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SPI and Context Imagers

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

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  1. SPI and Context Imagers Life in the Atacama Design ReviewDecember 19, 2003 Stuart Heys Fayette Shaw Trey Smith Carnegie Mellon University Carnegie Mellon

  2. Mounting Positions Top mast ~180 cm Mid mast ~150 cm Rear 50+ cm Low mast 50 cm Belly Rear pointed Front downward Carnegie Mellon

  3. Hyperion 2003 SPI (2) PTU Near Nav (2) FI Plow Carnegie Mellon

  4. SPI (2) 2-Cam Off-the-shelf PTU PTU Near + Far Nav (3) FI + VNS Workspace (2) Plow Carnegie Mellon

  5. SPI + Far Nav + Near Nav (5) 5-Cam PTU PTU FI + VNS Workspace (2) Plow Carnegie Mellon

  6. 4-Cam PTU SPI + Far Nav (4) PTU Near Nav (2) FI + VNS Workspace (2) Plow Carnegie Mellon

  7. KEY Narrow Wide PTU Configurations 3 Cam PTU K9 MER 5 Cam PTU 4 Cam PTU 2 Cam PTU Carnegie Mellon

  8. 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

  9. 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

  10. Recommendation SPI + Far Nav (4) PTU Near Nav (2) FI + VNS Workspace (2) Plow Carnegie Mellon

  11. 1º VNS foreoptic Recommendation Workspace cam 75º FOV 1º VNS foreoptic FI ~30º FOV Carnegie Mellon

  12. Recommendations • Science instruments at front of rover • Spectrometer: 1 deg foreoptic at underbelly, No laptop if possible • Chlorophyll Detector: One camera Carnegie Mellon

  13. Appendix Carnegie Mellon

  14. 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

  15. 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

  16. 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

  17. 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

  18. 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

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