SEARCH · Engineering Papers
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
This paper provides a high-level overview of the last major field operations test conducted in 2002 leading up to the MER mision. Objectives, approach, general results, and lessons learned are discussed.
In this paper, we provide a brief overview of the OASIS system, and then describe our recent successes in integrating with and using rover hardware. OASIS currently works in a closed loop fashion with onboard control software (e.g., navigation and vision) and has the ability to autonomously perform the following sequence of steps: analyze gray scale images to find rocks, extract the properties of the rocks, identify rocks of interest, retask the rover to take additional imagery of the identified target and then allow the rover to continue on its original mission. We also describe the early 2004 ground test validation of specific OASIS components on selected Mars Exploration Rover (MER) images. These components include the rockfinding algorithm, RockIT, and the rock size feature extraction code. Our team also developed the RockIT GUI, an interface that allows users to easily visualize and modify the rock-finder results. This interface has allowed us to conduct preliminary testing and validation of the rockfinder's performance.