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  • This left us with a skeleton crew of John Kerr and myself to work the finer issues of setting up the field lab and re assembling the bot until further reinforcements arrive First order of business was to uncrate the bot At 1 5 metric tons DEPTHX is an industrial strength machine rated to 1 000 m ocean depth but this also means it s not something
  • Above Nathaniel Fairfi eld gets to experience the world of the bot at shallow depth Above The busy world of Mission Control at cenote La Pilita This evening Alejandro Davila picked up SwRI researchers Tom Lyons and Ian Meinzen who will be with us
  • voice communications out from the ranch We considered Skype but it doesn t work well when run off satellite relay we were using a customized version of a HughesNet link Above Nacho the main ranch hand at Rancho la Azufrosa brings over one of many loads of sand used to level out the bot garage so that sheets of plywood could be laid down to
  • past three weeks but after an hour or so of pumping electrons into it John breathed a sigh of relief as it became clear that it would work On to the next item on the list The three photos above A windstorm or El Norte had shredded our shade canopy top so we had to evaluate what to do next Temperatures began to rise in the field lab
  • Above The Iguana rock on the bottom of La Pilita at a depth of 105m Above Nathaniel Fairfi eld gets to experience the world of the bot at shallow depth
  • that compensates for the lack o ddb f appropriate ADVM readings was increased to account for up to a 60 second loss of data Success Divers observed a perfect sampling sequence Divers Antonio Fregoso left and Marcus Gary right observe a perfect sampling sequence at 15 meters depth The robot returned with 2 full bags of water samples
  • Above Left to right Alejandro Davila owner of Rancho la Azufrosa Nathaniel Fairfield Marcus Gary and Vickie Siegel look on as DEPTHX gets its final software verification Above Nathaniel Fairfield left and John Kerr load the syntactic foam flotation blocks
  • March 9 2007 Back in the Water John Kerr unhooks the bot from lifting slings as DEPTHX gets wet again in La Pilita The first day back in the water saw positive success in the operations development of
  • Above Probe Arm Solid Sample Collection you can also watch it here Above This small pile of soft sediment was collected at a depth of 50 meters in the cenote La Pilita 40 meters back under the cave edge The sample was collected by the solid
  • to limit the possibility of cross contamination Nathaniel Fairfield and David Wettergreen checked the sonar firing sequence to find that all sonars fire simultaneously Marc Airhart manually drives the robot using a wireless joystick to the point of origin before it begins its missions George Kantor right and John Kerr left taught Marc to
  • Above DEPTHX with its Science Payload probe arm extended left moves in to acquire a biological wall sample right Above DEPTHX begins autonomous mission 7 after dark The bot made a powered descent to 80m and successfully conducted exploration circuits at three depth levels
  • view of the DEPTHX robot with the sampling arm extending to test the operation of the solid core sample device The coring devise is the gray cylinder at the front of the probe Above A four inch purple scorpion was found on the trail walking back from La Pilita These scorpions are common in the caves nearby
  • of business was to top off the charge on the twin litihium ion power stacks used to run DEPTHX since all subsequent electronics check outs are based on being on system power Unbeknownst to us possibly from vibration on the trip down a loose wire on the charging cable crossed circuits and sent full stack voltage 48 volts down a line normally used
  • Above The eye of the bot wide field camera on the Science Payload for DEPTHX Above Bio film on the wall of cenote La Pilita at a depth of 12m
  • John and Robin continued to pack up computers tables cables battery chargers etc to set up at La Pilita and Marcus headed over with the bot hanging from the forklift John Nacho Gilberto and Marcus bolt on the syntactic foam to the bot This was the final step at the field lab in preparing DEPTHX for operations at La Pilita
  • sonar coverage of the cenote walls to augment point density for the production of a high resolution map of the cenote The mission was estimated to take approximately 4 hours DEPTHX prepares to collect a biologic solid core sample from the shallow walls of La Pilita No Return At 1 30am David Wettergreen woke Marcus
  • March 13 2007 The Full Scoop Dom watches as the robot is lowered into La Pilita with two scooper attachments that will be used to sample bottom sediment
  • at a depth of 50 meters in the cenote La Pilita 40 meters back under the cave edge The sample was collected by the solid core sample device on the end of the sample arm Above Biogenic mineral crystal from the walls of La Pilita fell into the frame of the DEPTHX robot during a deep mission These crystals are thought to be forming through
  • monitoring the live data uplink from DEPTHX Current testing is being done on tether for real time performance evaluation Below John Kerr releases the vehicle to begin testing Following a series of warmup runs the vehicle was commanded to undertake a vertical powered descent mission to a maximum depth of 100 m while insuring that it maintained a keep
  • Above A four inch purple scorpion was found on the trail walking back from La Pilita These scorpions are common in the caves nearby Above Image taken with the stage 1 camera on the DEPTHX robot of the wall 50 meters deep in the cenote La Pilita The texture of the wall is likely due to biogenic
  • The DEPTHX team meets in the Palapa left to go over the daily plan right as shown by George Kantor Morning OPS Update to come The group breaks for lunch at La Pilita with the local menu favorite of tacos Afternoon OPS Following lunch the group began repairs and minor
  • of a bot garage for DEPTHX to protect it and the tech crew during assembly the bot was transported to the site in pieces to avoid shock loading of sensitive electronics The day was mainly spent welding framing poles in place for the garage stretching aircraft cable for tarp suspension and running electrical lines into the shipping container for
  • where if all went according to plan they would be picked up by Marcus Gary who was due to begin driving back on February 2 Bill Stone Stone Aerospace Above John Kerr debugs the disconnect board following email discussions with Nigel Jones
  • with a local Tampico based crane company to ship a mobile handler to the site We then began unloading all the electronics modules into the field lab for individual checkout Above about half of the pressure vessels that go inside DEPTHX at the field lab Although it seems like a simple process DEPTHX has over 500 electrical
  • Earnest Franke cleans out the sampling intake for the water sampling system John Spear not shown in photo Jason Sahl John Kerr and Ian Meizen hand on right side discuss the operation of the water sample collection system Inset on lower left
  • Above Dom Jonak left and Nathaniel Fairfield at mission control La Pilita monitoring the live data uplink from DEPTHX Current testing is being done on tether for real time
  • Gary showing an extraordinary collection of eclectic skills welding burning electrical contracting that go well beyond the experience of the average hydrogeology PhD student Marcus who is in charge of site logistics in addition to managing the environmental sensor array for DEPTHX arranged for the transport of a 12 m seagoing shipping container to
  • Above Nathaniel Fairfield left and John Kerr load the syntactic foam flotation blocks Above the conditions we were working under
  • in Colorado far below zero project microbiologist John Spear wrote by email indicating that it reached 25F in Golden but here in Tamaulipas it came as a steady cold downpour Above John Kerr carefully loading Battery Pod 1 into DEPTHX Each of the two Lithium Ion battery stacks contains the energy equivalent of 6 lbs of TNT
  • Above the conditions we were working under Above Marcus Gary ably drives the bot to cenote La Pilita a 4 wheel drive journey of about a kilometer which we successfully completed in about 30 minutes The
  • readings and following entry of the local GPS coordinates which Vickie Siegel collected outside the lab the IMU portion of the guidance system came up with a proper alignment Above Vickie Siegel doing final checkout on the 100m sonar array
  • Above Screen capture from microRAPTOR showing both batteries online and charged a very good thing indeed considering where we were on Tuesday Above Vickie Siegel and John Kerr with DEPTHX at 10pm on February 2 We are now about one day from being fully operational assuming no more field glitches At this
  • Marcus Gary ties into the electricity grid to supply power for La Pilita Mission Control The bot battery charging tent can be seen set up near the water Final
  • depths and got our first look at the bottom of La Pilita where in true planetary robotic tradition features began to acquire names such as the Iguana Rock shown below Above The eye of the bot wide field camera on the Science Payload for DEPTHX
  • crystal from the walls of La Pilita fell into the frame of the DEPTHX robot during a deep mission These crystals are thought to be forming through biologic mediated processes Above A top view of the DEPTHX robot with the sampling arm extending to test the operation of the solid core sample device The coring devise is the gray cylinder at the front
  • Once that was done each cable end was individually sealed to prevent ingress of dust of which there was a lot flying around outside as stormy weather blew in from the north While waiting for the disconnect boards to arrive John Kerr made good use of time by integrating the main cPCI computer housing the science payload computer and two of the sonar
  • Above John Kerr SAS interrogating the bot with the microRAPTOR real time interface tool from the lab Above Screen capture from microRAPTOR showing both batteries online and charged a very good thing indeed considering where we were on Tuesday
  • Image DEPTHX final sonar map of Zacaton Larger image WASHINGTON In late May a NASA funded robot successfully navigated one of the world s deepest sinkholes The mission could be a prelude to a future mission to Jupiter s
  • Above Bio film on the wall of cenote La Pilita at a depth of 12m Above The Iguana rock on the bottom of La Pilita at a depth of 105m
  • Above Vickie Siegel doing final checkout on the 100m sonar array Above John Kerr SAS interrogating the bot with the microRAPTOR real time interface tool from the lab

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