Island, Nunavut, Canada
Testing started: 9:30 am
Testing finished: 12:30 pm
- Mount pyranometer on robot.
- Perform stereo component testing.
- Perform laser component testing.
- Navigate to waypoints using Hyperion's autonomy system.
- Tune panoramic camera settings.
- Tuned shutter speed, white balance and exposure control on
camera, although perhaps it could be manually focused to get
We may need to re-tune in different lighting conditions.
- Captured 5 sequences of stereo images of robot approaching
a 47 x 37 x
18 cm rock. The time was 10:10 am and the weather conditions
cloudy with a bit of sun.
- Pyranometer attached, although PMAD code must still be updated
to display pyranometer data.
- Robot drove to several waypoints very well. Experienced probably
four or five GPS jumps. Stereo reliably saw Ben. Ben also triggered
an E-stop correctly by tripping the laser. At that point he
also correctly caused a NO_ARCS fault from the Navigator. Therefore
the Health Monitor seemed to be responding to
two common faults properly.
- Fixed a bug in the Mission Plan Tool of the Operator Interface
that incorrectly displayed data when the Navigator reached a
- Took laser and stereo data of robot approaching an obstacle
that was missed during autonomous navigation. Used these data
to tune stereo and laser parameters, hopefully without introducing
too many false obstacles.
- As mentioned above, neither the stereo nor the laser could
detect a 30-40 cm rock in front of the robot's right wheel.
This should have flagged an E-stop, but instead Ben hit the
robot's E-stop switch. See analysis results, above.
- Saw a few more cases of amp 1 disabling, though not as many
as yesterday. Also had trouble backing up onto a rock once.
- Test stereo and laser again in the rock field with the new
- Download new PMAD data to unit on robot and test that pyranometer
data are valid.
- Install panoramic camera on robot.
- Continue battery discharge data analysis, integrate into Mission