Recent Advances: Onboard Autonomous Science Investigation System

Details Recent Advances: Onboard Autonomous Science Investigation System Recent Advances: Onboard Autonomous Science Investigation System

Dec 2004

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2004agufm.p43a0913c&link_type=abstract

American Geophysical Union, Fall Meeting 2004, abstract #P43A-0913

Physics

6225 Mars

Scientific paper

The Onboard Autonomous Science Investigation System (OASIS) uses images taken by planetary rovers to automatically assign an importance value to each image. This importance ranking is based on the rocks found in the images. The ranking can be used to establish, onboard, a priority of the data that will be transmitted to Earth, thus increasing the overall quality of bandwidth-constrained, or time-constrained, downlinks. In addition to prioritization, the onboard analysis results can be used to recognize new science opportunities through a "science alert" feature that triggers new rover activities (e.g. acquire an additional image). New science targets and measurements are then generated and added to the rover's task list through a planning and scheduling component of the system. After providing a system overview of OASIS, we describe our recent advances in integrating with and using the Jet Propulsion Laboratory's FIDO rover. OASIS can now autonomously perform the following sequence of steps: analyze gray scale imagery to find rocks in the scene (already implemented onboard the rover), extract properties of the rocks, identify rocks with interesting features, re-task the rover to take additional imagery of the identified target and then allow the rover to continue on its original mission. In addition, we will also describe the early 2004 ground test validation of specific OASIS components on JPL Mars Yard image sets and selected Mars Exploration Rover (MER) images.

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