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1.1 Mars Pathfinder. Photo courtesy of NASA
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Both the Pathfinder lander and rover have stereo imaging systems. The rover carries an alpha proton X-ray spectrometer that is used to determine the composition of rocks. The lander made atmospherical and meteorological observations and was the radio relay station to Earth for information and pictures transmitted by the rover. Mission objectives The Sojourner rover itself was an experiment. Performance data from Sojourner determined that microrover explorers are cost efficient and useful. In addition to the science that has already been discussed, the following tasks were also performed: Long-range and short-range imaging of the surface of Mars Analysis of soil mechanics Tracking Mars dead-reckoning sensor performance
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In the beginning
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1.2 Sojourner Rover. Photo courtesy of NASA
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Measuring sinkage in Martian soil Logging vehicle performance data Determining the rover s thermal characteristics Tracking rover imaging sensor performance Determining UHF link effectiveness Analysis of material abrasion Analysis of material adherence Evaluating the alpha proton X-ray spectrometer Evaluating the APXS deployment mechanism Imaging of the lander Performing damage assessment Sojourner was controlled (driven) via telepresence by an Earthbased operator. The operator navigated (drove) the rover using images obtained from the rover and lander. Because the time delay between the Earth operator s actions and the rover s response was between 6 and 41 minutes depending on the relative positions of Earth and Mars, Sojourner had onboard intelligence to help prevent accidents, like driving off a cliff.
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NASA is continuing development of microrobotic rovers. Small robotic land rovers with intelligence added for onboard navigation, obstacle avoidance, and decision making are planned for future Mars exploration. These robotic systems provide the best value per taxpayer dollar. The latest microrover currently being planned for the next Mars expedition will again check for life. On August 7, 1996, NASA released a statement that it believed it had found fossilized microscopic life on Mars. This information has renewed interest in searching for life on Mars.
Industrial robots going to work
Robots are indispensable in many manufacturing industries. For instance, robot welders are commonly used in automobile manufacturing. Other robots are equipped with spray painters and paint components. The semiconductor industry uses robots to solder (spot weld) microwires to semiconductor chips. Other robots (called pick and place ) insert integrated circuits (ICs) onto printed circuit boards, a process known as stuffing the board. These particular robots perform the same repetitive and precise movements day in and day out. This type of work is tedious and boring to a human operator. Following operator boredom comes fatigue, and with operator fatigue, errors. Production errors reduce productivity, which in turn leads directly to higher manufacturing costs. Higher manufacturing costs are passed along to the consumer as higher retail prices. In a competitive market the company that provides high-quality products at the best (lower) price succeeds. Robots are ideally suited for performing repetitive tasks. Robots are faster and cheaper than human laborers and do not become bored. This is one reason manufactured goods are available at low cost. Robots improve the quality and profit margin (competitiveness) of manufacturing companies.
Design and prototyping
Some robots are useful for more than repetitive work. Manufacturing companies commonly use computer-aided design (CAD), computeraided manufacturing (CAM), and computer numerical control (CNC) machines to produce designs, manufacture components, and assemble machines. These technologies allow an engineer to design a component using CAD and quickly manufacture the design of the board using computer-controlled equipment. Computers assist in the entire process from design to production.
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Without risking human life or limb, robots can replace humans in some hazardous duty service (see Fig. 1.3). Take for example bomb disposal. Robots are used in many bomb squads across the nation. Typically these robots resemble small armored tanks and are guided remotely by personnel using video cameras (basic telepresence system) attached to the front of the robot. Robotic arms can grab a suspected bomb and place it in an explosion-proof safe box for detonation and/or disposal. Similar robots can help clean up toxic waste. Robots can work in all types of polluted environments, chemical as well as nuclear. They can work in environments so hazardous that an unprotected human would quickly die. The nuclear industry was the first to develop and use robotic arms for handling radioactive materials. Robotic arms allowed scientists to be located in clean, safe rooms operating controls for the robotic arms located in radioactive rooms.
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