BLOGMARS PERSEVERANCE ROVER


Digging Into Drill Data
Mars Perseverance Sol 374 - Front Right Hazard Avoidance Camera: The turret, halfway through sampling the second core from the rock Sid this March.  During the drive to the delta, the sampling team is reviewing data from this and all previous drilling operations. Credits: NASA/JPL-Caltech. Download image ›

Drilling is on hold while the rover focuses on driving, so the sampling team is off studying the data we have acquired so far.  What kind of information do we get from the drill, and how do the rocks we have drilled so far compare to each other? 

One of the first things we look at is how difficult it was for the drill to make progress through the rock.  The rover has a rotary percussive drill, which means the drill bit pushes against the rock while spinning and hammering.  When we are coring or abrading, an algorithm controls the amount of force and percussion.  We call this algorithm “prodapt,” short for proprioceptive adaptive, because the drill adjusts its settings by sensing and assessing its own performance in real time.  The goal is to try and maintain a certain rate of progress into the rock that isn’t too slow or too fast. The rate we aim for keeps our drill bits healthy and creates high quality cores and abrasions for the scientists.

The prodapt algorithm can range from level 0 to level 20.  Levels 0 through 2 have no percussion at all, which we call rotary only drilling.  (We never do rotary only abrading, so these low levels are only used while coring.)  Level 3 has light percussion, and the percussion and force increase all the way up to the most force and the most percussion at level 20.

If the drill senses that it is not making fast enough progress through a rock, it will increase the prodapt level.  If it senses that it is making progress too quickly, it will decrease the level.  One note: although hard rocks often require higher levels, the interaction between the drill and the rock is complex, so prodapt level doesn’t always match up with rock strength.  A rock might require high drill levels but break easily if a different type of tool was used. 

So which rock required the lowest prodapt levels, and which rock required the highest?  We have done a set of one abrasion and two cores on four different rocks so far:

  • Rochette (August - September 2021)
  • Brac (November 2021)
  • Issole (December 2021 - February 2022)
  • Sid (March 2022)

Let’s start with the rock that required the lowest levels: Issole.  It was so easy to drill that the algorithm dipped into rotary only mode for part of both cores.  The second easiest rock was Brac and the third easiest was Rochette.  Both used prodapt levels in the middle of the range with no rotary only coring.  Finally, the rock that required the highest prodapt levels so far was Sid.  This rock was challenging to drill through, and both cores required some level 20 drilling to maintain the goal rate of progress!

The sampling team is excited to reach the delta and drill in a new area.  In the meantime, the rover continues to make great progress, and has recently reached a total distance traveled of 5 miles (8 km).



About This Blog

These blog updates are provided by self-selected Mars 2020 mission team members who love to share what Perseverance is doing with the public.

Dates of planned rover activities described in these blogs are subject to change due to a variety of factors related to the Martian environment, communication relays and rover status.

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Contributors+

  • Mariah Baker
    Planetary Scientist, Smithsonian National Air & Space Museum
    Washington, DC
  • Iona Brockie
    Sampling Engineer, NASA/JPL
    Pasadena, CA
  • Sawyer Brooks
    Docking Systems Engineer, NASA/JPL
    Pasadena, CA
  • Adrian Brown
    Deputy Program Scientist, NASA HQ
    Washington, DC
  • Denise Buckner
    Student Collaborator, University of Florida
    Gainesville, FL
  • Fred Calef III
    Mapping Specialist, NASA/JPL
    Pasadena, CA
  • Alyssa Deardorff
    Systems Engineer, NASA/JPL
    Pasadena, CA
  • Kenneth Farley
    Project Scientist, Caltech
    Pasadena, CA
  • Phylindia Gant
    Mars 2020 Student Collaborator, University of Florida
  • Brad Garczynski
    Student Collaborator, Purdue University
    West Lafayette, IN
  • Erin Gibbons
    Student Collaborator, McGill University
    Montreal, Canada
  • Louise Jandura
    Chief Engineer for Sampling & Caching, NASA/JPL
    Pasadena, CA
  • Lydia Kivrak
    Student Collaborator, University of Florida
    Gainesville, FL
  • Rachel Kronyak
    Systems Engineer, NASA/JPL
    Pasadena, CA
  • Matt Muszynski
    Vehicle Systems Engineer, NASA/JPL
    Pasadena, CA
  • Avi Okon
    Sampling Operations Deputy Lead, NASA/JPL
  • Pegah Pashai
    Vehicle Systems Engineer Lead, NASA/JPL
    Pasadena, CA
  • David Pedersen
    Co-Investigator, PIXL Instrument, Technical University of Denmark (DTU)
    Copenhagen, Denmark
  • Eleni Ravanis
    Student Collaborator, University of Hawaiʻi at Mānoa
    Honolulu, HI
  • Vivian Sun
    Science Operations Systems Engineer, Staff Scientist, NASA/JPL
    Pasadena, CA
  • Jennifer Trosper
    Project Manager, NASA/JPL
    Pasadena, CA
  • Vandi Verma
    Chief Engineer for Robotic Operations, NASA/JPL
    Pasadena, CA
  • Rick Welch
    Deputy Project Manager, NASA/JPL
  • Roger Wiens
    Principal Investigator, SuperCam / Co-Investigator, SHERLOC instrument, Purdue University
    West Lafayette, IN

Tools on the Perseverance Rover+

The Perseverance rover has tools to study the history of its landing site, seek signs of ancient life, collect rock and soil samples, and help prepare for human exploration of Mars. The rover carries:


CAMERAS & SPECTROMETERS
GROUND-PENETRATING RADAR
ENVIRONMENTAL SENSORS
TECHNOLOGY DEMO
SAMPLE COLLECTION

Where is the Rover?

Image of a rover pin-point at Perseverance's location on Mars, Jezero Crater

View Map ›