1. MARS EXPLORATION PROGRAM NSTA Robotics E-Class MARS EXPLORATION PROGRAM NSTA Robotics E-Class Sheri Klug Mars Space Flight Facility Arizona State University Jet Propulsion Laboratory

2. Distances Between the Planets are Great (picture NOT to scale!) Distances Between the Planets are Great (picture NOT to scale!) Communications and Spacecraft Operations are Challenging! Communications and Spacecraft Operations are Challenging!

3. Simple Facts About Mars Diameter: 6794 km (53% of Earth - 4222 mi) Mars Day: 24 hours, 39.5 minutes Mars Year: 687 Earth Days Atmosphere: 95% carbon Dioxide, 3% nitrogen Gravity: 38% of Earth Temperature: -140C to 20C (-220F to 68F)

4. Opportunity Launched: July 7, 2003 Landed: January 24, 2004 Spirit Launched: June 10, 2003 Landed: January 3, 2004 Mars Exploration Rovers

5. Calibration and Testing Earth Field Tests Come First

6. Mars Rover in the Testing Lab

7. Images From Mission Animation by Dan Maas The Three Challenging Mission Phases The Three Challenging Mission Phases Launch & Cruise Entry, Descent & Landing Egress & Surface Operations

8. Communication and Navigation: Arriving on target is quite a feat! Communication and Navigation: Arriving on target is quite a feat!

9. How We Drive on Mars!

10. Calibration: Using Instruments at Mars

11. Robotics Activities Communication Activity: Rover Races Calibration Activity : Command and Control http://marsed.asu.edu Click Resources for Robotics Poster Activities

12. Mars Web Links http://marsrovers.jpl.nasa.gov http://mars.jpl.nasa.gov http://marsrovers.jpl.nasa.gov/gallery/video/ http://mars.jpl.nasa.gov/mer/mission/communi cations.html http://marsrovers.jpl.nasa.gov/newsroom/press kits.html http://marsed.asu.edu (curriculum)

13. Dexterous Remote Robotics

14. Things to Consider… What tools do we give the operator to help with teleoperation? How much automation is required? How do we keep the operator informed about the robot state? How many steps in advance can you send? How often does the supervisor have to “jump-in”?

15. A Thought Experiment… You want the robot to grab the electric wrench out of the toolbox and tighten 4 bolts in a specific pattern on a hardware box What must the robot do to accomplish this task? What technologies need to be in place for this to happen autonomously (vision, path planning and execution, automated grasping, force/torque sensors, etc.)