{"id":3297,"date":"2013-08-23T17:38:55","date_gmt":"2013-08-24T00:38:55","guid":{"rendered":"https:\/\/www.wkiri.com\/today\/?p=3297"},"modified":"2013-08-23T17:38:55","modified_gmt":"2013-08-24T00:38:55","slug":"my-first-day-roving-on-mars","status":"publish","type":"post","link":"https:\/\/www.wkiri.com\/today\/?p=3297","title":{"rendered":"My first day roving on Mars"},"content":{"rendered":"

I recently joined the Mars Exploration Rover team as a TAP\/SIE (Tactical Activity Planner \/ Sequence Integration Engineer) for the Opportunity rover. That means it\u00e2\u20ac\u2122s my job to sit in on the morning SOWG (Science Operations Working Group) meeting, in which the rover\u00e2\u20ac\u2122s scientific goals for the day are set, and then work with payload, thermal, downlink, mobility, and other experts to come up with a plan to achieve those goals. What pictures will we take? When? Where will we drive? Is there enough power?<\/p>\n

Reading the training documents only gets you so far. I\u00e2\u20ac\u2122ve just begun \u00e2\u20ac\u0153shadowing\u00e2\u20ac\u009d the current TAP\/SIEs so that I can learn on the job, watching over their shoulders through a day of planning. My first shift was on Wednesday, and it was supposed to be an \u00e2\u20ac\u0153easy\u00e2\u20ac\u009d day: pick one of two rock targets, drive towards it, and take some pictures looking backward at yesterday\u00e2\u20ac\u2122s tracks.<\/p>\n

Scientists dialed in from all over the country for the SOWG meeting. After some debate and consultation with the Rover Planners, they settled on the rock that had the easiest approach. The scientists signed off and we went to work building the plan.<\/p>\n

The TAP\/SIE\u00e2\u20ac\u2122s job is facilitated by a bewildering array of scripts and tools. These allow for the setup, development, refinement, and checking of the plan. Are power or thermal constraints violated? Do we have enough onboard storage space for the new images to be collected and enough downlink allocation to get them back to Earth?<\/p>\n

While the RPs (Rover Planners) settled in to their job of constructing the drive sequence, we worked on the full sol\u00e2\u20ac\u2122s plan (a day on Mars, which is 24 hours and 40 minutes in Earth time, is called a sol). Very quickly we realized that the planned drive, despite covering only a couple of meters, would drain the rover\u00e2\u20ac\u2122s battery dangerously low. Opportunity was starting the sol at only 80% charge because of two long instrument observations the previous sol.<\/p>\n

We modified the plan to give the rover a morning \u00e2\u20ac\u0153nap\u00e2\u20ac\u009d in which it could sun itself and collect power, like a desert lizard. That helped the power situation, but not enough. Several iterations later, we finally squeaked by at 0.1 Amp-hour above the required threshold.<\/p>\n

<\/a><\/p>\n

Meanwhile, the RPs were growing concerned about a different problem. To reach its goal, Opportunity would have to straddle a rock that, while small by human standards, could pose a risk to the rover\u00e2\u20ac\u2122s instrument arm, which dangles slightly down when stowed for driving. The RPs put their 3D simulation of the rover and the terrain up for all to see, and we stared at the screen while they spun the rover and tried to examine the rock from all angles. <\/p>\n

\u00e2\u20ac\u0153Can we raise the arm while it drives over the rock?\u00e2\u20ac\u009d I whispered to the TAP\/SIE I was shadowing. \u00e2\u20ac\u0153It\u00e2\u20ac\u2122s risky to do that,\u00e2\u20ac\u009d she whispered back. \u00e2\u20ac\u0153The arm bobs around, especially going over a big rock.\u00e2\u20ac\u009d<\/p>\n

A few minutes later, a scientist on the telecon asked, \u00e2\u20ac\u0153Can\u00e2\u20ac\u2122t we just put the arm up?\u00e2\u20ac\u009d but was quickly shot down by the TUL (Tactical Uplink Lead, head planner): \u00e2\u20ac\u0153Too risky.\u00e2\u20ac\u009d The TAP\/SIE and I grinned at each other.<\/p>\n

Ultimately, it was deemed too dangeous to drive over the rock with our current data (images the rover had taken the sol before), and they decided to drive up to that rock and stop. Post-drive imaging would illuminate the obstacle in more detail.<\/p>\n

At the end of our shift, which apparently was two hours later than usual, we had a plan. We ran it through multiple checks and re-checks and manually confirmed all of the sequences. The final walk-through was punctuated with \u00e2\u20ac\u0153check!\u00e2\u20ac\u009d coming from different areas of the room as each person confirmed that their part was correctly represented. The plan was finalized and transmitted to the rover using the Deep Space Network later that night.<\/p>\n

There\u00e2\u20ac\u2122s nothing like seeing a job in action. I learned a lot about the steps involved in planning and (unexpectedly) a lot of re-planning. For the rover, today is \u00e2\u20ac\u0153tosol\u00e2\u20ac\u009d and yesterday is \u00e2\u20ac\u0153yestersol.\u00e2\u20ac\u009d I got to practice the phonetic alphabet<\/a>, which is used to communicate letters (in rover sequence ids) with a minimal chance that they will be misheard. I even got to help out a bit as a second pair of eyes to catch typos, spot constraint violations, and suggest alternative solutions. And I\u00e2\u20ac\u2122ll be back on shift next Monday!<\/p>\n

<\/p>\n

Opportunity is near Endeavor Crater, working its way along a ridge that is at the perfect tilt to keep its solar arrays pointed toward the sun. This is important because Winter Is Coming<\/a>, even on Mars, and we want to keep it sufficiently powered to make it through to spring — its fifth spring on Mars. (Opportunity landed 9.5 Earth years ago!)<\/p>\n","protected":false},"excerpt":{"rendered":"

I recently joined the Mars Exploration Rover team as a TAP\/SIE (Tactical Activity Planner \/ Sequence Integration Engineer) for the Opportunity rover. That means it\u00e2\u20ac\u2122s my job to sit in on the morning SOWG (Science Operations Working Group) meeting, in which the rover\u00e2\u20ac\u2122s scientific goals for the day are set, and then work with payload, […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[50,36,25],"tags":[],"_links":{"self":[{"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=\/wp\/v2\/posts\/3297"}],"collection":[{"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3297"}],"version-history":[{"count":15,"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=\/wp\/v2\/posts\/3297\/revisions"}],"predecessor-version":[{"id":3333,"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=\/wp\/v2\/posts\/3297\/revisions\/3333"}],"wp:attachment":[{"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3297"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3297"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wkiri.com\/today\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3297"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}