xevion/history-of-robotics
1
0
Fork 0
mirror of https://github.com/Xevion/history-of-robotics.git synced 2025-12-08 08:07:23 -06:00
Code Issues Packages Projects Releases Wiki Activity

add spirit rover info

Browse Source
This commit is contained in:
Xevion
2020-08-18 23:04:22 -05:00
parent fcea41b0b4
commit a8762970da
1 changed files with 79 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files

124
src/App.vue
View File

@@ -141,63 +141,96 @@
<b-jumbotron fluid container-fluid="fluid px-0" class="bg-black py-md-5 py-0 px-2 px-md-2 px-lg-3">
<b-row class="px-3 pl-4 px-md-4 w-100 justify-content-center justify-content-lg-around">
<b-col cols="12" lg="6" align-self="top">
<h3>Communications</h3>
<h3>Geology</h3>
<p class="ml-4 ml-sm-3">
Sojourner is unique among the 4 rovers to successfully deploy on Mars in that it required
it's lander to stay in communication with Earth. The rover was not equipped with a high gain
antenna, which is required in order to communicate with Earth over large distances.
</p>
<p class="ml-4 ml-sm-3">
This limitation forced the rover to stay within a certain range of the lander, and
throughout it's lifetime on Mars, it never traveled more than a few dozen feet from the
lander.
</p>
<h3>Tools</h3>
<p class="ml-4 ml-sm-3">
Sojourner was designed to study the surface of Mars by collecting and analyzing rock
samples, taking pictures and more using the following tools:
Spirit was equipped with all of the tools necessary to complete much more advanced
geological
inspections and discoveries during it's 90-sol mission. Some tools were made to assist with
making smarter choices for what to inspect, and some tools were made to make better
analyses.
</p>
<ul class="ml-3 ml-lg-4">
<li class="py-1 pt-2">
An <abbr title="Alpha Proton X-ray Spectrometer"><em>APXS</em></abbr> for determining
elemental composition of soil, rocks and other materials on the surface of Mars.
</li>
<li class="py-1">
<em>Rover Control Software</em> for coordinating movement, studying terrain features,
and viewing the nearby area in 3D space.
</li>
<li class="py-1">
<em>Three cameras</em>, one color, two monochrome. However, the operators primarily
used images from the lander's IMP camera system, as it had higher quality on top of
having a height advantage over the rover.
Several cameras for different situations and identifying different kinds of things.
<ul>
<li class="py-1">
A <abbr title="Panoramic Camera">Pancam</abbr> for photographing a wide
(panoramic) color view of the Martian terrain. Produces the highest quality
photos which can be pieced together to create expansive 360 degree collages.
</li>
<li class="py-1">
A <abbr title="Navigational Camera">Navcam</abbr> for quickly transmitting lower
quality monochrome photos at a higher efficiency, typically used in conjunction
with making navigation choices.
</li>
<li class="py-1">
<abbr title="Hazard Avoidance Cameras">Hazcams</abbr>, 2 monochrome cameras,
with 120 degree view angles. Cameras were used generally to support automated
navigation, plan robotic arm movements, and acquire additional imagery of the
martian terrain and landscape close to the rover.
</li>
<li class="py-1">
A <abbr title="Minature Thermal Emission Spectrometer">Mini-TES</abbr> used to
survey rock and soil terrain from a distance, possibly saving scientists
hundreds
of hours on uninteresting experiments.
</li>
</ul>
</li>
</ul>
</b-col>
<b-col cols="12" lg="5" align-h="top" class="w-100 h-100">
<h3>Autonomy</h3>
<ul>
<li>
A robotic arm equipped with multiple tools aimed at directly interacting with and
analyzing the soil and rock on Mars.
<ul>
<li class="py-1">
Just like Sojourner, Spirit was equipped with a
<abbr title="Alpha Proton X-ray Spectrometer"><em>APXS</em></abbr>
for close up analysis of the elemental composition of rocks and soil.
</li>
<li>
A <em>Mössbauer spectrometer</em> used to analyze the composition of
iron-bearing rocks and soil.
</li>
<li>
<em>Rock Abrasion Tool</em> (RAT) for exposing rock underneath the outer layer
(a drill).
</li>
</ul>
</li>
</ul>
<h3>Chassis/Body/Frame</h3>
<p class="ml-4 ml-sm-3">
Sojourner was an important step in Robotics due to the nature of the mission.
With such a long distance between Mars and Earth, radio communications took around 14
minutes to receive, and then another 14 minutes to send back.
</p>
<p class="ml-4 ml-sm-3">
As such, human telegraphed movements too slow for the mission, and while complete autopilot
is impossible for such a complex mission, the rovers, landers, and spacecraft made by NASA
had to be programmer with autopilot.
</p>
<p class="ml-4 ml-sm-3">
To solve this problem, Sojourner, along with every rover to land on Mars, is equipped with
software dedicated to autonomously moving the rover across the martian surface.
</p>
<p class="ml-4 ml-sm-3">
While Sojourner was comparatively basic in it's software's autonomy, the software was
helpful to operators in visualizing and telegraphing instructions across the rocky terrain
of Ares Vallis.
Each Rover that lands on Mars gets bigger and better - Spirit and Opportunity were the first
to show Sojourner this, their dimensions beating Sojourner in each axis by 5 (minimum).
Solar panels, wheels, and the tools at their disposal increased too.
</p>
<!-- <h3>Communication</h3>-->
<!-- <p class="ml-4 ml-sm-3">-->
<!-- Spirit broke free from the loose tether that Sojourner had previously, leaving it's lander behind using-->
<!-- it's own 3 different radios:-->
<!-- </p>-->
<!-- <ul class="ml-3 ml-lg-4">-->
<!-- <li class="py-1 pt-2">-->
<!-- <em>Ultra-High Frequency Antenna</em>, for relaying information through orbiters around Mars. High throughput.-->
<!-- </li>-->
<!-- <li class="py-1">-->
<!-- <em>X-band High-Gain Antenna</em>, for relaying information directly to Earth.-->
<!-- The antenna rotated itself for a more effective, focused connection. Medium throughput.-->
<!-- </li>-->
<!-- <li class="py-1">-->
<!-- <em>X-band Low-Gain Antenna</em>, used as a robust alternative radio. As a Low-Gain Antenna, it lacked speed,-->
<!-- but made up for it with it's omni-directional capability, not requiring the antenna or rover-->
<!-- to rotate in order for Earth's Deep Space Network to receive it's signals.-->
<!-- </li>-->
<!-- </ul>-->
</b-col>
</b-row>
</b-jumbotron>
<b-jumbotron fluid container-fluid="fluid px-0" class="sources text-dark py-3 py-md-4 py-lg-5 mb-0 pb-0 px-2 px-md-2 px-lg-3">
<b-jumbotron fluid container-fluid="fluid px-0"
class="sources text-dark py-3 py-md-4 py-lg-5 mb-0 pb-0 px-2 px-md-2 px-lg-3">
<h3 class="text-center">
Sources
</h3>
@@ -223,7 +256,8 @@
<p>
"In-situ Exploration and Sample Return: Autonomous Planetary Mobility"
<br>
<a class="pl-4" href="https://mars.nasa.gov/mer/mission/technology/autonomous-planetary-mobility/">https://mars.nasa.gov/mer/mission/technology/autonomous-planetary-mobility/</a>
<a class="pl-4"
href="https://mars.nasa.gov/mer/mission/technology/autonomous-planetary-mobility/">https://mars.nasa.gov/mer/mission/technology/autonomous-planetary-mobility/</a>
</p>
</b-col>
</b-row>