Inspection with Robotic Microscopic Imaging

Abstract

Future Mars rover missions wili require more advanced onboard autonomy for increased scienrifl prodmtivity-and redxixdx&&r operztions w s t~ 4nesucch-fsrrn~~tmoiny-e-+xe be achieved by targeting precise science measurements to be made in a singie command uplink cycle. In this paper we present an overview of our soIution to the subproblems of navigating a rover into place for microscopic imaging, mapping an instrument target point selected by an operator using far away science camera images to close up hazard camera inrages, verifying the safety of pIacing a contzct instrament en a sample or finding nearby safe points, and anaIyzing the data that comes back from the rover. The system deieloped includes portions used in the Multiple Target Single Cycle Instrurnent Placement demonstration a t NASA Ames in October 2004, and portions of the MI Toolkit delivered to the Athena Microscopic Imager Instrument Team for the R mission still operating on Mars today. Some of the component technologies are also under consideration for MSL mission infusion.