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Full Version: Perseverance - Early Drives

Unmanned Spaceflight.com > Mars & Missions > Perseverance- Mars 2020 Rover

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PaulH51

Mar 10 2021, 01:26 AM

QUOTE (Phil Stooke @ Mar 10 2021, 08:06 AM)

I just noticed that when you let the cursor roll over the traverse on the 'where is the rover' map, it pops up with the length of the drive. I don't know if I just missed that before or if it's new. Roll over the site and you get the sol on which the rover reached that point - it has done that since the landing. If that works for Curiosity as well, it makes up for the loss of drive distance which Paul was concerned about.

Phil

Mouse over has worked from the onset on paths, it also works on the sol markers. Zoom in close on the M20 map, you can select the individual paths, once selected the path length is displayed on the top of the page, click a sol marker and the sol/waypoint number is displayed instead.

Presently the MSL map mouse over, and clicking a sol marker works as M20. Mouse over or clicking the path displays this caption 'from_SCLK:0'. The maps appear to get those captions from the geojson fields that are readily exportable from the map menu.

I really enjoy using these new maps, and especially the additional json data available in the M20 map like roll and pitch and the path length is wonderful. Hopefully they'll provide the same level of details on both maps one day, I know it's there in JSON files in NAIF / SPICE for those that know how to get it, but that's probably not the best way to excite the public who use these maps.

Andreas Plesch

Mar 11 2021, 12:51 AM

Apart from the ZCam image I found two more images of the Yeehgo Supercam target.

One Navcam image from a distance:

The location relative to boulder, pediment and dune landmarks corresponds exactly to what Phil shows on the latest map.

And one Hazcam image from close range which gives another perspective of the shape of the block, as quite blocky:

markril

Mar 11 2021, 05:31 AM

QUOTE (PDP8E @ Mar 8 2021, 05:44 PM)

Here is MEDIA SkyCam
Sol 16, 8 AM Local
There is dust on the lens (and some hot pixels)

Seems like quite a few hot pixels. I know my cameras' sensors get more hot pixels as they age. This cam is supposed to be a spare Hazcam from MSL so it's already got an extra 8 years on it, not to mention journey through space, so I guess it makes sense.

Mark

phase4

Mar 11 2021, 10:54 AM

Perseverance loosens the arm muscles - Sol 18.
Animation on Flickr

PaulH51

Mar 11 2021, 10:19 PM

And another drive on Sol 20 as seen in this L-Navcam frame looking back at the tracks.
The map has not been updated yet, so unsure of the location.
Not sure if this means the that candidate helipad (sol 16) was not suitable, or possibly they are just continuing to scout the area
We may find out more in 'The von Kármán Lecture Series: Helicopters in Space' link?
Scheduled in a few hours: March 11, Time: 7 p.m. PDT (10 p.m. EDT; 0300 UTC)
Click to view attachment

Phil Stooke

Mar 12 2021, 12:20 AM

This is the sol 20 panorama in circular form, Looks like the drive was towards the southwest. My rough and ready panorama is not good enough to post, I will wait for experts to start doing them properly.

Phil

Click to view attachment

PaulH51

Mar 12 2021, 02:50 PM

Sol 21 SHERLOC Mosaic (de-Bayer) and assembled in MS-ICE.
Looking at the thumbnails, there's a lot more on the way, but I felt this was worth sharing now

Click to view attachment

phase4

Mar 12 2021, 03:20 PM

QUOTE (PaulH51 @ Mar 12 2021, 03:50 PM)

Sol 21 SHERLOC Mosaic (de-Bayer) and assembled in MS-ICE.
Looking at the thumbnails, there's a lot more on the way, but I felt this was worth sharing now

Click to view attachment

That's an awesome perspective! Nice work!

Sean

Mar 12 2021, 05:47 PM

Nice work Paul!

Percy is about to lay a very special egg.

neo56

Mar 12 2021, 06:37 PM

Nice work Paul and Sean! Here is my take on this underbelly mosaic.

Marvin

Mar 12 2021, 07:05 PM

The underbelly mosaics are great!

Perseverance looks like she's ready to pop. I am expectantly awaiting Ingenuity to take its first baby flights

Also, from twitter, they are getting ready to drop the sample caching system belly pan.

neo56

Mar 12 2021, 09:08 PM

Since the focus is on WATSON camera with the belly mosaic, I made a composition with a Navcam Left and Mastcam-Z Left pictures of WATSON taken on sol 17.

Hungry4info

Mar 13 2021, 12:46 PM

The drop has occurred.

PaulH51

Mar 13 2021, 02:11 PM

Here's my rough and ready mosaic of the 8 overlapping frames of the Sol 22 ejected Belly Pan that protected the sampling system bay during the later part of EDL.
De-Bayer (GIMP) stitched (MS-ICE)
Click to view attachment

MahFL

Mar 13 2021, 03:17 PM

QUOTE (PaulH51 @ Mar 13 2021, 02:11 PM)

Here's my rough and ready mosaic of the 8 overlapping frames of the Sol 22 ejected Belly Pan that protected the sampling system bay during the later part of EDL.
De-Bayer (GIMP) stitched (MS-ICE)

I did not know there was a cover on the sample handling system, no one ever mentioned that in any of the briefings I saw.

neo56

Mar 13 2021, 03:21 PM

Before/after animation of the belly pan ejection on sol 22.

Click to view attachment

There are a lot of dust specks on the WATSON optic, and a big one. I removed them one by one, next step is to write a script that do it automatically.

Ant103

Mar 13 2021, 04:37 PM

Very instructive animation Thomas

Mines are static pictures, taken on Sol 21 & 22.

Marvin

Mar 13 2021, 06:00 PM

We got a peek at part of the sampling and caching system:

Click to view attachment

From this diagram, it looks like the DVT assembly:

Click to view attachment

Source: https://esmats.eu/amspapers/pastpapers/pdfs...0/silverman.pdf

JRehling

Mar 13 2021, 06:27 PM

I hope I get to see one of those tubes in a museum one day! (Or any other state of affairs that entails their safe return.)

eliBonora

Mar 13 2021, 08:11 PM

Before ...

and after

really, I'm hoping it opened the other box

EDIT:
However I realized that we are looking at the reflection of the pipes only after the de-bayer ....

Andreas Plesch

Mar 14 2021, 01:13 AM

QUOTE (Andreas Plesch @ Mar 7 2021, 08:31 PM)

Odometer

https://mars.nasa.gov/mmgis-maps/M20/Layers...0_traverse.json

has the traverse geojson data which are used on the Where is Perseverance ? map.

The json data also include distances traveled per leg. In addition, it is possible to determine travel distance by measuring along the provided coordinates. Here is a table:

CODE

   day: geojson measured
sol 14:    6.25     6.38
sol 15:   36.39    36.53
sol 16:   27.43    28.78

All in meters. There is a small difference and I am not sure why. In any case, total travel sofar is 70m to 72m.

I think the difference is explained by the geojson using true meters for easting, and the measured distance projected map meters. True meters are 0.94863 map meters at this latitude, in easting.

Andreas Plesch

Mar 14 2021, 02:11 AM

I updated this animated, interactive map with way points, a contrast control, and latitude adjusted distances:

https://bit.ly/PercyMAP

Double click to recenter, middle button to pan, right button or wheel to zoom.

The rover is to scale, the blue way points are transparent and 2m in diameter.

Phil Stooke

Mar 14 2021, 03:20 AM

Maybe, but I find that disturbing. There should only be one kind of meter. It's the length of a degree of longitude which should vary with latitude.

I will look into the difference between planetocentric and planetographic coordinates...

Phil

Andreas Plesch

Mar 14 2021, 04:15 AM

QUOTE (Phil Stooke @ Mar 13 2021, 10:20 PM)

Thanks. I think their map meters would be normally the actual easting (keeping in mind that the extremely simple projection is not suited for measuring distances), and their true meters would be something like an adjusted easting. In fact, actually choosing a standard parallel at the regional latitude (say at 18 degrees N) would make the projection more tolerable to use, with less distortions as well as good scale for easting. I think their conversion between map and true meters is similar to, or perhaps even equivalent to choosing a standard parallel at the actual latitude.

Tom Tamlyn

Mar 14 2021, 04:23 AM

And here I thought that a meter was the length of a platinum bar kept in Napoleon's tomb.

Seriously though, I guess you're not using "meter" to mean a fixed length? There seems to be potential for confusion ...

Andreas Plesch

Mar 14 2021, 12:34 PM

QUOTE (Tom Tamlyn @ Mar 13 2021, 11:23 PM)

And here I thought that a meter was the length of a platinum bar kept in Napoleon's tomb.

Seriously though, I guess you're not using "meter" to mean a fixed length? There seems to be potential for confusion ...

Yes, it is confusing. I was just following the nomenclature and discussion of section 3.9.2 in https://pds-imaging.jpl.nasa.gov/data/msl/M...CES_PDS_SIS.PDF

See

http://www.unmannedspaceflight.com/index.p...st&p=250931

PaulH51

Mar 14 2021, 01:24 PM

A short drive away from the ejected belly pan, then a turn in place during sol 23
Click to view attachment

Tom Tamlyn

Mar 14 2021, 05:43 PM

QUOTE (Andreas Plesch @ Mar 14 2021, 07:34 AM)

Yes, it is confusing. I was just following the nomenclature and discussion of section 3.9.2 in https://pds-imaging.jpl.nasa.gov/data/msl/M...CES_PDS_SIS.PDF

Ahh.

QUOTE

3.9.2. Projected Meters vs. True Meters
It is important to note that the east/west measurement, called “easting”, is defined by meters at the equator. Orbital images as used by the MSL localization science team, and thus by PLACES, use a rectangular projection, so that lines of longitude are parallel (as are lines of latitude, naturally). For convenience there are an equal number of meters between each line of longitude, regardless of latitude. This greatly simplifies calculations, and as a nice side-effect causes site frames to be parallel in the orbital projection
****
It should be noted that the rover works only with true meters, and does not take into account planet curvature. Thus the “telemetry” view (and only the “telemetry” view) is actually expressed in true meters, and assumes a flat world. The localization error in telemetry, even with visual odometry turned on, is far greater than the true vs. easting meters difference, so in practice this distinction makes no difference.

Hmm. That's helpful, in that I now dimly grok what's going on. I seem to recall from that whimsical novel Flatland that the reaction of the animate geometrical figures to the idea of additional dimensions was irritable disbelief, and my emotional reaction is similar -- when I think about concepts of length, I want to assume a flat world.

Thanks very much!

Sean

Mar 14 2021, 06:15 PM

kenny

Mar 14 2021, 09:39 PM

I wonder of the dust inside that panel, on the right, penetrated the seal during landing blast, or bounced in there during panel jettison, or came from the wheels driving past?

Dig

Mar 15 2021, 02:56 PM

QUOTE (Sean @ Mar 14 2021, 07:15 PM)

Excellent. How to get the colors?

John Moore

Mar 15 2021, 04:25 PM

Just a simple, experimental look at the impact dynamics of the pan with the surface on the pebbles from a macroscale level, at bottom-right.

As the impact caused three small pebbles to be shifted (well, at least three easily viewable ones amongst others too small to see), I wonder are
the two blue-high-lighted ones, in left view (before impact), those two same ones on the right (after impact).

As to which or where the orange-highlighted pebble originated from is, in the before impact view, anyone's guess.

John

JRehling

Mar 15 2021, 05:55 PM

Fun mystery, John. I think I may see the origin of the orange pebble. In Image 1, there is what seems to be a smaller, bright, triangular pebble above (at the 1 o'clock position of) the leftmost of the two blue pebbles. I think the deployment of the hardware rearranged the soil and unearthed that pebble from a mainly-buried state to a mainly-exposed one.

John Moore

Mar 15 2021, 07:45 PM

Cheers, JRehling...you could be right.

Thomas Appéré's animation above, at a zoomed-in view
of the pan's right-hand corner, shows the pebble 'jumps' nicely. There also is another 'jumping pebble' (yeah, the term might catch on

) examples on the pan's
bottom-left corner area, too.

John

MahFL

Mar 16 2021, 12:57 AM

They opened a cover on the sample receiving part on the rover, does this cover remain permanently open ?

PaulH51

Mar 16 2021, 02:12 AM

QUOTE (MahFL @ Mar 16 2021, 08:57 AM)

They opened a cover on the sample receiving part on the rover, does this cover remain permanently open ?

If I'm understanding this document correctly, then it's a 'one-time deployment door'.

QUOTE

The bit carousel (BC) assembly contains an upper and lower opening in its structure. The lower entry point allows for sample tubes to be inserted into bits for sample acquisition, as well as removal from a bit once a sample has been collected (Figure 8). The upper entry point supports bit exchange operations with the Corer assembly. Both of these openings utilize a one-time deployment door to maintain cleanliness of the hardware within the BC until release on the surface of Mars. Both doors consist of a passive spring-actuated hinge mechanism held closed by a latch that is deployed via a release mechanism. The release mechanism is a series of passive spring-actuated mechanisms initiated by a separation nut non-explosive actuator (NEA) device from Ensign-Bickford Aerospace & Defense Company.

Andreas Plesch

Mar 16 2021, 02:12 AM

I have updated my animated map of the drive with the latest move. The segment from the last to the current way point does not have intermediate points in the geojson, unlike the previous segments. That is why it looks accelerated. On the technical side, I automated getting the traverse and converting it to the animation, as well as plotting the way points. So, if the the format of the source geojson does not change, the link should auto-update after new drives, at the same time when the Where is Perseverance map updates. I also added a perspective view (NORTH) which may be helpful in getting a sense of the subtle topography.

double click to recenter, middle button to pan, right button or wheel to zoom. There is a RESET button to the rescue if you get lost.

Ant103

Mar 16 2021, 09:13 AM

Sol 22 MZ mosaic @110mm. Very rocky terrain ahead !

Marvin

Mar 16 2021, 12:48 PM

QUOTE (MahFL @ Mar 15 2021, 07:57 PM)

They opened a cover on the sample receiving part on the rover, does this cover remain permanently open ?

This document also says it's a "one-time release door":

https://sites.nationalacademies.org/cs/grou.../ssb_180772.pdf

It seems counter-intuitive to have an open hole allowing dust to be blown into the rover.

Internally, the rotating carousel looks like this:

Click to view attachment

The literature says there are nine different drilling bits (in blue). Maybe the gray one at around 3 o'clock is null or closed, rotated to this position when not in use?

Phil Stooke

Mar 16 2021, 06:27 PM

News from LPSC: I just asked Roger Wiens if the Supercam images will be available on Raw Images - yes. starting in a few days.

Phil

Phil Stooke

Mar 16 2021, 06:28 PM

Damia's rocky panorama just above is identified at LPSC as a candidate for the rover parking area during helicopter operations.

Phil

Deimos

Mar 16 2021, 11:23 PM

Oh look!

A dust devil on sol 17--I wonder if there are more?

[edited to include sol]

Phil Stooke

Mar 17 2021, 12:08 AM

Is that sol 18? Looking for the images.

EDIT: given above - thanks!

Phil

neo56

Mar 17 2021, 09:23 PM

WATSON imaged its calibration targets with its many easter eggs!
4th target, top row: a maze with Sherlock Holmes' silhouette in the center.
1st target, bottom row: 221BBAKER i.e. 221B Baker Street, the address of Sherlock Holmes in London.
There is also a row of characters behind it which is a code. Will you be able to crack it?

Oh, and the 3rd target on the top row is a slice of a martian meteorite.

Marvin

Mar 17 2021, 09:42 PM

A couple of new sound files from Mars!

1. 90 second clip of the rover driving over rocks. Sounds violent, my poor wheels...

2. A longer 16 minute clip.

Full story here.

Spock1108

Mar 17 2021, 10:08 PM

QUOTE (Marvin @ Mar 17 2021, 10:42 PM)

A couple of new sound files from Mars!

1. 90 second clip of the rover driving over rocks. Sounds violent, my poor wheels...

2. A longer 16 minute clip.

Full story here.

I don't think the scratching noise is an interference ... If this were the case as soon as the rover stops it should disappear, instead you hear it oscillate, slow down and then stop (at about 12:24). In my opinion it is a noise that comes from the suspension.

It is wonderful to talk about this...

Thanks to the perseverance team

jmjawors

Mar 17 2021, 11:23 PM

QUOTE (Marvin @ Mar 17 2021, 04:42 PM)

A couple of new sound files from Mars!

1. 90 second clip of the rover driving over rocks. Sounds violent, my poor wheels...

2. A longer 16 minute clip.

Full story here.

This is incredible. Can't believe I listened to all 16 minutes! Even though the audio we get back is rather squeaky and clangy, it's glorious.

I guess that's what a 22 year wait for a working microphone on Mars will do.

Art Martin

Mar 17 2021, 11:58 PM

QUOTE (jmjawors @ Mar 17 2021, 04:23 PM)

Next thing you know they'll fire back up one of the video cameras during a drive and synch sounds to the video. (that might be a bit to ask for given the cost of all that data to transmit)

Steve5304

Mar 18 2021, 05:24 AM

QUOTE (Art Martin @ Mar 17 2021, 11:58 PM)

Next thing you know they'll fire back up one of the video cameras during a drive and synch sounds to the video. (that might be a bit to ask for given the cost of all that data to transmit)

Worth every second...

Needs to happen at some point

ollopa

Mar 19 2021, 10:15 AM

QUOTE (jmjawors @ Mar 18 2021, 12:23 AM)

My first thought was that the scratching sound reminded me of the crunch that fresh snow makes underfoot. Any Mars soil mechanics out there?

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