Sol 22 and after, Digging in Wonderland Options

[Phil Stooke]

Here's a Sol 22 image of the new trenching area at the extreme right edge of the work area. I brightened the shadow to show the whole trench.

Phil

[imipak]

Interesting large cracks in the surface to the right of the trench; it looks like a thick surface crust breaking up into large chunks as the scoop passes nearby. Anyone know if there's telemetry from the arm indicating how much effort was needed at different points of the scoop manoeuvre? And it does appear to be the more deeply shadowed area where this happens. Fascinating stuff!

[Skyrunner]

Anyone know if there's telemetry from the arm indicating how much effort was needed at different points of the scoop manoeuvre?

I haven't got the telemetry, but it's there. Every 200msecs during operation the arm reports telemetry of which only a part is:

• Motor current
• Motor voltage
• Joint angles

And so the amount of joint work, and thus joint torque, can be worked out for any part of the digging operation. Actually, telemetry is returned because according to the RA team it is "... most useful for scientific analysis during digging and soil-mechanic experiments. The motor currents, along with the reconstructed arm trajectories will yield information regarding the degree of difficulty of digging in the various soils encountered..."

This data will be archived in the PDS.

[imipak]

...so the amount of joint work, and thus joint torque, can be worked out for any part of the digging operation.

Thanks! I wonder if the effort of breaking through the surface crust will show up in that data, and if (as it superfically appears to my uneducated eye) there's different structure in Wonderland than Dodo.

[tedstryk]

Please forgive me for asking an ignorant question...I haven't been tracking things closely. How far is the Peter Pan from being complete?