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New Rover Conops with High-Performance Onboard Computing: Give Up Raw Data to Reduce Ops Cost and Do More Science
A major portion of time during the tactical operation of Mars rovers is spent for selecting, prioritizing, and coordinating sciences and engineering activities such that they fit within resource constraints, including the downlink data volume, energy, and time. In particular, the downlink data volume constraint is getting particularly tighter in recent missions because modern instruments produce increasingly high data volume while the communication bandwidth is essentially bounded by the law of physics. Tactical operation would be substantially simplified, hence the operation cost could be reduced, if the data volume constraint is relaxed or even removed. In this abstract, we propose a new operation paradigm for achieving this goal. The key observation is that, both in science and engineering applications, the bit size of raw data is typically much greater than the volume of processed information that is needed for scientific or engineering analysis. For example, a full-resolution image from Mastcam-Z, the main science camera on Perseverance, is about 700 kB in volume and we downlinked 29,685 images up to Sol 243, totaling ~20 GB of data. But of course, scientists do not use every pixel of these images; what they really look for in the images are geological features, typically represented by specific geometric configurations or textures. An end product after processing hundreds of Mascam-Z images could be a single geological map summarizing the spatial distribution of the features. For another example, a 100-meter drive of Perseverance produces 7-12 MB of drive telemetry, which records every detail of the rover's motion at 8 Hz, including position, attitude, steering angles, encoder readings, motor currents and many other information. But what the ground engineers eventually pay attention to is the signs of anomaly, such as excessive motor currents or high slip; if a drive is nominal, the vast majority of this data is unused. What if, then, we process the raw data onboard and only downlink the processed data that is relevant to scientific or engineering analyses, such as a list of detected science features (with cropped images) or a list of potential signs of anomaly while driving? A major roadblock for such onboard, high-level information processing has been the onboard computational resource. RAD750, the main onboard computer of Perseverance, is obviously not sufficient for performing complex image or signal processing such as object detection, semantic segmentation, or anomaly detection. Interestingly, RAD750 is not the best processor that Perseverance has; Qualcomm's Snapdragon 801, a modern mobile processor, is on her Heli Base Station, a device for communicating with Mars Helicopter Ingenuity; also, Intel's Atom E3845 processors are on engineering cameras. In the reminder of this paper, we will introduce two particular uses cases of these high-performance co-processors (meaning auxiliary CPU, GPU, or other types of processors that are separate from the main processor that runs the main flight software) for lowering operation cost and accommodating more science activities for a given communication constraint.
WFIP3 DIAL Lidar / Raw Data
This dataset contains raw Differential Absorption Lidar (DIAL) data from Nantucket. The instrument was installed by UND and features a WXT534 Vaisala Weather Transmitter for near-ground measurements.
Leaf temperature raw data, 2015 - 2017, at Manaus, Brazil
This data package contains raw leaf surface temperature data from the NGEE Tropics K34 tower site on a plateau near Manaus, Brazil, including automated and manually collected time series data on leaf surface temperature (thermocouples, IR radiometer, thermocamera). Leaf surface temperature (LST) was determined throughout diurnal periods using individual type T thermocouples (Omega Engineering) on 8 individual leaves of a single tree. Mature leaves at the same height and general area near the tower were selected. LST measurements were taken every 15 s and recorded on a field portable self-powered data logger (OM-CP-OCTTEMP-A, Omega Engineering). Measurements were stopped in the case of a storm or rain which can remove the attached thermocouple wires from the leaf due to large wind-driven branch movements. Included in the attached zip file are six folders: three with LST data in Excel and CSV file formats from both the K34 and B34 towers, one folder with data logger configuration programs that were used for data collection, a fifth folder with PDF files of manuals for instruments used and a final folder with two Excel metadata files. See dataset references for associated metadata package. This dataset replaces the leaf surface temperature data of two retired packages, http://dx.doi.org/10.15486/ngt/1507764 and http://dx.doi.org/10.15486/ngt/1507767
WFIP3 - BARG site - NREL Thermodynamic profiler (Assist II-12) / Raw Data
This dataset contains raw NREL Thermodynamic profiler (Assist II-12) data from the WFIP3 BARG site.
WFIP3 - NOAA ship - NREL Thermodynamic profiler (Assist II-12) / Raw Data
This dataset contains raw NREL Thermodynamic profiler (Assist II-12) data from the WFIP3 NOAA ship. The ship's movement is available in a separate dataset.
WFIP3 - CACO site - NREL Thermodynamic profiler (Assist II-12) / Raw Data
This dataset contains raw NREL Thermodynamic profiler (Assist II-12) data from the WFIP3 CACO site.
UNH TDP - Load Cell Raw Data and Processing Scripts - Fall 2021
This submission contains raw Load Cell data and processing scripts associated with MHKDR submission 394 (UNH TDP - Concurrent Measurements of Inflow, Power Performance, and Loads for a Grid-Synchronized Vertical Axis Cross-Flow Turbine Operating in a Tidal Estuary, DOI: 10.15473/1973860) from the University of New Hampshire and Atlantic Marine Energy Center (AMEC) turbine deployment platform. The user is directed to the MHKDR submission 394 for relevant context and detail of this deployment; see link below. The 394_READ_ME file here provides the description from that submission for quick reference. The READ_ME file for this specific instrument from the 394 submission is also available here. This submission contains a zipped folder structure containing raw data in its original format and MATLAB (2019a) processing scripts used to process and manipulate the data into its final form. The final data products are submitted in the 394 submission.
UNH TDP - Voltsys Raw Data and Processing Scripts - Fall 2021
This submission contains raw Voltsys rectifier data and processing scripts associated with MHKDR submission 394 (UNH TDP - Concurrent Measurements of Inflow, Power Performance, and Loads for a Grid-Synchronized Vertical Axis Cross-Flow Turbine Operating in a Tidal Estuary, DOI: 10.15473/1973860) from the University of New Hampshire and Atlantic Marine Energy Center (AMEC) turbine deployment platform. The user is directed to the MHKDR submission 394 for relevant context and detail of this deployment; see link below. The 394_READ_ME file here provides the description from that submission for quick reference. The READ_ME file for this specific instrument from the 394 submission is also available here. This submission contains a zipped folder structure containing raw data in its original format and MATLAB (2019a) processing scripts used to process and manipulate the data into its final form. The final data products are submitted in the 394 submission.
Raw Data published in PeerJ, 2021 for Crested Butte decomposition field study 2017-2019.
This data package contains text files that describe geochemical measurements collected from 2017-2019 during isolated conifer needle decomposition field studies in Crested Butte, Colorado. The geochemical measurements were collected across three elevations (2,800–3,500 m) ranging from montane to subalpine ecoregions. The data sets within include total carbon and nitrogen content and fourier-transform infrared spectroscopy (FTIR) results for the initial needles collected in 2016 and after decomposition in 2019. Data collection results from August 2020 are also included from when the experimental plots were removed to understand final concentrations of soil extractable carbon and nitrogen content as well as mass balances from litter bag deployments. Soil porewater results are also provided from 2017-2019 for DOC, TN, UV254, and specific UV absorbance (SUVA) analyses at 15 cm soil depth. Gas flux raw data provides CO2, CH4, N2O, and NH3 measurements above needle decomposition over the three study years. Finally, soil samples for microbial DNA extractions were collected from the upper soil depth. This raw data is available in the NCBI SRA database under SRA accession numbers PRJNA605259 and PRJNA715914. These data sets were generated to investigate the isolated decomposition of spruce and lodgepole conifer needles. The goal of this work was to determine the roles of elevation, soil type, seasonal changes in soil moisture, and snowmelt timing on litter decomposition processes. Results from this work are detailed in the reference paper "Effect of elevation, season and accelerated snowmelt on biogeochemical processes during isolated conifer needle litter decomposition. DOI: 10.7717/peerj.11926."
CACO Site - PNNL Surface Flux Station at 4m / Raw Data
This dataset contains raw time series of fast response wind and virtual sonic temperature data (nominal 20Hz) for calculation of the turbulent fluxes; measured at 4 mAGL.
CACO Site - PNNL Surface Flux Station at 10m / Raw Data
This dataset contains raw time series of fast response wind and virtual sonic temperature data (nominal 20Hz) for calculation of the turbulent fluxes; measured at 10 mAGL.
RHOD Site - PNNL Surface Flux Station at 4m / Raw Data
This dataset contains raw time series of fast response wind and virtual sonic temperature data (nominal 20Hz) for calculation of the turbulent fluxes; measured at 4 mAGL.
Raw Data published in PeerJ, 2020 for Lower Subalpine needle decomposition field study 2017-2018
This data package contains text files that describe geochemical measurements collected from 2017-2018 during isolated conifer needle decomposition field studies at the Lower Subalpine region of Washington Gulch in Crested Butte, CO. The files within include total carbon and nitrogen (CN) content and fourier-transform infrared spectroscopy (FTIR) results for the initial needles collected in 2016 and after decomposition in October 2018. DI water extractions were conducted with the initial harvested needles in 2016 to determine extractable dissolved organic carbon (DOC), total nitrogen (TN), UV absorbance at 254 nm (UV254), and specific UV absorbance (SUVA). This dataset also includes soil extractable DOC, TN, nitrate, nitrite, ammonium, total organic nitrogen (TON), and pH results from soil collections in 2017. Soil porewater results for DOC, TN, UV254, and SUVA analyses at 15 cm soil depth are also provided from 2017-2018. Gas flux raw data provides CO2, CH4, N2O, and NH3 measurements above needle decomposition over the two study years. Finally, soil samples for microbial DNA extractions were collected from the upper soil depth. This raw data is available in the NCBI SRA database under SRA accession number PRJNA605259. These datasets were generated to investigate the isolated decomposition of spruce and lodgepole conifer needles. The goal of this work was to understand how needle litter impacts terrestrial biogeochemical carbon and nitrogen cycling. Results from this work is detailed in the reference paper "A comparison of lodgepole and spruce needle chemistry impacts on terrestrial biogeochemical processes during isolated needle decomposition. DOI: 10.7717/peerj.9538."
UNH TDP - Shark Meter Raw Data and Processing Scripts - Fall 2021
This submission contains raw Shark Power Meter data and processing scripts associated with MHKDR submission 394 (UNH TDP - Concurrent Measurements of Inflow, Power Performance, and Loads for a Grid-Synchronized Vertical Axis Cross-Flow Turbine Operating in a Tidal Estuary, DOI: 10.15473/1973860) from the University of New Hampshire and Atlantic Marine Energy Center (AMEC) turbine deployment platform. The user is directed to the MHKDR submission 394 for relevant context and detail of this deployment; see link below. The 394_READ_ME file here provides the description from that submission for quick reference. The READ_ME file for this specific instrument from the 394 submission is also available here. This submission contains a zipped folder structure containing raw data in its original format and MATLAB (2019a) processing scripts used to process and manipulate the data into its final form. The final data products are submitted in the 394 submission.
CNCS raw data for NaFeSi2O6 at T = 1.7 K and magnetic field 14 T.
CNCS raw data for NaFeSi2O6 at T = 1.7 K and magnetic field 14 T.
WFIP3 - BLOC site - CU Profiling Lidar (Windcube v1) / Raw data
This dataset is from WFIP3 BLOC site WindCube v1 Profiling Lidar / Raw Data from CU Boulder. Please note that the .sta files are in human-readable text, while the .rtd files require some processing software that is not easily automated. We plan to process the .rtd data following the campaign, but if you wish to try it sooner, we can make it available upon request.
WFIP3 - BLOC site - CU Profiling Lidar (Windcube v1) / Raw data
This dataset is from WFIP3 BLOC site WindCube v1 Profiling Lidar / Raw Data from CU Boulder. Please note that the .sta files are in human-readable text, while the .rtd files require some processing software that is not easily automated. We plan to process the .rtd data following the campaign, but if you wish to try it sooner, we can make it available upon request.