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

2. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Rear 50+ cm Top mast ~180 cm Mid mast ~150 cm Low mast 50 cm Front downwardRear pointedBelly Mounting Positions

3. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon SPI (2) Near Nav (2) FI Hyperion 2003 Plow PTU

4. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon SPI (2) Near + Far Nav (3) 2-Cam Off-the-shelf PTU Workspace (2)FI + VNS Plow PTU

5. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon SPI + Far Nav + Near Nav (5) 5-Cam PTU Workspace (2) Plow PTU FI + VNS

6. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon SPI + Far Nav (4) Near Nav (2) 4-Cam PTU Workspace (2)FI + VNS Plow PTU

7. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon K9 MER KEY Narrow Wide 5 Cam PTU 2 Cam PTU 4 Cam PTU PTU Configurations 3 Cam PTU

8. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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

9. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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

10. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon SPI + Far Nav (4) Near Nav (2) Workspace (2)FI + VNS Recommendation Plow PTU

11. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Workspace cam 75º FOV FI ~30º FOV 1º VNS foreoptic Recommendation

12. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Recommendations Science instruments at front of rover Spectrometer: 1 deg foreoptic at underbelly, No laptop if possible Chlorophyll Detector: One camera

13. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Appendix

14. Life in the Atacama, Design Review, December 19, 2003 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

15. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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?)

16. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Axiom multiplexer Switching time: ~1s Serial Interface: RS-232 Command protocols: ASCII Size: ~18 cm x 8 cm x 13 cm Power? Mass: ?

17. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 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

18. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon NIR Camera Visible Camera Longpass filter IR filter Cold mirror source 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