{"id":497,"date":"2022-01-13T16:46:28","date_gmt":"2022-01-13T16:46:28","guid":{"rendered":"https:\/\/labs.ri.cmu.edu\/moonranger\/?p=497"},"modified":"2022-01-13T17:05:26","modified_gmt":"2022-01-13T17:05:26","slug":"titanium-camera-mount","status":"publish","type":"post","link":"https:\/\/labs.ri.cmu.edu\/moonranger\/titanium-camera-mount\/","title":{"rendered":"Titanium Camera Mount"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"497\" class=\"elementor elementor-497\" data-elementor-post-type=\"post\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-1ed1da6d elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1ed1da6d\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-a56bf6b\" data-id=\"a56bf6b\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-89389a9 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"89389a9\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-7749a326\" data-id=\"7749a326\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-1bf01386 elementor-widget elementor-widget-text-editor\" data-id=\"1bf01386\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">Invariant relative positioning and focus of cameras is vital for the success of MoonRanger\u2019s stereo perception. The slightest change during mission can create inaccurate depth models and therefore non-functional obstacle avoidance. Positioning variables include the spacing between the cameras, their vergence (zero vergence in the case of MoonRanger), and their relative dip angle (\u201ctwist\u201d). Camera focus is established by orientation and proximity of the lens to the focal plane array (set by threading the lenses inward or outward in the case of MoonRanger). This multi-functional positioning is achieved by MoonRanger\u2019s highly-engineered camera mount.\u00a0\u00a0<\/span><\/p><p><span style=\"font-weight: 400\">Beyond setting these positioning variables perfectly before leaving Earth, it matters that these parameters remain invariant through the rover\u2019s mission on the Moon. That is achieved by machining the mount from titanium. MoonRanger converged on this design after considering composite, aluminum and invar. Considerations include stiffness-to-weight ratio, changes in dimension due to thermal expansion and machineability. Aluminum and titanium were shortlisted, and titanium was chosen for the most important considerations of thermal stability and stiffness-to-weight ratio despite greater challenges of machining the titanium.\u00a0 <\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7a70145 elementor-widget elementor-widget-heading\" data-id=\"7a70145\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Camera Sensors &amp; Lenses<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1966e736 elementor-invisible elementor-widget elementor-widget-image\" data-id=\"1966e736\" data-element_type=\"widget\" data-settings=\"{&quot;_animation&quot;:&quot;fadeIn&quot;}\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"978\" height=\"211\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Camera-Lens-Sensor.png\" class=\"attachment-full size-full wp-image-509\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Camera-Lens-Sensor.png 978w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Camera-Lens-Sensor-300x65.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Camera-Lens-Sensor-768x166.png 768w\" sizes=\"(max-width: 978px) 100vw, 978px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">The camera sensors attach to the back of the mount (left). The camera lenses screw into the front of the camera mount (right).\u00a0<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Invariant relative positioning and focus of cameras is vital for the success of MoonRanger\u2019s stereo perception. The slightest change during mission can create inaccurate depth models and therefore non-functional obstacle avoidance. Positioning variables include the spacing between the cameras, their vergence (zero vergence in the case of MoonRanger), and their relative dip angle (\u201ctwist\u201d). Camera &hellip; <a href=\"https:\/\/labs.ri.cmu.edu\/moonranger\/titanium-camera-mount\/\">Continued<\/a><\/p>\n","protected":false},"author":28,"featured_media":510,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[25],"tags":[],"class_list":["post-497","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-mechanical"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.5 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Titanium Camera Mount - MoonRanger<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/labs.ri.cmu.edu\/moonranger\/titanium-camera-mount\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Titanium Camera Mount - MoonRanger\" \/>\n<meta property=\"og:description\" content=\"Invariant relative positioning and focus of cameras is vital for the success of MoonRanger\u2019s stereo perception. The slightest change during mission can create inaccurate depth models and therefore non-functional obstacle avoidance. Positioning variables include the spacing between the cameras, their vergence (zero vergence in the case of MoonRanger), and their relative dip angle (\u201ctwist\u201d). 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