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Rocky 7 - Mojave Desert Field ExperimentsExperimenter's Notebook
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The main goal was to traverse from waypoint A on the Sunshine Flow down to the playa using only rover panoramic and simulated descent images. This traverse is called the Sunshine Flow traverse. A problem with the rover's stereo imaging system delayed the start of the day's testing. The two stereo cameras, which are located in the mast, were out of alignment. This was caused by the installation of the Nuclear Magnetic Resonance instrument, which is located next to the stereo cameras on the mast. After the stereo cameras were realigned, testing began at 1:00 pm local time.
The traverse began with a series of stereo panoramic images to help the operators plot the traverse route down to the playa. After plotting an 8 meter route and sending the approriate commands to the rover, Rocky 7 began its first traverse. Three meters into this traverse, however, the rover ran into trouble. The operators had designated a waypoint for the rover to travel through the top of a rock. As Rocky 7 neared this waypoint, the obstacle avoidance sensors determined that this rock was too large to travel over. Rocky 7 then avoided this obstacle, but then resumed heading towards its waypoint (i.e., back to the obstacle). After moving around the rock for a few minutes, Rocky 7 tried to travel over the rock and became stuck after clearing about two-thirds of the obstacle (click here for digital images). In keeping with the blind nature of the test, the team members in the field with the rover did not communicate this fact to the trailer. After a few moments, the operators realized that Rocky 7 had stopped making forward progress.
The operators attempted to diagnose the problem by taking self-inspection stereo images of the rover's underside. The operators did determine that Rocky 7 was stuck on a rock and commanded the rover to try to back up off of the rock. This nearly succeeded, but rather than try this again and risk damage, the rover was picked up and placed just beyond the rock. The traverse then continued normally.
Rocky 7 finished its traversing for Day 1 in position to deploy the mast for science measurements of a basalt rock. Testing was halted for the day at 5:30 pm local time.