<title>Mars lander robotics and machine vision capabilities for in-situ planetary science</title>

摘要

We overview our recent progress in lander-based robotics for Mars planetary science. Utilizing a 1:1 scale laboratory replica of the NASA Mar Surveyor '98 mission, JPL engineers and Mars science colleagues have demonstrated approaches to lander science functions such as robotic sample acquisition and deposition, end-effector based microscopic viewing, hand- carried science instrument data collection, and science instrument emplacement by a robot. Some of the significant technical advances underlying this simulated Mars flight capability include JPL's innovation of a new lightweight, mechanically stiff, gas deployed telescopic two meter robot arm, and cooperative engineering work with Michigan Tech colleagues on automated visual positioning control of robotic sampling. University of Arizona and JPL have further developed complementary advances in lander-based imaging spectroscopy and its robotic enablement. We outline this work, summarizing its key technical features, and illustrating experimental progress with photographs and an accompanying conference videotape.