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SPI and Context Imagers. Life in the Atacama Design Review December 19, 2003 Stuart Heys Fayette Shaw Trey Smith Carnegie Mellon University. Mounting Positions. Top mast ~180 cm. Mid mast ~150 cm. Rear 50+ cm. Low mast 50 cm. Belly. Rear pointed. Front downward. Hyperion 2003.

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Spi and context imagers

SPI and Context Imagers

Life in the Atacama Design ReviewDecember 19, 2003

Stuart Heys

Fayette Shaw

Trey Smith

Carnegie Mellon University

Carnegie Mellon


Spi and context imagers

Mounting Positions

Top mast

~180 cm

Mid mast

~150 cm

Rear

50+ cm

Low mast

50 cm

Belly

Rear pointed

Front downward

Carnegie Mellon


Spi and context imagers

Hyperion 2003

SPI (2)

PTU

Near Nav (2)

FI

Plow

Carnegie Mellon


Spi and context imagers

SPI (2)

2-Cam Off-the-shelf PTU

PTU

Near + Far Nav (3)

FI + VNS

Workspace (2)

Plow

Carnegie Mellon


Spi and context imagers

SPI + Far Nav + Near Nav (5)

5-Cam PTU

PTU

FI + VNS

Workspace (2)

Plow

Carnegie Mellon


Spi and context imagers

4-Cam PTU

SPI + Far Nav (4)

PTU

Near Nav (2)

FI + VNS

Workspace (2)

Plow

Carnegie Mellon


Ptu configurations

KEY

Narrow

Wide

PTU Configurations

3 Cam PTU

K9

MER

5 Cam PTU

4 Cam PTU

2 Cam PTU

Carnegie Mellon


Spi and context imagers

Pros

Off-the-shelf PTU

Cons

Worst data correlation

Don’t like current PTU - e.g. limited range of motion

Nav cams too low

Pros

Correlated data

Cons

Requires PTU built – most weight

Nav cams too high

Calibration target and computation

Pros

Fewer cameras on axle and PTU

Cons

One more camera

Requires PTU built

Carnegie Mellon


Other considerations
Other Considerations

  • Baseline

    • Vertical baseline takes advantage of texture (e.g. curbs)

    • Shorter baselines are less prone to matching error

    • Longer baselines are more accurate

    • Colinear (vertical) baseline better for stereo matching

  • Hazcams

    • Rear: engineering

    • Front: science

    • Current recommendation has neither

Carnegie Mellon


Spi and context imagers

Recommendation

SPI + Far Nav (4)

PTU

Near Nav (2)

FI + VNS

Workspace (2)

Plow

Carnegie Mellon


Spi and context imagers

1º VNS foreoptic

Recommendation

Workspace cam

75º FOV

1º VNS foreoptic

FI

~30º FOV

Carnegie Mellon


Recommendations
Recommendations

  • Science instruments at front of rover

  • Spectrometer: 1 deg foreoptic at underbelly, No laptop if possible

  • Chlorophyll Detector: One camera

Carnegie Mellon


Appendix
Appendix

Carnegie Mellon


Cameras appendix

Science

Mount: Pan/Tilt Unit

FOV: 21.1º x 15.9º

Baseline: 30 cm

Verge: 1º

Nav

Mount: Mid mast

FOV: 60º

Baseline: 20 cm

Haz

Mount: Low mast

FOV: ~90 deg

(MER >120 deg)

Baseline: 10 cm

Workspace

Mount: Underbody

FOV: ~75 deg

Baseline: 10 cm

Cameras -- appendix

Carnegie Mellon


Visnir spectrometer 1
VISNIR Spectrometer (1)

  • Mounting: fiber optic cable to mast and underbody

  • Actuation: Pan Tilt Unit (2 DOFs)

  • Field of view

    • Fiber optic: 25 deg - underbody

    • Foreoptic: 1 deg – mast (15, 180 available)

  • Computational: laptop included (weight, power on this?)

    • External triggering for collection of spectra via serial cable

  • Dimensions 33 x 11 x 41 cm

  • Mass: 7.2 kg + laptop

  • Power: 50 W (incl laptop?)

Carnegie Mellon


Axiom multiplexer
Axiom multiplexer

  • Switching time: ~1s

  • Serial Interface: RS-232

  • Command protocols: ASCII

  • Size: ~18 cm x 8 cm x 13 cm

  • Power?

  • Mass: ?

Carnegie Mellon


Fluorescence imager
Fluorescence Imager

  • Mount: Underbody

  • Actuation: x-z motion, shroud (3 DOFs)

  • FOV: narrow

  • Power: unknown

  • Requirements

    • Windows driver available or SCSI + microprocessor

    • Need to turn on/off, read out signals, set integration time

Carnegie Mellon


Perceptor chlorophyll detector

Cold mirror

NIR

Camera

source

Longpass filter

Visible

Camera

IR filter

Perceptor Chlorophyll Detector

  • Far-field and near-field chlorophyll detection

  • Current system: Two cameras

  • FOV: 48 deg to 2.7 deg (tele end)

  • Power: 1.5 W per camera

  • Data logging: Serial

  • Volume: ~ 12 cm x 12 cm x 8 cm

    • Reduced if cameras are reoriented vertically  smaller mirror

    • May be possible to do with one camera

Carnegie Mellon