SPIRIT na MARSIE

[bonobo44]

Spirit jest juz w pelni sprawny i - jak sie zdaje - czas dreptania
w miejscu dobiega konca. Z dzisiejszej konferencji prasowej wynika,
ze w najblizszych dniach misja rozpoczyna sie na dobre, a lazik ruszy
przed siebie, ze az sie za nim bedzie kurzylo... Ciekawe, czy bedzie to
pierwszy widoczny z orbity oblok kurzu zostawiony przez ziemski pojazd na
Marsie ?

8)44

[Gość: michal_pilot]

tak slyszalem ze podczas weekendu chca jechac (dojechac ??) do tego krateru
polozonego o jakies 250 m dalej.

[Gość: michal_pilot]

a .... maksymalma jego szybkosc wynosi 5 cm/sek a wiec chyba kurzu nie
bedzie ....

[Gość: beagle2]

Czy ktos wie, jaka byla prawdziwa przyczyna problemow SPRIT-a?
Wiadomo, ze(skorygujcie mnie, jesli cos jest nie tak):
-na flashu bylo duzo plikow
-zbyt duza liczna plikow powodowala przejscie lazika w stan uspienia
-usuniecie czesci plikow pomoglo
-docelowo format file systemu na flashu pomogl ostatecznie
-problem z plikami byl problemem software?
Any comments?

[Gość: michal_pilot]

Wedlug tego co slyszalem na konferencji problem jest o tyle nie 100% zrozumialy
ze oni robili symulacje dzialania lazika jak byl "przeladowany" plikami i
wszystko bylo OK (na Ziemi). Jest pare hipotez:

1. sloneczny "flare" wymazal czesc pamieci i wprowadzil blad do programu
2. symulacja nie byla 100% realistyczna jesli chodzi o przeladowanie pamieci.

Operacyjny uklad Spirita sam jest w stanie wymazywac pliki (wedlug priorytetu)
jak mu zaczyna brakowac pamieci.

[Gość: beagle2]

Gdzie mozna znalesc info na temat komputera/systemu operacyjnego lazika?
Jestem ciekaw jak i z czego go zrobili

[Gość: michal_pilot]

pojdz na JPL website (www.jpl.nasa.gov) i znajdziesz tam cos co sie
nazywa "press kit". To jest 46 stron detali technicznych. Nie wiem czy
znajdziesz tam wszystko co cie interesuje ale nie znam lepszego dokumentu.

[bonobo44]

Z powyzszego (to wartosciowy namiar)
www.jpl.nasa.gov/news/press_kits/merlandings.pdf
dowiadujemy sie, ze komputery pokladowe MER-A&B zbudowane sa na bazie
zabezpieczonego przed promieniowaniem 32-bitowego mikroprocesora Rad 6000
stosowanego w niektorych modelach MacIntosha

<<The computer in each Mars Exploration Rover runs with a 32-bit Rad 6000
microprocessor, a radiation-hardened version of the PowerPC chip used in some
models of Macintosh computers, operating at a speed of 20 million instructions
per second. Onboard memory includes 128 megabytes of random access memory,
augmented by 256 megabytes of flash memory and smaller amounts of other non-
volatile memory, which allows the system to retain data even without power. >>
Tez pod:
spaceflightnow.com/mars/mera/031231mer.html
Pewne pojecie daje tu system stosowany w NASA juz z 10 lat:
image.gsfc.nasa.gov/presentation/cidp_pdr/sld010.html
Komp Pathfindera tez byl oparty na tym procesorze:
www.unix-systems.org/news/rs6000.html
www.bulgaria.com/newteck/mars/Cell2.htm

Wiecej o systemie MER-A&B:

<<The brain of each spacecraft is a 20-MHz, 32-bit Rad 6000 CPU module, a
radiation-hardened version of an early IBM PowerPC processor, now manufactured
by BAE Systems of Farnborough, England.

“The smaller the electronics get here on Earth, the more susceptible they
become to cosmic radiation,” Klemm said.

In 1995, Wind River ported its real-time VxWorks operating system to the Rad
6000 in preparation for Mars Pathfinder. Deliman said he was part of that team,
which worked so well that NASA tried to recreate the team as much as possible.

Although the CPU’s power hasn’t been state-of-the-art since the late 1980s, it
is the most radiation-hardened processor available for deep space, Deliman
said.

The compiler included with the MULTI development environment from Green Hills
Software Inc. of Santa Barbara, Calif., is the only compiler validated to
generate proper code for the Rad 6000 chip, Klemm said. JPL engineers are using
the Green Hills compiler “for heritage reasons” because they reused so much
code verbatim from the successful Mars Pathfinder, he said.

The multitasking OS slices up CPU time “so that no one task will hog it, and
everyone can get a little piece of the pie,” Klemm said. JPL designed the
architecture to work with VxWorks’ scheduling and interrupt features.

The software developers used Wind River’s Tornado integrated development
environment, which incorporates the VxWorks OS and various debugging and
visualization tools, Deliman said.

Each of the two rovers has only one CPU and one set of software for the entire
mission. Asked about redundancy—there is no way to hot-swap components in deep
space—Klemm said, “That’s why we’re sending two rovers.”

JPL programmers had to take into account the limitations on spacecraft
resources, such as CPU throughput, electrical power, uplink and downlink
bandwidth, and possible power inefficiency from dust collecting on solar panels
during the trip to Mars.

Spirit and Opportunity launched with the first version of the flight software.
The rovers don’t have enough memory on board to handle two sets of commands for
leaving Earth orbit and approaching Mars, which is why the in-flight upgrade
will be necessary, said David Kleidermacher, Green Hills Software’s vice
president of engineering.

The JPL team is now testing a revised software version that they will transmit
to the two spacecraft in November to guide each rover down to the fourth planet
and perform surface operations.

The Tornado development environment lets programmers code, compile and
prototype on a host system, such as JPL’s Sun Microsystems Inc. workstations,
Deliman said, because Rad 6000 computers are not widely available. >>
www.gcn.com/22_24/news/23246-1.html
(tam tez ciekawa uwaga n/t przyczyn niepowodzenia Polar Lander)


System umieszczony jest w WEB
marsrovers.jpl.nasa.gov/mission/images/webred1_500.jpg
www.lib.cas.cz/www/space.40/2003/032A.HTM

<<The computer is composed of equipment comparable to a high-end, powerful
laptop computer. It contains special memory to tolerate the extreme radiation
environment from space and to safeguard against power-off cycles so the
programs and data will remain and will not accidentally erase when the rover
shuts down at night.
On-board memory includes 128 MB of DRAM with error detection and correction and
3 MB of EEPROM. That´s roughly the equivalent memory of a standard home
computer.
marsrovers.jpl.nasa.gov/mission/spacecraft_rover_brains.html
Novum to obszerna flash memory:
<<Spirit has 256 megabytes of flash memory, a type commonly used on gear such
as digital cameras for holding data even when the power is off. >>
sse.jpl.nasa.gov/news/display.cfm?News_ID=7155
<<Flash memory is a type common in many electronic products, such as digital
cameras, for storing information even when the power is off. >>
sse.jpl.nasa.gov/news/display.cfm?News_ID=7235
To odwazne posuniecie JPL... flash memory bywa kaprysna zarowno z przyczyn
czysto hardwarowych
jak i programowych - jak sie zdaje, to dosc wyzylowana technologia...
jak na razie ryzyko sie oplaca - uzyskiwane wlasnie z Marsa obrazy (ich ilosc i
jakosc) to wynik
jego podjecia...

Wzmocniony stary 32-bitowy procesor RISC

[bonobo44]

<<TWO ROVERS headed to Mars use RISC radiation hardened microprocessors from
BAE (...)
RAD 6000 can process over 20 million instructions a second and uses a 32-bit
RISC (reduced instruction set computer) microprocessor.>>
www.theinquirer.net/?article=10684

Opis komputera Pathfindera:
www.iews.na.baesystems.com/business/pdfs/02_d22_001.pdf

VxWorks real-time operating system

[bonobo44]

<<"[JPL] needed the tools to be able to develop their mission software on a
system from someone with a proven track record," explained Steven Blackman,
director of business development for aerospace and defense for the software
company Wind River. The Alameda, California-based company developed the VxWorks
real-time operating system used in aboard the MER rovers, as well as other NASA
and European Space Agency missions.
In addition to VxWorks' reliability, the system allows users to add software
patches

[Gość: beagle2]

Dzieki za wyczerpujace info na temat procesora i OS dla lazikow Spirit i
Opportunity. Sorry za lenistwo (moglem poszukac sam), ale liczylem, ze koledzy
juz maja to info i nie trzeba bedzie szukac ;-)))
Kilka wnioskow:
-Rzeczywiscie mieli malo czasu, bo wiekszosc kodu przeniesiono z Pathfindera
oraz system rozwijalo 2 dozens of programmers. Myslalem, ze wiecej..
-WxWorks to chyba jedyny realtime OS rozpowszechniony na duza skale, wiec
wybor jest trafny. Tym bardziej, ze sprawdzil sie w pathfinderze.
-procesor, jak procesor. Pewnie jest wystarczajacy, no i jest sprawdzony w
boju. Podejrzewam, ze duze znaczenie ma "power consumption", wiec im prostszy
procesor, tym mniej mocy potrzebuje

Jeszcze raz dziekuje

Mars is still Microsoft-free

[bonobo44]

<<Spirit uses Wind River's RTOS, VxWorks. The main computer (the Rover
Electronics Module) uses a 20MHz 32-bit Rad 6000 CPU, a radiation-hardened
PowerPC variant manufactured by BAe in England. The computer has 128M of ECC
RAM and a 3M EEPROM. It connects with hardware via a Versa Module Europa (VME)
bus.

The software was compiled with a compiler from Green Hills' MULTI development
environment, but the developers coded using the Wind River Tornado IDE. >>
science.slashdot.org/science/04/01/24/1451217.shtml?tid=134&tid=160


<<The onboard technological force behind Spirit is VxWorks a real-time
operating system made by Wind River Systems Inc. This system controls all
mission-critical tasks, such as trajectory, descent and ground operations
control, data collection and Mars/Earth communication relay.

Spirit's operating system is embedded in an old IBM Corp. RAD 6000 computer
that Adler said resembles a desktop model from the mid-1990s. Running at 20 MHz
and radiation-hardened to survive the mission, the computer contains 128M of
memory, with 256M of flash memory for storing images.

This onboard computer is nearly identical to the one on the Pathfinder rover,
Adler said. Spirit was designed to maximize the capabilities of this system and
was given additional memory for image storing.>>
www.fcw.com/fcw/articles/2004/0112/news-planet-01-12-04.asp

Gość portalu: beagle2 napisał(a):

> Dzieki za wyczerpujace info na temat procesora i OS dla lazikow Spirit i
> Opportunity.

ja wam rowniez (z duzym zainteresowaniem przegladam dane n/t) - zawdzieczamy
Michalowi, ktory 'przepilotowal' najwazniejszy namiar, na ktory sam wczesniej
nie trafilem... sadzilem, nie bez podstaw, ze wiekszosc z nich jest classified:

QUESTION:
What challenges did you face in using VxWorks? Is your application source
availble for public viewing?

ANSWER from Jesse Wright on October 6, 1997:
First off VxWorks was not ported to our platform (IBM RAD 6000). We paid
Wind-Rivers to do the port (big bucks). And with any new port there were
problems: some things were slow, bugs, etc. But we had a very good working
releationship with the company so it was all finally worked out. In general
our experience was very positive given the environment.

I think the worst problem we had, we did to ourself. Something we did not
understand was that there are 2 settings to interrupts: use Floating Point
or not use Floating Point. We set all of ours to not use Floating Point
(i.e. don't save Floating Point Registers). Unfortantly some of the
interrupt routines called functions that did use Floating Point. This would
cause a completely different function to sometimes get divide by zero
faults. We got most found in testing, 2 found in cruise, and 1 found on the
surface. The surface one came about because we were told the maximum data
rate would be 1-2 kilobits / second. That is all we tested to in our
complete tests. After the first day we were running at 6-9 kilobits /
second.

The faster rate increased the chance of this happening because there were
more interrupts running at the same time to support the rate and to support
the high number of camera images. This was the cause, as I understand it, of
the rash of resets the first week. As soon as we found it, it was fixed.

We could not set all interrupts to use Floating Point because that would
slow the system down by quite a bit (we did test).

Sorry, but the application source is not available for public viewing. We
have no choice. Ronald Regan signed an executive order declaring most
functions on a spacecraft to be "munitions platforms" and thus covered under
the national security acts. Even though you can go buy books describing all
of the algorithms we use (some of our people on Pathfinder wrote the books)
it is still covered. We are covered under the "remote sensing" part of the
order in addition to the "munitions platforms".

There is no question that the software source for the flight computer is
under this act. It was a surprise to us also.

Jesse Wright
quest.arc.nasa.gov/mars/ask/about-mars-path/Challenges_in_using_VxWorks.txt

[Gość: beagle2]

>>www.gcn.com/22_24/news/23246-1.html
>>(tam tez ciekawa uwaga n/t przyczyn niepowodzenia Polar Lander)

Hmm, problem z English/Metric measurments w Mars Climate Orbiter to
rzeczywiscie duza wpadka.....
Problem przedwczesnego wylaczenia silnikow przy ladowaniu Mars Polar Lander-a
jest do wybaczenia.
Podsumowujac, na ziemi tylko NASA ma doswiadczenie i technologie na
profesjonalny podboj kosmosu. Juz kilka misji sie udalo, bylo kilka wpadek,
chlopaki sie ucza i nowe misje sa coraz lepsze.
Wszyscy inni musza ta droge przejsc, a to wymaga czasu i $$$

"...NASA officials hope that Spirit and Opportunity will avoid the problems
that doomed the Mars Climate Orbiter and Mars Polar Lander spacecraft. The
lander had a retrorocket landing system. The software that sequenced the
landing events evidently mistook vibrations from the landing gear for actual
landing and shut down the engine prematurely, Klemm said.

The lander was “far enough off the ground that it was fatal to turn off the
rockets. That was essentially a software bug that had not been detected in the
test program,” which was insufficiently funded, Klemm said.

Another glitch—a line of code written for English instead of metric
measurements that made the Mars Climate Orbiter craft disappear—also was a
budget issue, Klemm said. The navigation team had seen coding errors but was
too short-staffed to follow up, he said..."

Czy tylko NASA ma doswiadczenie i technologie ?

[bonobo44]

Gość portalu: beagle2 napisał(a):

> Podsumowujac, na ziemi tylko NASA ma doswiadczenie i technologie na
> profesjonalny podboj kosmosu. Juz kilka misji sie udalo, bylo kilka wpadek,
> chlopaki sie ucza i nowe misje sa coraz lepsze.
> Wszyscy inni musza ta droge przejsc, a to wymaga czasu i $$$

albo Euro, rubli, jenow lub yuanow 8)
jak na razie jedynie chinczycy nie maja za soba 'wpadek',
a Rosjanie maja w tym wzgledzie rownie bogata tradycje, co Amerykanie...
Europejczycy osiagneli niebywaly sukces (zaraz w pierwszej misji poza orbite
Ziemi weszli z powodzeniem na orbite - i to kartograficzna kolowa biegunowa -
innej planety)... zrobili to niezwykle niskim kosztem (nawet po przeliczeniu
euro na $$$ 8) i - co najistotniejsze - uniformizuja swoj program badan US...
(Ukladu Slonecznmego, nie mylic z US - Ukladem Stanow)...
wkrotce nalezy sie spodziewac niezwyklego ozywienia w tej materii, co mnie
osobiscie nieslychanie cieszy...

8)44

[Gość: beagle2]

Teraz prosba o info na temat komunikacji lazika z ziemia
Tzn:
-jaki protokol transmisji danych uzywaja.
-Jakie uzywaja pasmo, jak dlugo dociera sygnal na marsa
-Jaka czestotliwosc uzywaja
-ile maja okien transmisijnych w czasie dnia marsjanskiego, jak dlugo srednio
trwaja
Any comments?

Communications With Earth

[bonobo44]

marsrovers.jpl.nasa.gov/mission/communications.html

Spirit status at end of sol 33, Feb. 5

[bonobo44]

posted Feb. 6, 11 am PST

NASA's Spirit was back and accomplishing another "first" in interplanetary
science on Thursday: It brushed the dust off a rock to clean its surface for
inspection.

On the first day of operations after they reformatted Spirit's flash memory,
engineers confirmed that the flash memory was stable and available for data
storage. Spirit was cleared to conduct the sol's science activities. The rock
abrasion tool on the rover's robotic arm brushed a portion of the surface of
the rock called Adirondack for five minutes. Spirit's panoramic camera and
microscopic imager took pictures to show the effect of the brushing. The
Mossbauer spectrometer and alpha particle X-ray spectrometer were used
overnight on the brushed area.

The plan for Spirit for sol 34 is to use the rock abrasion tool again, this
time to grind away the brushed portion of Adirondack's surface for examination
of the rock's interior.
www.jpl.nasa.gov/mer2004/daily/2-6-04.cfm

--
Jak na razie nic ciekawego - Spirit otrzasa sie, jak kobieta po przejsciach 8)44

Spirit Status for sol 35, Feb. 8

[bonobo44]

posted Feb. 8, 3 pm PST

<<NASA's Spirit examined the interior of a rock during Spirit's 35th sol on
Mars, which ended at 4:41 a.m. Sunday, PST. Beginning late in the previous sol,
Spirit took turns placing its Moessbauer spectrometer, alpha particle X-ray
spectrometer and microscopic imager over the portion of the rock called
Adirondack where Spirit's rock abrasion tool had cut away the rock's surface.

Spirit did not begin driving on sol 35, because a precautionary software
setting to prevent driving was still in effect from the beginning of the
anomaly two weeks ago. The rover is being commanded during sol 36, which ends
at 5:21 a.m. Monday, PST, to back away from Adirondack, drive past the south
side of the now-empty lander, and begin a trek northeast toward a crater
nicknamed "Bonneville." >>
www.jpl.nasa.gov/mer2004/daily/2-8-04.cfm

Wyglada na to, ze Duch tkwil przy tej dziurze w Adirondack, bo mial zalozona
blokade na kola od zapasci pamieci 21-go stycznia...
Blokada ma byc dzis zdjeta..

8)44

Spirit Status for sol 36, Feb. 9

[bonobo44]

posted Feb. 9, 3 pm PST

<< On sol 36, which ended at 5:21 a.m. Monday, PST, Spirit drove 6.37 meters
(20.9 feet), using the onboard navigation software and hazard avoidance system
for the first time on Mars. The drive, intended to test the traverse commands,
was extremely precise, taking Spirit to its intended goal – the rock called
White Boat. Before leaving the rock Adirondack, Spirit took images and
collected miniature thermal emission spectrometer data from the hole ground by
the rock abrasion tool.

In the coming sols, Spirit will continue its drive toward Bonneville Crater. >>
www.jpl.nasa.gov/mer2004/daily/2-9-04.cfm

No to ruszamy w droge...

8)44

Spirit Status for sol 39

[bonobo44]

posted Feb. 12, 12 pm PST

<<During its 39th sol on Mars, which ended at 7:20 a.m. Thursday, PST, Spirit
broke its own driving record. It adding 24.4 meters (80 feet) to its odometer
while getting near an interesting set of rocks dubbed "Stone Council." The
drive lasted 2 hours, 48 minutes. While navigating itself to avoid hazards,
Spirit stopped when it recognized an obstacle, which was the group of rocks
that was the day's intended destination.

The flight team at JPL chose Buster Poindexter's version of "Hit the Road
Jack," as Spirit's wake-up music. The day's commands were uplinked during the
cool morning hours via Spirit's low-gain antenna, to bypass a problem diagnosed
the preceding day as shade slowing the warm-up of motors that move the high-
gain antenna.

Before rolling, Spirit took images with its microscopic imager and panoramic
camera from the site where it started the day.

The plan for sol 40, which will end at 7:59 a.m. Friday, PST, is a short drive
forward then using instruments on the robotic arm to study soil at Stone
Council. >>

www.jpl.nasa.gov/mer2004/daily/2-12-04.cfm

<<This animation is created from still images taken by the Mars Exploration
Rover Spirit during its approximately 21.2-meter (69.6-foot) drive across the
pebbly ground at Gusev Crater, Mars, on the 37th day, or sol, of its mission
(Feb. 9, 2004). Two sols later, Spirit drove another 24 meters (78.7 feet)
toward a rock target called White Boat. The images were captured by the rover's
front hazard-avoidance camera after it began the autonomous portion of its
drive. >>
marsrovers.jpl.nasa.gov/gallery/video/movies/spirit/spirit_sol40a.mov
marsrovers.jpl.nasa.gov/gallery/press/spirit/20040210a/x_pubeng_approved_020904a_aeolian_ncam_anaglyph_trim-A037R1_br.jpg

Tzn. Duch oddalil sie juz na jakies 50 m od platformy ladownika.
Aktualnie zmierza na narade w 'Kamiennym Kregu' ;)

8)44

Spirit Status - sol 45

[bonobo44]

Duch w drodze do Bonneville zatrzymal sie w zaglebieniu terenu nazwanym Pusta
Laguna - i probowal dokopac sie do wody ;)
Jesli nawet by mu sie powiodlo i dokopalby sie do lodu, to zapewne na tym by
sie nie poznal 8(podobnie jak Okazja, ktora nadal biedzi sie nad wykopana przez
siebie dziura).
Za to pokonal juz 1/3 trasy do krateru Bonneville:
marsrovers.jpl.nasa.gov/gallery/press/spirit/20040218a/xpe_sol45_map-A045R1.jpg


8)44

Sol 48 - Duch 3 dni po polmetku...

[bonobo44]

...zaplanowanego na 90 dni okresu zywotnosci:

Po ostatnich wykopkach cos bardzo sie zepsul obraz z przedniej kamery:
marsrovers.jpl.nasa.gov/gallery/all/2/f/048/2F130640364EDN09BVP1402R0M1.HTML

na szczescie obraz mikroskopowy jest nadal niczego sobie
[pewnie ze wzgledu na oslone stosowana, gdy nie uzywana]:
marsrovers.jpl.nasa.gov/gallery/all/2/m/048/2M130621067EFF09BVP2934M2M1.JPG

8)44

[Gość: michal_pilot]

> Po ostatnich wykopkach cos bardzo sie zepsul obraz z przedniej kamery:

przeczytaj dokladnie - to zdjecie zostalo wykonane przez "hazard avoidance
camera", nie glowna pancam o najwyzszej jakosci.

Sol 50 - Duch podejmuje podroz do Dobrego Miasta

[bonobo44]

<<Plans for sol 50 (ending at 2:35 p.m. Monday, PST) call for finishing
inspection of the trench, then resuming the journey toward the rim of a crater
dubbed "Bonneville," followed by a longer drive the following sol.>>

Zdjecia z Rront Hazcam nie potwierdzaja zanieczyszczen na obiektywie tej kamery:
marsrovers.jpl.nasa.gov/gallery/all/2/f/050/2F130805090EFF09EHP1201R0M1.HTML

Najwyrazniej na Marsie wieja Bonne Vents i oczyscily optyke Ducha, albo tez byl
to wynik szczegolnego oswietlenia (dziwne to, bo zdjecie nie bylo robione pod
slonce, a wrecz przeciwnie ;)


Selon le vent, Esprit !

8)44

Moja pierwsza wycieczka na Marsa - Atticus Fault

[bonobo44]

Obudzila Ducha w Spirycie, ktory w przeddzien swieta 8 marca, chcac
najwyrazniej podwojnie uczcic wszystkie kobiety (z kazdej strony
kuli ziemskiej) zblizyl sie rowno na 88 m do celu swojej podrozy,
jakim jest Dobre Miasto.
Nalezy oczekiwac, ze dotrze tam przed uplywem 90-dniowego terminu gwarancji,
a niektorzy oczekuja nawet, ze wytrzyma tam pelne 9 m-cy az do wydania na swiat
malych spirytusiatek ;)

8)44

<< sol 62, Mar 07, 2004
During its 62nd sol on Mars, ending at 10:30 p.m. Saturday, PST, NASA's Spirit
advanced about one-fifth of the remaining distance between where it began the
sol and its mid-term destination, the rim of the crater nicknamed "Bonneville."
In the martian afternoon, Spirit took images and infrared readings of the area
right in front of its stopping place to support the following morning's close-
up inspection of that new location with instruments on the rover's robotic arm.
Spirit drove 26.15 meters (85.8 feet) on sol 62, bringing its odometer total to
250.71 meters (822.5 feet). Some of the drive maneuvered around obstacles. The
net gain in the northeasterly direction toward the crater rim was 22 meters (72
feet), and that destination was estimated to be about 88 meters (289 feet) away
from Spirit's new location. The miniature thermal emission spectrometer was
used for ground and sky observations both before and after the drive.
The wake-up song for the sol was "My First Trip to Mars," by Atticus Fault.
For sol 62, ending at 11:10 p.m. Sunday, PST, Spirit's agenda is to drive on
toward the crater rim after using the microscope and spectrometers on its arm
to inspect the site where it wakes up.
>>
marsrovers.jpl.nasa.gov/mission/status.html

Rzut oka w glab krateru Bonneville

[bonobo44]

66 sol:
www.jpl.nasa.gov/mer2004/rover-images/mar-11-2004/01-cl-01-site17crop-med.jpg


"On Sol 67, which will end at 1:48 a.m. PST March 12, 2004, Spirit will drive
about 14 meters (46 feet) to a better vantage point on the crater rim and
continue to investigate Bonneville with the panoramic and navigation cameras."

Duch pokrecil sie i przycupnal na krawedzi, probujac zebrac sie na odwage i
zjechac do tej dziury ;)

sol 71 - 16 III wkrotce Spirit zjedzie do krateru

[bonobo44]

Bonneville w kolorze:
marsrovers.jpl.nasa.gov/gallery/press/spirit/20040315a/x_pubeng_bonnevillecolor-A071R1_br2.jpg


i w 3D:
marsrovers.jpl.nasa.gov/gallery/press/spirit/20040312a/x_pubeng_Bonneville_anaglyph-A068R1.jpg


8)44

sol 78 - Spirit szczesliwie nie zjechal do krateru

[bonobo44]

szczesliwie, bo jego odpowiednik po drugiej stronie Marsa ma klopoty z
wyjechaniem z o wiele mniejszego:
forum.gazeta.pl/forum/72,2.html?f=32&w=10365084&a=11528739

8)44

Sol 89 - Spirit - jutro upływa okres gwarancji 8)

[bonobo44]

Jutro dobiega konca 90-dniowy okres gwarancyjny Ducha.
W trakcie 87 sol przejechal 36 m wzdluz brzegu krateru Bonneville
(po jego zewnetrznej stronie), a wczoraj (88 sol) kolejne 35 m, kierujac sie w
strone Wzgorz Columbii na horyzoncie.
marsrovers.jpl.nasa.gov/gallery/press/spirit/20040402a/x_pubeng_sol87_ennd-of-drive-A088R1.jpg

W dniu dzisiejszym mial wykonac kolejny tygrysi skok w tamtym kierunku.
Do wzgorz dotrze zapewne w okolicach wakacji, pod warunkiem, ze bezproblemowo
zdubluje okres gearancyjny.

8)44

Sol 91 - Spirit - minal juz okres gwarancji

[bonobo44]

"The rover team at JPL had checked off the next-to-last box for mission success
two days earlier, when a drive of 50.2 meters (165 feet) took Spirit's total
travel distance over the 600-meter."

50 m to obecnie rekordowy dzienny przebieg ziemskiego pojazdu na innej planecie
(nie zaliczam do nich naszego Ksiezyca, rzecz jasna 8)

[Gość: michal_pilot]

znakomite zdjecie. A wiesz co to jest ten dziwny obiekt po drugiej stronie
krateru ??

[bonobo44]

Gość portalu: michal_pilot napisał(a):

> znakomite zdjecie. A wiesz co to jest ten dziwny obiekt po drugiej stronie
> krateru ??

Twierdza, ze to oslona cieplna Spirita...
ale rownie dobrze moze to byc jakas futurystyczna, swiezo odslonieta przez
wiatr, marsjanska rzezba sprzed 3-go z rzedu naszego okresu zlodowacenia ;)

Nad podziw wszystko sie swietnie rozwija, nieprawdaz?
Gdyby im sie udalo dotrwac do wrzesnia - jak pisales - to byloby naprawde cos.
(A jesli skresla dzialajace po tym okresie misje ze wzgledu na - dajmy na to -
brak srodkow, to bedzie prawdziwy skandal. No ale to juz chyba nadmiar
optymizmu z mojej strony... 8)


8)44

[Gość: michal_pilot]

to bylo moje "trick" qusetion. Oczywiscie, to oslona. Szkoda ze nie zdecydowali
sie do niej pojechac - ze zdjec satelitarnych widac ze ona zrobila niezla
bruzde w ziemi. Ale moze doszli do wniosku ze to malo ciekawe - tak jak podobno
male ciekawe naukowo jest samo wnetrze tego krateru.

Slyszalem ze wbrew poczatkowym spekulacjom ze koniec lazika bedzie najbardziej
prawdopodobnie spodowany zabrudzeniem baterii slonecznych - twierdza ze raczej
bedzie to jakies hardware "failure". Jakkolwiek nadchodzi marsjanska zima i
bedzie mniej slonca to podobno nie bedzie to wielkim problem - po prostu lazik
bedzie mial dluzsze przestoje. Juz teraz podobno lazik bierze dni "off" podczas
ktorych nic nie robi tylko laduje baterie.

[Gość: michal_pilot]

wczoraj widzialem model lazika w skali 1:1. Trudno sobie wyobrazic jaki to
stosunkowo duzy pojazd zanim sie przy nim nie stanie.

[Gość: MW]

Pozwolę sobie wtrącić małą wstawkę ilustrującą nieco wyraźniej to, o czym
dyskutujecie:
republika.pl/z_motyka/mw/spirit9.jpg

Sol 94-98 zmiana oprogramowania Spirit

[bonobo44]

"w locie" zakonczy sie w lany poniedzialek.
nalezy wierzyc, ze zaloga naziemna nie obleje i tego egzaminu.

Sol 98 Spirit przeladowal pomyslnie ...

[bonobo44]

zeby tylko byl w stanie ruszyc jutro wysiegnikiem badz kolkiem ;)

8)44

[Gość: michal_pilot]

dzieki nowemu software podobne bedzie mogl pokonywac wieksze dystanse kazdego
dnia. Oni chca dojechac do tych pagorkow ...

Sol 100 Spirit pokonal 64 m (rekord dobowy) En/txt

[bonobo44]

SPIRIT UPDATE: A Century of Sols on the Surface - sol 100, Apr 15, 2004

With 100 sols under her belt and 706.5 meters (.44 miles) on her odometer,
Spirit keeps on roving toward the Columbia Hills.

Spirit began sol 100, which ended at 12:35 a.m. PDT, on April 15, 2004, by
closing the doors on the alpha particle X-ray spectrometer, stowing the robotic
arm and backing up from the rock called "Route 66" in preparation for an
afternoon drive. Before taking off, Spirit used the miniature thermal emission
spectrometer to examine a patch of Route 66's surface that had been scrubbed in
a daisy-shaped mosaic of brushings by the rock abrasion tool. In the early
martian afternoon, the rover began a 64-meter (210 feet) drive, Spirit's
longest one-sol drive so far. The final 24 meters (78.7 feet) of the drive were
navigated with the enhanced autonomous navigation capabilities of Spirit's
newly uploaded software. The new software has nearly doubled the meters-per-
hour rate to 32 (105 feet-per-hour).

After the traverse, Spirit completed post-drive imaging and used the miniature
thermal emission spectrometer on sky and ground targets.

Sol 101, which will end at 1:14 a.m. PDT on April 16, 2004, will be a remote
science and driving sol for Spirit as she continues to make her way toward the
Columbia Hills.

marsrovers.jpl.nasa.gov/mission/status.html

Sol 119 - U stop Columbii

[bonobo44]

Tak jak pisalem - Okazja porusza sie po znacznie bardziej interesujacym
terenie. Tak bedzie zapewne dopoki Duch nie osiagnie stop Columbii.
marsrovers.jpl.nasa.gov/gallery/press/spirit/20040428a/07-MW-07-NavCamPan-A113R1_br.jpg

Na Marsjanskie Poloniny

[bonobo44]

Zaczyna robic sie ciekawie 8)44
marsrovers.jpl.nasa.gov/gallery/all/2/p/132/2P138079836EFF5200P2438R1M1.JPG

SPIRIT u stop Columbii bez... kolka

[bonobo44]

Przednie prawe kolo Ducha "pociagnie" jeszcze najwyzej 200 m 8(

<<In a briefing at the Jet Propulsion Laboratory in Pasadena, California,
scientists said the right front wheel motor on the rover Spirit is drawing
increasing amounts of electrical current compared to the other wheel motors.
Mission manager Mark Adler said the motor might only have 200 meters or so of
traveling left before it dies. >>
<<But he noted that the rover could easily operate on five wheels and said
mission managers were considering shutting the wheel off entirely, except for
the toughest climbs up steep terrain. Adler also said the scientists would look
at running tests of the rover's operations on four or even three wheels. >>
story.news.yahoo.com/news?tmpl=story2&u=nm/space_mars_dc

[kpsting]

Rovery zostaly zaprojektowane tak ze moga jezdzic tylko na pieciu pozostalych
kolkach, nawet na trzech jesli teren jest plaski. Na Columbia Hills potrzebuja
jednak wszystkich 6-ciu (IMO) bo ten teren jest o wiele bardziej wymagajacy...
w koncu to gory :-)
I teraz zaczely sie pokazywac wokol niesamowite formacje, ciekawsze od tego co
Spirit spotkal do tej pory. Czesciowo wytrawione (przez wode?) kamienie; skaly
wygladajace jak plyn zastygly w momencie uderzenia o powierzchnie gruntu, teraz
badaja instrumentami taka wlasnie formacje, ktora nazwali "pot of gold"

marsrovers.nasa.gov/gallery/press/spirit/20040615a/SolA_158_P2594_L257_br.jpg
marsrovers.nasa.gov/gallery/press/spirit/20040615a/05-LS-02-Close-A160R1.jpg

[sv-hits]

> Rovery zostaly zaprojektowane tak ze moga jezdzic tylko na pieciu pozostalych
> kolkach, nawet na trzech jesli teren jest plaski.

przeczytalem fascynujaca rzecz w ostatnim tygodniku AW&ST. Ze wzgledu na
fenomenalne przelozenie (okolo 1:1500) transmisji w kolach lazika moc na kolach
jest tak silna ze lazik teoretycznie moglby sie wspiac po pionowym terenie tylko
przy dwoch dzialajacych kolach. Problem jest gdzie indziej - w przyczepnosci kol
do gruntu. Okolo 25 stopni przy ubitym piasku to ok, ale 30 stopni to absolutne
maksimum. Im wiecej kol jest napedzanych tym oczywiscie lepsza przyczepnosc.

Sol 245-255 - koniunkcja Marsa i Slonca

[bonobo44]

po przerwie spowodowanej "zajsciem" Marsa za tarcze Slonca
ponownie nawiazanio lacznosc z lazikiem Spirit

sol 262 - wyczyszczono pamiec flash na przyszle zdjecia i MER-A wraca na powrot
do pracy
marsrovers.jpl.nasa.gov/mission/status.html