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Phoenix: Robotic Arm
(RA)
The Phoenix Robotic Arm was used to deploy the
Robotic Arm Camera (RAC) and the Thermal and Electrical
Conductivity Probe (TECP), along with a scoop for
digging and collecting soil. Engineering data from the
RA itself, including motor currents and joint positions,
was used to determine the force exerted by the RA, which
was helpful for safety monitoring and for soil property
analysis.
RA raw data measurements are not archived
in the PDS due to ITAR restrictions. The
derived data are available here. In addition
to data from the RA on Phoenix, data from
the RA on the Payload Interoperability
Testbed at JPL are included for comparison.
RA Derived Data (PDS3)
Geosciences Node Tools
RA Derived
Data (PDS4)
PDS4 is the new standard for
archiving data in PDS. New data sets
submitted to PDS are required to use PDS4,
and many existing PDS3 data sets will be
converted to PDS4 as needed. The Phoenix RA
data set has been converted to PDS4 as a
test. More information about PDS4 is
available at
https://pds.nasa.gov/pds4/about/.
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Root directory |
BUNDLE.XML is a PDS4 label
for the bundle containing the
Phoenix RA data and documents. |
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data_derived directory |
The data_derived directory
contains the PDS4 collection of
derived RA data. The data
files in the PDS4 bundle are
unchanged from the PDS3 archive.
Each data file is described by a
PDS4 label written in XML. The
collection also contains an
inventory table that lists the PDS4
identifier for each data file. |
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data_test directory |
The
data_test directory contains
the PDS4 collection of data from
experiments with the JPL testbed
robotic arm. These files are
unchanged from the PDS3 archive, but
they now have PDS4 labels written in
XML. The collection also contains an
inventory table that lists the PDS4
identifier for each data file. |
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document directory |
The document directory
contains the PDS4 collection of
documents related to the RA derived
data and test data, including descriptions of the RA instrument
and data set, a readme.txt file, and
an inventory table that lists the
PDS4 identifier for each document. |
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miscellaneous directory |
The miscellaneous
directory contains a collection of
files related to RA commands. These
include ACTIVITY.CSV and
ACTIVITY_TABLE_DESC.TXT files from
the PDS3 archive. There is also an
inventory table that lists the PDS4
identifier for each file. |
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