Tag: Ingenuity

Ingenuity’s next flight and the plans beyond

1:19 pm

Overview map
Click for interactive map.

In an update posted today written by Ingenuity pilot Martin Cacan, he outlined the engineering team’s goal for the Mars’ helicopter’s next flight, its nineteenth.

This flight, which will take place no earlier than Friday, Jan. 7, takes the scout vehicle out of the South Séítah basin, across the dividing ridge, and up onto the main plateau. The precise landing target for Flight 19 is near the landing site of Flight 8. Images taken during Flight 9 by the rotorcraft’s high-resolution Return-To-Earth (RTE) camera were used to select a safe landing zone.

…Spanning 207 feet (63 meters), this flight will last about 100 seconds at a groundspeed of 2.2 mph (1 meter per second) and altitude of 33 feet (10 meters) while taking 9 new RTE images. The final act of the flight is to turn nearly 180 degrees to flip the RTE camera to a forward-facing orientation for future flights toward the river delta. [emphasis mine]

The green line in the map to the right indicates the exact path, going about 207 feet to the northeast. The red dot marks the location of Perseverance on December 8, 2021, the last time the Perseverance science team updated their map showing the rover’s travels.

The highlighted words are the most important. Cacan also said this in his update:

The current mission goal is to reach the Jezero river delta to aid the Perseverance rover in path planning and scientific discovery.

Assuming the helicopter continues to function correctly, their next flights will apparently be aimed towards the delta. Whether that path will follow the planned route marked by the dashed yellow line, or cut straight across, is not clear. If the latter, that implies they have revised Perseverance’s planned route so that it also cuts straight across from about the point of Ingenuity’s next landing site.

More likely Cacan was not speaking literally, and that the route Ingenuity will take to the delta will follow the planned route, around that crater to the northeast.

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Ingenuity successfully completes its 18th flight

1:26 pm

According to a JPL Twitter post today, on December 15th Ingenuity successfully completed its 18th flight, flying 754 feet for just over two minutes.

The plan had been to continue north to cross the rough Seitah region as the helicopter heads back to the spot where Perseverance initially dropped it. Though at this moment no specific information about the flight’s direction or landing place have been revealed, its success suggests it went exactly as planned.

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Where Ingenuity and Perseverance presently sit in Jezero Crater

9:15 am

Perseverance and Ingenuity, December 8, 2021
Click for interactive map.

The map to the right, annotated to post here, shows the present location of the rover Perseverance (the red dot) in relation to the 17th flight of the helicopter Ingenuity (indicated by the green line and dot) that successfully occurred on December 5, 2021.

Perseverance has been very very very very slowly retreating south, following the same route it took to move into the rough sand dune region the scientists have dubbed Seitah. Based on their long term plans, the rover will retrace its path (the white dotted line) to its landing site, and then continue along the yellow dashed line to eventually reach the base of the delta, dubbed Three Forks, that in the distant past poured through a gap in the rim of Jezero Crater.

The helicopter meanwhile is also retracing its flights, heading north to the spot where Perseverance first placed it on the ground. Because of the seasonally thinner atmosphere, the helicopter’s flights during that return journey must be shorter, which is why the 17th flight only traveled halfway across Seitah. In crossing it the first time it had done so in one flight. Now it will take two.

During that 17th flight it appears that the topography between the rover and the helicopter’s landing site caused a loss of communications as the helicopter was landing.

The Ingenuity team believes the 13-foot (4-meter) height difference between the Perseverance rover and the top of Bras [an outcrop] contributed to the loss of communications when the helicopter descended toward the surface at the end of its flight.

That loss of communications apparently caused no problems, but it will likely mean that Ingenuity will do no more flights until Perseverance can get closer and better positioned.

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Ingenuity’s images from 16th flight on November 21st

11:18 am

Ingenuity color image from 16th flight
Click for full image.

Cool image time! The photo to the right, reduced and enhanced to post here, was the first color image taken by Ingenuity during its 16th flight on Mars on November 21st. The picture was taken about fifteen seconds after take-off, and I think looks west toward the rim of Jezero Crater in the distance.

The flight itself was relatively short, essentially a quick hop about 380 feet to the north to land at the edge of the rough area dubbed Seitah. The team is going to slowly take the helicopter back to its initial landing field, Wright field, over several hops. This was the first.

If you want to peruse all 113 images from the flight, go here and set the sol range from 268 (November 20) to 274 (November 26). That will show all 113 images taken during the November 21st flight.

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Ingenuity completes 16th Mars flight

9:38 am

According to a tweet by the Ingenuity team, the Mars helicopter successfully completed its 16th flight on Mars on November 21st.

“#MarsHelicopter continues to thrive!” mission personnel wrote in a tweet posted Monday (Nov. 22). “The mighty rotorcraft completed its 16th flight on the Red Planet last weekend, traveling 116 meters northeast for 109 seconds. It captured color images during the short hop, but those will come down in a later downlink.”

No images have as yet been downloaded from the flight.

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Video of Ingenuity’s 13th flight

11:47 am

Using the high resolution camera on Perseverance, the science team has now released two videos taken of Ingenuity’s 13th flight on Mars, on September 4, 2021.

One is a very wide view, which makes it hard to see the helicopter. The closer view can be seen here.

At the beginning of the video, Ingenuity is near the lower left of frame, at a distance of about 980 feet (300 meters) from the rover. It climbs to an altitude of to 26 feet (8 meters) before beginning its sideways translation. The helicopter leaves the camera’s field of view on the right. Soon after, the helicopter returns into the field of view (the majority of frames that did not capture helicopter after it exited the camera’s field of view were purposely not downlinked from Mars by the team) and lands at a location near its takeoff point.

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Ingenuity’s 16th Martian flight is now scheduled for November 18

9:27 am

According to an update today from the Ingenuity science team, Ingenuity’s sixteenth flight on Mars is scheduled for no earlier than November 18th, and will be a relatively short hop of about 100+ meters to the north, compared to previous flights.

It appears the roughness of the terrain on this flight can cause an accumulating error in its flight software. Because the landing area is also rough, they want to bring the helicopter down sooner to make sure it lands close to where it should.

The present plan is to hop north to return to the location of Ingenuity’s first flight, at Wright Brothers Field. Along the way they will also consider installing an update in the flight software to improve the helicopter’s capabilities.

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Ingenuity completes 15th flight

9:04 am

Ingenuity landing on November 6th
Click for full image.

No details have been released, but based on the latest raw images downloaded from the Mars rover Perseverance today, the helicopter Ingenuity successfully completed its 15th flight in Jezero Crater yesterday.

The image to the right is the last of five released this morning, showing the helicopter’s shadow on the ground, just before Ingenuity touched down. Note how the shadow of Ingenuity’s four legs appear oriented level relative to the ground. While the first of the five images shows the shadow tilted, as if the helicopter is making a last turn, the last four photos all show the legs oriented properly.

We will have to wait now for official confirmation.

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Ingenuity next flight will begin route retracing its path

9:20 am

Overview map

The Ingenuity engineering team has revealed that the helicopter’s 15th flight on Mars will have it begin retracing its steps, following approximately the same flight route as it heads back towards Perseverance’s landing site in Jezero Crater.

Flight #15 is the start of our journey back to Wright Brothers Field [the helicopter’s initial flight test area just north of the landing site]. Taking place no earlier than Saturday, Nov. 6 at 9:22 a.m. PT, or 12:03 LMST (local Mars time), the 254th sol (Martian day) of the Perseverance mission, Flight #15 will return Ingenuity back to the Raised Ridges region, imaged in Flight #10. In this flight the helicopter will traverse 1,332 feet (406 meters) during 130 seconds of flight, travelling at 11.1 mph (5 mps) groundspeed. We’ll capture color return-to-earth (RTE) high resolution (13MP) images, one post-takeoff pointed to the SW, and nine pointed toward the NW along the flight-path. Nominal altitude for the flight is expected to be 39.3 feet (12 meters) above ground level.

This will be the second flight of Ingenuity during Mars’ summer low air-density, requiring that the rotor blades are spun at 2,700 RPM to compensate. This flight will generate critical high-RPM motor performance, which the team will use to design and tailor upcoming low-density flights in the months ahead.

Perseverance is presently sitting in an area they have dubbed Seitah, a region the rover skirted around to get to this point. I had hoped both the helicopter and rover would return to the north cutting across Seitah and thus scout out new terrain. Instead, it appears that both the rover and helicopter will return as initially planned, traveling over the same ground both took to get where they are today.

In other words, the teams have decided to take the safest route, though it will provide them much less new science data. While this might seem prudent, it really appears overly cautious, based on the capabilities of Perseverance and the roughness of the terrain in Seitah. Curiosity is presently traveling across far more difficult terrain in the mountains at the foot of Mt Sharp, and it is doing so with wheels that are damaged and not as well designed as Perseverance’s. Not roving in uncharted terrain seems a waste of Perseverance’s capabilities.

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Ingenuity completes 14th flight on Mars

11:31 pm

Ingenuity's shadow below it during 14th flight
Ingenuity’s shadow below it during 14th flight.
Click for full image.

On October 24th, Ingenuity successfully completed its 14th flight on Mars, a short test hop up and down to see if the helicopter could function properly as the air pressure in the Martian atmosphere drops due to seasonal variations.

As planned, the helicopter executed its first 2,700 rpm flight, proving that Ingenuity is capable of flying in the weeks and months ahead on Mars, during which seasonal changes on the surface will result in decreases in air density. The short 23-second flight included a peak altitude of 16 feet (5 meters) above ground level, with a small sideways translation of 7 feet (2 meters) to avoid a nearby sand ripple.

I predict the next flight will head north, leap-frogging past Perseverance to get a better view of the South Seitah area so that the rover team can decide whether they can continue north through that terrain or retreat backwards.

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Ingenuity’s 14th flight scrubbed by helicopter

10:22 am

Though Ingenuity successfully completed a preflight high speed test of its rotors on September 15th, when it came time to do its fourteenth flight two days later, intended as a short airborne test of that high speed, the helicopter’s computer sensed an issue prior to take-off and scrubbed the flight.

The goal of the high speed test and short flight were to see if Ingenuity could fly during the winter months when the atmosphere of Mars is thinner, thus requiring a higher rotor speed. Initially it was not expected the helicopter would still be operational at this point, so this is another example of it pushing its expected capabilities. The scrub however might be signalling the end date for Ingenuity, related to servo motors that help control the helicpoter:

Ingenuity performs an automated check on the servos before every flight. This self-test drives the six servos through a sequence of steps over their range of motion and verifies that they reach their commanded positions after each step. We affectionately refer to the Ingenuity servo self-test as the “servo wiggle.”

The data from the anomalous pre-flight servo wiggle shows that two of the upper rotor swashplate servos – servos 1 and 2 – began to oscillate with an amplitude of approximately 1 degree about their commanded positions just after the second step of the sequence. Ingenuity’s software detected this oscillation and promptly canceled the self-test and flight.

Our team is still looking into the anomaly. To gather more data, we had Ingenuity execute additional servo wiggle tests during the past week, with one wiggle test on Sept. 21, 2021 (Sol 209) and one on Sept. 23, 2021 (Sol 211). Both of the wiggle tests ran successfully, so the issue isn’t entirely repeatable.

One theory for what’s happening is that moving parts in the servo gearboxes and swashplate linkages are beginning to show some wear now that Ingenuity has flown well over twice as many flights as originally planned (13 completed versus five planned). Wear in these moving parts would cause increased clearances and increased looseness, and could explain servo oscillation. Another theory is that the high-speed spin test left the upper rotor at a position that loads servos 1 and 2 in a unique, oscillation-inducing way that we haven’t encountered before.

Because communications with Mars are now paused for two weeks because the Sun is in the way, the engineering team is holding off further tests until communications resume.

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Perseverance as seen from orbit

12:00 pm

Perseverance as seen from orbit
Click for full image.

Overview map
Click for interactive map.

The science team for the high resolution camera on Mars Reconnaissance Orbiter (MRO) have snapped a picture of Perseverance at its present location in Jezero Crater.

The first image to the right, cropped to post here, shows the rover as a white dot to the right of the two long sand dunes. If you look close image, you can see the rover’s tracks near the bottom of the image.

Ingenuity is likely also in the full image, but is likely too small for MRO’s high resolution camera to pick out.

The second image is a overview map. The green dot marks the rover’s position, with the red dot Ingenuity’s present position. The dotted white line shows the route the rover has taken so far. The light brown line indicates the flight paths for all of Ingenuity’s flights. The yellow dotted line indicates the future planned route of Perseverance.

With Mars about to slip behind the Sun, communications with both rovers, Perseverance and Curiosity, as well as all the orbiters, will shortly go silent for about two weeks.

When that pause ends, the question will be where Perseverance goes next. The original plan was to retreat back along its previous path, going to the southeast before heading north past the landing site. I strongly suspect that they will instead head directly to the landing site, going to the northeast across the rough terrain, both to see something new as well as further test the rover’s ability to travel tougher ground.

They avoided that area initially because they were still in the rover’s check out period. Now that they know it works, there is no reason to avoid that ground, especially because it will be ground they have not viewed before. They could even use Ingenuity to scout it out more thoroughly.

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Ingenuity completes 13th flight

9:15 am

Ingenuity landing on September 5, 2021
Click for full image.

Though the full slate of images taken has not yet been released, it appears from the five images available that the thirteenth flight of Ingenuity on September 5, 2021 ended successfully. The photo to the right is the last available, and shows the helicopter’s shadow on the ground mere seconds before touch down. The landing legs’ shadows suggest it is oriented properly for that landing.

No word yet on how successful the flight itself was. The goal had been to fly back over the South Seitah area from a different angle and lower altitude, getting different perspectives of the ridges there to help plan Perseverance’s coming travels across that terrain.

The second picture below, cropped, reduced, and enhanced to post here, was taken about forty minutes before take-off by Perseverance and captures Ingenuity in the lower left, as indicated by the arrow.
» Read more

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China building Ingenuity copycat

9:36 am

Ingenuity vs China

China’s space program revealed yesterday that it is designing its own Mars helicopter for future missions to the Red Planet.

The picture to the right shows this Chinese helicopter prototype on the bottom, with Ingenuity on Mars on top.

Notice the similarity? In fact, one could almost say that the Chinese helicopter is an outright steal of the JPL design.

But then, why not? According to an 2019 inspector general report [pdf], China hacked into JPL’s computers twice from 2009 to 2017 and stole 500MB of data. That data almost certainly included the design plans for Ingenuity, under development at the time.

Copying the work of others is expected, especially when that design is found to work. In this case however it almost certainly isn’t copying, but outright theft.

Of course, that has been par for the course for China’s space program. They don’t appear to be capable of innovating on their own. They first must steal someone else’s design, and then revise and upgrade from that. Their final products might be of high quality, but in the end their long term ability to build something new is going to be severely limited, if they cannot start inventing things on their own.

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Perseverance’s upcoming targets: sand ripples, rocks, and a lot of dust

2:17 pm

Ingenuity's view during 12th flight

Cool image time! The photo to the right was one of ten color images taken by Ingenuity on its twelfth flight on August 15, 2021. This photo is one of two images looking the same area from slightly different positions in order to create a stereoscopic view, with the other image found here.

The ground the helicopter was scouting, dubbed South Seitah, is an area that the Perseverance team hopes to send the rover. Ingenuity’s images from this flight will not only tell them whether the terrain is safe to traverse, it will allow them to map out a route that will avoid problems while effectively targeting the most interesting rocks.

The photo shows a lot of Martian dust, with a good portion forming small sand dune ripples. The rocks appear to be bedrock pavement stones, which because these are on the floor of the crater and the lowest elevation, likely hold the oldest geology that Perseverance will see on its journey in Jezero Crater. For this reason the science team is spending a lot of time studying that floor, and will make probably several drilling attempts to obtain samples.

The terrain in general looks entirely safe for the rover to travel. I expect the science team will thus continue north, crossing to North Seitah, rather than backtrack and travel over already traversed ground. Initially they had decided to avoid this ground because they feared it might be too rough for the rover. I suspect they were just being overly cautious at the start of the mission, and will now work past that fear.

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Ingenuity’s 12th flight successful

9:15 am

Ingenuity's shadow just before landing.

According to the Perseverance science team, the Mars helicopter Ingenuity successfully completed its twelfth flight on Mars early yesterday, making a short scouting round trip over an area called South Seitah to provide images that the team can use to plan the rover’s future route.

All told, Ingenuity flew just under 1,500 feet flying about 30 feet above the ground for just under three minutes. The picture to the right was taken just before landing, and shows the helicopter’s shadow on the ground. It is one of six so far downloaded. The remaining images will follow later.

The announcement was made on Twitter, and included some embarrassingly over-the-top prose:

The #MarsHelicopter’s latest flight took us to the geological wonder that is the “South Séítah” region.

South Seitah is hardly a “geological wonder”. It is a sandy area with some rocks and interesting geology.

I’m not sure why, but the Perseverance rover team seems prone to do this with their press releases and announcements. The claim they make over and over that Perseverance’s prime mission is to look for ancient life is junk Now they call a relatively undistinguished and small area on a crater floor a “wonder.”

Makes one think they somehow feel a need to justify what they are doing, something that is patently absurd. They are controlling a robotic rover and helicopter tens of millions of miles away as both explore a place on another planet no one had ever visited before. That certainly is spectacular enough, and does not need purple prose to justify.

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Ingenuity’s next flight

1:17 pm

Ingenuity's flight plane for 12th flight
Click for full image.

The Ingenuity engineering team today announced their plans for the helicopter’s twelfth flight on Mars, scheduled for early tomorrow.

Ingenuity will climb to an altitude of 10 meters and fly approximately 235 meters east-northeast toward the area of interest in Séítah. Once there, the helicopter will make a 5-meter “sidestep” in order to get side-by-side images of the surface terrain suitable to construct a stereo, or 3D, image. Then, while keeping the camera in the same direction, Ingenuity will backtrack, returning to the same area from where it took off. Over the course of the flight, Ingenuity will capture 10 color images that we hope will help the Perseverance science team determine which of all the boulders, rocky outcrops and other geologic features in South Séítah may be worthy of further scrutiny by the rover.

The map above shows South Seitah in the yellow oval. The yellow line marks Ingenuity’s past flights. The white line marks the path Perseverance has taken south since landing. The dashed lines mark Perseverance’s planned route.

Thus, the helicopter will be obtaining aerial photos of the region in Seitah where the scientists want to send Perseverance, in order to help them pick the best route.

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Ingenuity successfully completes 11th flight

1:14 pm

Ingenuity about to land
Click for full image.

Ingenuity has successfully completed its 11th flight, safely touching down at approximately its planned landing spot. From the science team’s tweet:

[Ingenuity] has safely flown to a new location! Ingenuity flew for 130.9 seconds and traveled about 380 meters before landing.

The image to the right, reduced to post here, was taken mere seconds before landing, and shows the helicopter’s shadow directly below it on the ground.

This particular flight was the first that did not push Ingenuity’s abilities, merely flying in a straight line to put it in a good position for later flights and to keep it ahead of Perseverance.

So far they have only released five images from the flight. Expect the rest to be downloaded from Perseverance in the next few days.

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Ingenuity’s 11th flight scheduled for tonight

10:24 am

Ingenuity's 11th flight plan
Click for interactive map.

The next flight of Ingenuity on Mars is now scheduled for this evening, and will be a much simpler flight than the helicopter’s previous trip.

The map to the right shows the route in blue. The flight is mainly a transfer flight, intended to keep the copter ahead of the rover as they leapfrog from point to point in Jezero Crater. It will actually be the first flight by Ingenuity that does not push its engineering in any major way.

This map, the most up-to-date available, is at this moment about five sols out of date. Perseverance is likely slightly south and to the west of the location shown.

The present plan is for Perseverance to travel to the northwest along the dark ridgeline that Ingenuity will land next to. The rover will then retreat, returning more or less to its landing area and then north to circle around the largest crater on the map and then to head west to the base of the delta to the area labeled “Three Forks”, which is their entrance to the delta’s geology.

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The view of Jezero Crater, from both Ingenuity and Perseverance

1:10 pm

The view from Ingenuity during 10th flight
Click for full image.

Cool image time! Today the Perseverance science team released the 200 images that Ingeniuty took during its 10th flight on July 24, 2021.

The photo to the right was taken about 25 seconds before the helicopter landed, and looks to the southwest. In the foreground can be seen the ridge of rocks and pebbles that the scientists sent Ingeniuty to photograph. In the distance can be seen the rim of Jezero Crater, about 7.5 miles away, with some rounded hills that sit in the crater floor about 5.5 miles away.

The white box indicates the area covered by two high resolution images taken by Perseverance on July 28th that I have combined into the panorama below.
» Read more

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