Report: July 11th 2001
Devon Island, Nunavut, Canada

- Calibrate and measure performance of the stereo vision system
- Measure total system power capacity
- Install solar panels and measure performance (weather permitting)
- Install and tune panoramic camera system

Status and Progress
- Weather conditions precluded installation of solar panels today and
most tests were performed in mist and light rain. Suffice it to say
that we were very cold by quitting time.

- Calibrated steering parameters in the motion controller by driving
arcs of various radii and recording position. This in necessary because
Hyperion's frame was disassembled for transport.

- Collected stereo image sequences in a variety of terrain. During this
process Hyperion traversed some of the rockiest terrain it has yet
encountered and was stopped by only one 40cm step edge (actually we
stopped it).

- Observed greater control effort is required driving with cold motors.
Initially this resulted in greater torque applied and more position
error. Hill climbing ability may be slightly limited until the
drivetrains warm up. The torque limits are currently very conservative
and for operation near freezing may need to be increased.

- Conducted battery capacity test (at 2C) to determine the discharge
profile for the sun-synchronous mission planner and to determine maximum
run time with zero input power.

- Assembled the panoramic camera mount and adjusted camera.

- Install panoramic camera
- Install solar panels and measure performance (weather permitting)
- Initial autonomous navigation tests
- Scout western Von Braun Planitia and record positions to register the DEM.

Early: Overcast. Mist and light rain. 1C. Breeze 15-20kph. (Max wind
chill -8C)
Late: Overcast. 2C. Breeze 12-18kph.

Quote of the Day
"Robot shutting down to eat and pee. Over..."

  ©2001 Carnegie Mellon University - Robotics Institute