Getting Unstuck in West Valley |
Getting Unstuck in West Valley |
May 17 2009, 04:51 PM
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#151
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Newbie Group: Members Posts: 13 Joined: 2-May 09 Member No.: 4758 |
Can you use the Microscopic Imager to see under the Rover? Or can you use maybe the robotic arm as a "mirror"? So we could say whether the Rover touches the ground.
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May 17 2009, 06:03 PM
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#152
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Newbie Group: Members Posts: 1 Joined: 27-October 04 Member No.: 104 |
That is pretty awesome! If only that model had working rocker-bogie system the state of the wheels would have been represented with even more fidelity. If only I could use flour in the testbed but I was told it is a fire hazard. And cinnamon too! The ISIL would smell so good! Paolo Have you considered using a mixtures of glass microballoons & sand or cement to simulate flour for the beautiful but deadly white sand traps of Mars? |
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May 17 2009, 07:11 PM
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#153
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Newbie Group: Members Posts: 3 Joined: 8-February 04 From: Pasadena, CA Member No.: 6 |
If you can suggest a kernel filter, I am all ears. I used the Gimp to apply a bit of unsharp mask on the LF wheel MI image from Opportunity and got something, but still not too clear. If you have any SW and are good at deblurring, email me the image (or if there is any interest post it in the Opportunity side). Paolo If you know the distance between the camera and the target the Lucy-Richardson method is probably optimal. Use 'deconvlucy' in MATLAB (requires Image Processing Toolbox). - Edwin Kite |
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May 17 2009, 11:10 PM
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#154
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Senior Member Group: Members Posts: 1887 Joined: 20-November 04 From: Iowa Member No.: 110 |
Can you use the Microscopic Imager to see under the Rover? Or can you use maybe the robotic arm as a "mirror"? So we could say whether the Rover touches the ground. from one of Roverdriver's post in another thread: QUOTE Unfortunately, one of the outcomes of the recent series of warm reboots is that temporarily we cannot use the IDD. This is because in case the rover reboots while doing an IDD motion, we could lose the position knowledge of the various joints. If that happened we would need to re-calibrate the IDD joints and that is a procedure that was never done on Mars before, just at ATLO. Although I have been assured that this is a simple procedure I'm not so sure I would like to compound on the current state of the vehicle.
The use of the IDD is _not_ lost forever, we just need to make sure we can recalibrate on Mars: have a sequence ready to go in case the unfortunate happens. Paolo |
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May 17 2009, 11:59 PM
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#155
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Newbie Group: Members Posts: 2 Joined: 14-May 09 Member No.: 4777 |
That is pretty awesome! If only that model had working rocker-bogie system the state of the wheels would have been represented with even more fidelity. If only I could use flour in the testbed but I was told it is a fire hazard. And cinnamon too! The ISIL would smell so good! Paolo Talc or gypsum powder could substitute for flour, and neither burns. --Bob |
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May 18 2009, 12:46 AM
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#156
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Senior Member Group: Admin Posts: 3108 Joined: 21-December 05 From: Canberra, Australia Member No.: 615 |
When I took the Rover model out of its 'flour-cinnamon-based' ISIL, it left behind a rather pleasing effect
EDIT: For what the 'real' ISIL will use for its soil testing...I'd say that they have that well in-hand and will come up with a perfect match based on the data they get from the Rover's IDD analysis. The nice thing about my flour-cinnamon version is that I can make a cake afterwards to celebrate the fact that Spirit has become 'unstuck'. |
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May 18 2009, 01:02 AM
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#157
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Merciless Robot Group: Admin Posts: 8783 Joined: 8-December 05 From: Los Angeles Member No.: 602 |
That's so close in appearance to some of the actual HP soil exposure sites that it's downright eerie!
-------------------- A few will take this knowledge and use this power of a dream realized as a force for change, an impetus for further discovery to make less ancient dreams real.
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May 18 2009, 02:01 AM
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#158
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Member Group: Admin Posts: 976 Joined: 29-September 06 From: Pasadena, CA - USA Member No.: 1200 |
When I took the Rover model out of its 'flour-cinnamon-based' ISIL, it left behind a rather pleasing effect ... Wow. That reminds me of the testing we did in the ISIL back four years ago! Talc or gypsum powder could substitute for flour, and neither burns. --Bob Thanks! Will look into it. Paolo -------------------- Disclaimer: all opinions, ideas and information included here are my own,and should not be intended to represent opinion or policy of my employer.
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May 18 2009, 06:22 AM
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#159
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Senior Member Group: Moderator Posts: 3431 Joined: 11-August 04 From: USA Member No.: 98 |
Here's a QuickTime VR of the current location (4.1 MB).
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May 18 2009, 07:13 AM
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#160
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Senior Member Group: Admin Posts: 3108 Joined: 21-December 05 From: Canberra, Australia Member No.: 615 |
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May 18 2009, 11:30 AM
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#161
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Newbie Group: Members Posts: 13 Joined: 2-May 09 Member No.: 4758 |
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May 18 2009, 11:47 PM
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#162
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Junior Member Group: Members Posts: 53 Joined: 5-October 06 Member No.: 1227 |
IF Spirit is resting/stuck on a rock on its under side...
1) could the rover be lifted by rotating some wheels forward while rotating other wheels backwards to rotate/pinch/fold the rocker-bogie suspension and lever up the rover? 2) does the IDD have enough force to be able to lift the rover up if say the RAT was pushed down into the groud hard enough with the arm ? I could even imagine coordinating the IDD arm motion with the wheel motion to both drag the rover forward while pushing down and at the same time turning the wheels. |
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May 19 2009, 12:05 AM
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#163
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Senior Member Group: Admin Posts: 4763 Joined: 15-March 05 From: Glendale, AZ Member No.: 197 |
Folks, let's help Paolo out by reading back through this discussion before asking him the same questions over and over again. He has answered some of these several times already.
-------------------- If Occam had heard my theory, things would be very different now.
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May 19 2009, 04:58 AM
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#164
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Member Group: Members Posts: 239 Joined: 18-December 07 From: New York Member No.: 3982 |
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May 19 2009, 05:41 AM
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#165
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Senior Member Group: Members Posts: 1887 Joined: 20-November 04 From: Iowa Member No.: 110 |
love the reflective safety vest worn by the man with the shovel, gotta make sure you aren't run over by one of the high speed rovers
http://marsrovers.jpl.nasa.gov/gallery/pre...IMG_1623_br.jpg |
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