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Rocky 7 - Mojave Desert Field ExperimentsDecember 1996
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During December 16 to 19, 1996, the Rocky 7 prototype Mars rover was
field tested in the Mojave Desert. The test took place at Lavic Lake
Playa and also covered a portion of the Pisgah Volcanic Field
(see Site Selection).
A variety of base equipment was needed on-site to
conduct these extensive tests (shown in the image).
An RV served as the headquarters for
the test, and two trailers provided the space for the computers used
to command Rocky 7's movements as well as for equipment stowage.
During the December field experiment,
both engineering and science systems were tested. This field test
focused on validating Rocky 7's imaging and navigation abilities in a
Mars-like environment where on-site technical support was
available. This experimental period focused on:
a. Demonstration of the ground data system, i.e., the ability to command the rover using a wireless Ethernet between a trailer at the field site and the rover. Tests were also conducted between the trailer and JPL and also from the trailer to the Internet using WITS (Web Interface for Telescience) software. This enabled others to control Rocky 7 from remote locations.
b. The ability of the rover to cover a 250 m traverse distance using waypoint and target information obtained from initial panoramic imaging. Along the way, the science team made changes in the traverse to move Rocky 7 to interesting targets. These detours were based on panoramic images acquired at locations selected by the science team. The traverse included coverage of playa materials, crater ejecta, and a strewn field of basalt blocks, along with an attempt to rove onto the degraded flows on the western edge of the Pisgah Volcanic Field. Three science targets were examined in detail. Two of these were caliche-covered basalts placed by the science team near the rover's path, and the third involved using Rocky 7's manipulator arm to dig down into ejecta and obtain a soil sample.
c. The ability to place the close-up imager in the mast's "can" on selected rock and soil surfaces in order to obtain images. The targets were selected by the science team based on panoramic images and visual inspection.
This was the first field test of Rocky 7 which included both the Engineering and the Science teams. This partnership allowed a more realistic test of Rocky 7's field abilities as both teams worked to accomplish the goals above. The Engineering Team, which designed and built Rocky 7 and is led by Dr. Samad Hayati, was responsible for controlling the rover and handling the data from it. The Science Team, lead by Dr. Raymond Arvidson, was responsible for assisting the Engineering Team in selecting Rocky 7's path, for documenting the test and the site, and for obtaining independent measurements of Rocky 7's location and orientation. All of these data are combined into an "Experimenter's Notebook" which documents the field test and which is incorporated into Rocky 7's SPICE files.
Actual rover testing during the December test started on Monday, December 16, and ended Thursday, December 19, 1996. On Monday, the Engineering Team performed initial testing on Rocky 7 to insure that the rover's systems were operating properly. Tuesday's activities centered around performing an initial short traverse with several waypoints and science targets designated by the Science Team. Rocky 7's manipulator arm was also tested as it collected soil samples from the ejecta blanket of a nearby crater. On Wednesday, Rocky 7 conducted a 250 m traverse. Along the way, the rover navigated around impact craters and rocks, obtained several panoramic images, and examined a caliche-covered rock with its close-up imager. On Thursday, the WITS software for remote control of the rover via the Internet was tested. Several remote operators at different locations, including a group of students in Colorado, took turns commanding Rocky 7 through various operations. In addition, Rocky 7's obstacle avoidance software was further tested later in the day.
More details on each day of testing can be found in the Experimenter's Notebooks (ENB).