear to me. Is it possible to reach the MI around and image the RM (or LM) wheels from the outside? Perhaps it's just a question of whether the shoulder azimuth joint can swing that far to both sides? (I wish I had a model to try out moves like this!) Or did you mean that that was possible, but the MI-middle wheel distance would necessarily be too great to get a useful image?
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fredk
post Jun 23 2009, 05:52 PM
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A bit of an update from New Scientist:
QUOTE
Further analysis suggests the rock-like object is just barely touching the underside of the rover but is not bearing any weight.

The rock also appears to be resting on top of the Martian soil, suggesting Spirit might be able to press it further into the ground if it does come into contact with the rock. "When we do start to move [Spirit], it's likely that rock won't be a hazard or obstruction. Right now it's a concern, but it's not considered a serious concern," Callas told New Scientist.
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RoverDriver
post Jun 24 2009, 07:36 AM
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QUOTE (fredk @ Jun 23 2009, 06:30 AM) *
Thanks for the info as always, RoverDriver. Sorry if you meant to answer this above, but it wasn't clear to me. Is it possible to reach the MI around and image the RM (or LM) wheels from the outside? Perhaps it's just a question of whether the shoulder azimuth joint can swing that far to both sides? (I wish I had a model to try out moves like this!) Or did you mean that that was possible, but the MI-middle wheel distance would necessarily be too great to get a useful image?


The IDD azimuth joint does not cover that area unfortunately and even if it did the distance to the middle wheels would be too large.

Paolo


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alan
post Jun 24 2009, 04:01 PM
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The Calypso panorama so far
Attached Image


This is from images downloaded as of June 13. All the images for the remaining 6 columns of the panorama appear to have been taken but I haven't seen much progress in downloading them since then. I thought with the additional power available since the solar panels have been cleaned and the use of the second Mars Odyssey pass in the morning we would be seen more data downloaded. What is responsible for the delay? Is there other data from the other instruments, for example the MiniTES (is that still functioning?), that are using the bandwidth?
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briv1016
post Jun 24 2009, 07:32 PM
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I've been keeping track of the onboard data after every sol since the embedding and have found some peculiarities. Keep in mind the following doesn't account for the "unexpected sequences." As of sol 1945.

Observations table was last updated at 2009-06-23 21:33:37
EDRLevel table was last updated at 2009-06-23 18:38:47


Sols________Onboard/Pending Deletion

1890-1894___4/0
1895-1899___0/0
1900-1904___0/0
1905-1909___0/0
1910-1914___3/0___(All images from the Calypso Pan)
1915-1919___2/0___(All images from the Calypso Pan)
1920-1924___1/0___(All images from the Calypso Pan)
1925-1929___14/2
1930-1934___314/74
1935-1939___579/130
1940-1944___863/261
1945-1949___116/0


It seems like there intentionally keeping some really old data?
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Guest_PhilCo126_*
post Jun 24 2009, 07:52 PM
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That's a superb color panorama Alan, but I'm pessimistic about Spirit's chances as the rover has been stuck for almost 50 sols huh.gif
( Oppy was stuck at Jammerbugt during 10 sols (833-843 in June 2006), and got out Purgatory Dune after 38 sols (446-484) in June 2005... looks like the 6th month of the year has something to do with it wheel.gif )
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fredk
post Jun 24 2009, 08:07 PM
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I'd say there's not much reason yet to be pessimistic (or optimistic for that matter), since they haven't even tried the extraction maneuvers in the full sized test bed on Earth, never mind Mars! If they make several attempts on Mars without success, then we can start to worry.
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RoverDriver
post Jun 25 2009, 02:22 AM
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QUOTE (PhilCo126 @ Jun 24 2009, 11:52 AM) *
...
( Oppy was stuck at Jammerbugt during 10 sols (833-843 in June 2006), and got out Purgatory Dune after 38 sols (446-484) in June 2005... looks like the 6th month of the year has something to do with it wheel.gif )


I am quite aware of the time scale for this anomaly, but I'm going to try to put it in perspective for you. Purgatory was driving 40+ m into a tall ripple. The obvious maneuver was put the vehicle in reverse and use the downslope to extricate the rover. At that time resources were plenty, very little red-tape, everything was done quickly and efficiently. Jammrbugt was "just" a 20m drive into a ripple. It was almost identical to Purgatory, we knew what we needed to do and in a few Sols we were out. Opportunity had all 6 driving actuators working properly.

Here:

1) rover has downslope vector at 90 deg relative to the direction of motion (cannot use gravity to help extricate the rover)
2) only 5 wheels are active, and 1 boat anchor
3) LM wheel stalled
4) possible high centering
5) resources are much more streamlined
6) there is no obvious maneuver to try

I am not trying to find excuses, but I hope you appreciate the scale of the problem. And I'm not going to even list all the stumbling blocks we have had so far.

Paolo


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SpaceListener
post Jun 25 2009, 02:34 AM
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Yes I agree that this case is the most serious of all past rover stuck.

My last hope is to try to rotate as much as possible on both directions, the wheels will sink mostly on the West side (the "touching stone" is East side of point of equilibrium) until any of the wheels catch a firmer soil to provide exit traction.

Of course, no hurry to perform and finish the testing, a good break between tests will provide a good food of thought in solving the problem. Good Luck smile.gif
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BrianL
post Jun 25 2009, 03:05 AM
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Well, when you put it like that, Paolo, I can see why nobody should be pessimistic. biggrin.gif
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briv1016
post Jun 25 2009, 09:54 PM
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New section added to the MER site regarding Spirit's embedding.

http://marsrovers.jpl.nasa.gov/newsroom/free-spirit.html


BTW: How long have the rovers had a Twitter page?
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HughFromAlice
post Jun 25 2009, 10:37 PM
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QUOTE (RoverDriver @ Jun 25 2009, 11:52 AM) *
I am not trying to find excuses, but I hope you appreciate the scale of the problem.


While we're all worried, gotta say you guys are doing a GREAT and thorough job. IMO the cleaning events have been critical in allowing quality thinking time. Test, retest and reretest...... Who cares if it is mid August - as long as it isn't August 2010!
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ustrax
post Jun 26 2009, 10:33 AM
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Calypso, Troy...aren't we on the wrong side of the planet?...what's next? Ithaca?... smile.gif


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Tesheiner
post Jun 26 2009, 11:29 AM
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That's from sol 1943. smile.gif

> 01943::p2585::22::13::13::0::0::2::28::pancam_ithaca_townies_L234567Rall
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SpaceListener
post Jun 26 2009, 01:23 PM
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An interesting posted article at JPL WEB site.

Mars Rover Yielding New Clues While Lodged in Martian Soil
Spirit entered an area composed of three or more layers of soil with differing pastel hues hiding beneath a darker sand blanket.

"The layers have basaltic sand, sulfate-rich sand and areas with the addition of silica-rich materials, possibly sorted by wind and cemented by the action of thin films of water. We're still at a stage of multiple working hypotheses," said Arvidson. "This may be evidence of much more recent processes than the formation of Home Plate...or is Home Plate being slowly stripped back by wind, and we happened to stir up a deposit from billions of years ago before the wind got to it?"
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