Gateway To Space ASEN / ASTR 2500 3 PID Control Law Proportional, Integral, Derivative (PID) –Used...
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Transcript of Gateway To Space ASEN / ASTR 2500 3 PID Control Law Proportional, Integral, Derivative (PID) –Used...
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Gateway To SpaceASEN / ASTR 2500
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3
PID Control LawPID Control Law
• Proportional, Integral, Derivative (PID)– Used to control single axis
• One PID controller for each axis
Kd
Kp
err
err
cmd
Kiierr
err = rate error
err = attitude error
ierr = integrated attitude error
Limiter Att Gain Integrator Limiter Int Att Gain
Rate Gain ++
+
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4
-1
-0.75
-0.5
-0.25
0
0.25
0.5
0.75
1
0 10 20 30 40 50 60
Time (sec)
Att
itude
Err
or (D
eg)
No Damping Lightly Damped Heavily Damped
PID Control Law Response TimesPID Control Law Response Times
Zero Rate Gain = No Damping
Small Rate Gain = Light Damping
Large Rate Gain = Heavy Damping
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DATADATA
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Colorado Space Grant ConsortiumColorado Space Grant Consortium
Gateway To SpaceASEN / ASTR 2500
Class #1
Gateway To SpaceASEN / ASTR 2500
Class #1
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How was the first day?
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Space?
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Space Clip
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TodayToday
- Introductions- Introductions
-- What to expect from this courseWhat to expect from this course
- Format for this course- Format for this course
- ““How to get an A”How to get an A”
- Pictures- Pictures
- Space Grant IntroductionSpace Grant Introduction
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Who’s out there?
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What this class
takes…
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Introductions
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Who is this Guy?Who is this Guy?
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Who is this Guy?Who is this Guy?
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Who is this Guy?Who is this Guy?
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What Experience Do You Have?What Experience Do You Have?
Intern at BallIntern at Ballsummer of 1991summer of 1991
Worked with Worked with Bob PoleyBob Poley
Worked on Worked on RADARSATRADARSAT
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Graduated from CU in Graduated from CU in December 1992 with B.S. December 1992 with B.S. in Aerospace Engineeringin Aerospace Engineering
Graduated from CU in Graduated from CU in December 1994 with M.S. December 1994 with M.S. in Mechanical in Mechanical EngineeringEngineering
Who is this Guy?Who is this Guy?
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What Did You Do After College?What Did You Do After College?
Worked at Lockeed Martin from Worked at Lockeed Martin from March 1995 until May 2000March 1995 until May 2000
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What Did You Do At Martin?What Did You Do At Martin?
- Classified satellite- Classified satellite- 1,000 people on program- 1,000 people on program- Youngest - Youngest - Reaction Control System - Reaction Control System Mechanical Design LeadMechanical Design Lead- Design done in IDEAS - Design done in IDEAS - Released over 100 - Released over 100 engineering drawingsengineering drawings
- Supervised manufacture, assembly, integration and - Supervised manufacture, assembly, integration and test for 5 satellite buildstest for 5 satellite builds- Last two years, Mechanical Design Lead for the - Last two years, Mechanical Design Lead for the Antenna systemsAntenna systems
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- Also worked on Stardust and Genesis - Also worked on Stardust and Genesis
- Worked with many different disciplines and people- Worked with many different disciplines and people
What Did You Do At Martin?What Did You Do At Martin?
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Why Did You Leave?Why Did You Leave?
- Many reasons- Many reasons
1. Coming back here was a great opportunity1. Coming back here was a great opportunity
2. Pictures on the wall2. Pictures on the wall
3. Mentor3. Mentor
4. Change4. Change
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mm
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Who is this Guy?Who is this Guy?
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Who is this Guy?Who is this Guy?
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Who is this Guy?Who is this Guy?
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I live in Arvada, 2 miles east of HWY 93I live in Arvada, 2 miles east of HWY 93
Who is this Guy?Who is this Guy?
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- 12- 12thth time teaching this course time teaching this course
Who is this Guy?Who is this Guy?
- I have a unique teaching style- I have a unique teaching style- I teach like I wish I had been taught- I teach like I wish I had been taught- Sense of humor- Sense of humor
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3826648605151114020661
Who is this Guy?Who is this Guy?
38 My age26 The age I feel6 Hours I get to sleep a night48 Hours I get to sleep a week60 Average number hours I work a week5 Hours per week I am paid to teach this course15 Average hours per week I actually spend on class12 Times I have taught this course140 Emails I get each day20 Emails I respond to each day66 You1 Me
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Your TurnYour Turn
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TodayToday
Space…Space…
So why are you here?So why are you here?
We are going to do the following…We are going to do the following…1. Stand up1. Stand up2. Say your name2. Say your name3. Tell me what you hope to learn in the class3. Tell me what you hope to learn in the class4. Why you took the class4. Why you took the class
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So Why Are So Why Are You In You In
College?College?
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Why You Are HereWhy You Are Here::
- You like Space (Star Trek, Star Wars, etc.)You like Space (Star Trek, Star Wars, etc.)
- You want to get a good job after collegeYou want to get a good job after college
- Good SchoolGood School
- Good GradesGood Grades
- Good ExperienceGood Experience
- This course and Space Grant gets you all threeThis course and Space Grant gets you all three
- Unique point in your life!Unique point in your life!
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- $9.7 Billion
- 142,500 Coloradoans
- Expected to double in in the next few years
- “Graying of the workforce”
Space in Colorado:
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Premise:Premise:
•54% of the total Aerospace workforce is over 45 years old
• 25% will be eligible to retire in 2008
Sources: The Grayest Generation, Washington Business Forward, NOV 2002Vanishing Act, Aviation Week, FEB 2007
Aerospace Industry Association 22 Dec 2004
•54% of the total Aerospace workforce is over 45 years old
• 25% will be eligible to retire in 2008
Sources: The Grayest Generation, Washington Business Forward, NOV 2002Vanishing Act, Aviation Week, FEB 2007
Aerospace Industry Association 22 Dec 2004
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Premise:Premise:
• 9% of funded positions going unfilled (2006)
• Only 50% of the needed positions will be able to filled in 2010
Sources: The Grayest Generation, Washington Business Forward, NOV 2002Vanishing Act, Aviation Week, FEB 2007
Aerospace Industry Association 22 Dec 2004
• 9% of funded positions going unfilled (2006)
• Only 50% of the needed positions will be able to filled in 2010
Sources: The Grayest Generation, Washington Business Forward, NOV 2002Vanishing Act, Aviation Week, FEB 2007
Aerospace Industry Association 22 Dec 2004
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Current Workforce:Current Workforce:
“Growth in the Science and Engineering (S&E) labor force has been maintained at a rate well above the rate of producing S&E degrees because a large number of foreign-born S&E graduates have migrated to the United States.”
Source: An Emerging and Critical Problem of the Science and Engineering Labor Force, National Science Board, JAN 2004
“Growth in the Science and Engineering (S&E) labor force has been maintained at a rate well above the rate of producing S&E degrees because a large number of foreign-born S&E graduates have migrated to the United States.”
Source: An Emerging and Critical Problem of the Science and Engineering Labor Force, National Science Board, JAN 2004
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Premise:Premise:
• Number of Engineering Degrees - 2004
China 351,537U.S. 137,437*India 112,000
*15 – 30% non-US students
Source: Does the US face an engineering gap? , The Christian Science Monitor, December 20, 2005
• Number of Engineering Degrees - 2004
China 351,537U.S. 137,437*India 112,000
*15 – 30% non-US students
Source: Does the US face an engineering gap? , The Christian Science Monitor, December 20, 2005
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Premise:Premise:
• Number of Engineering Degrees - 2004
China 351,537India 112,000U.S. 96,205
In 2005…• 41,000 US Advanced Engineering Degrees
• 50% went to non-US citizens
Source: Vanishing Act, Aviation Week, FEB 2007Does the US face an engineering gap? , The Christian Science Monitor, December 20, 2005
• Number of Engineering Degrees - 2004
China 351,537India 112,000U.S. 96,205
In 2005…• 41,000 US Advanced Engineering Degrees
• 50% went to non-US citizens
Source: Vanishing Act, Aviation Week, FEB 2007Does the US face an engineering gap? , The Christian Science Monitor, December 20, 2005
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“At present, there are insufficient methods for students to acquire hands-on experiences in scientific and technical disciplines necessary for space commerce and exploration.”
Source: A Journey to Inspire, Innovate, and Discover, Report of the President’s Implementation of United States Space Exploration Policy, June 2004, page 43.
“At present, there are insufficient methods for students to acquire hands-on experiences in scientific and technical disciplines necessary for space commerce and exploration.”
Source: A Journey to Inspire, Innovate, and Discover, Report of the President’s Implementation of United States Space Exploration Policy, June 2004, page 43.
Premise:Premise:
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What To What To ExpectExpect
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The ClassThe Class::
Learn the basics of atmospheric and space sciences, space exploration, spacecraft design, rocketry, and orbits.
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Hear about the current research in space through lectures from Lockheed Martin, Ball Aerospace, LASP, NOAA, NCAR, and CASA.
The ClassThe Class::
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Launch a mini-satellite on a high altitude balloon that is designed and built by you and a team of students.
The ClassThe Class::
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The ClassThe Class::
- Interactive
- Interesting
- Applicable
- Fun
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What to expect from this classWhat to expect from this class::
- If you are not here because you want to be here, If you are not here because you want to be here, then leave…then leave…
- If you are here because you think this will be easier If you are here because you think this will be easier than GEEN 1400, then leave…than GEEN 1400, then leave…
- If you are a slacker, then leave…If you are a slacker, then leave…
- But if you want to work hard and achieve something But if you want to work hard and achieve something great, then stay…great, then stay…
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What to expect from this classWhat to expect from this class::
- Plan on being here for the full class (75 minutes)Plan on being here for the full class (75 minutes)
- Be ON-TIMEBe ON-TIME
- 1 Minute Reports Each Class1 Minute Reports Each Class
- AttendanceAttendance
- Homework (Only 7) Homework (Only 7)
- A lot of workA lot of work
- No cell phones or laptopsNo cell phones or laptops
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SyllabusSyllabus
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Syllabus:Syllabus:
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Syllabus:Syllabus:
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How to get How to get an Aan A
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How to get an AHow to get an A::
“Everyone starts out with an A”
You have to try really hard to get anything lower than C-
Not in the business of giving bad grades…
…But you get the grade you earn
Please, Please, Don’t Cheat
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How to get an AHow to get an A::ASEN 2500 Grades S06,F06,F07
02468
1012141618
40 46 52 58 64 70 76 82 88 94 100
106
112
Raw Score
Fre
qu
en
cy
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How to get an AHow to get an A::
Grades are based on a normal 100 point scale
There is no curve
Team project and participation are based on your team evaluation and instructor evaluation
Feedback will be slow
Grader – Kristina Wang
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How to get an AHow to get an A::
Grade Breakdown- 30% Coursework
- Attendance (33)- 1 Minute Reports (~30)
- Homework (1-4,6) - Community service (1)
- 5% Homework 5- 15% Final Exam- 10% Team Proposal- 7% Team Presentations (2)- 7% Team Design Document (3 Revs)- 12% Team Project and Participation- 14% Final Team Report & Presentation
50% You 50% Team
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- Attendance will be taken (Signing for friends)- Attendance will be taken (Signing for friends)
- Coming in late… Coming in late…
- Communications via email and this class- Communications via email and this class
- Travel and sick- Travel and sick
MiscellaneousMiscellaneous::
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- Mutual Respect “Shut up and be quiet”Mutual Respect “Shut up and be quiet”
- Class seating, move to the front of the roomClass seating, move to the front of the room
- Clap and questionsClap and questions
- Office hours 10:45-11:45 T & Th or by appointmentOffice hours 10:45-11:45 T & Th or by appointment
- Where to Find Me…
- Notes – Take themNotes – Take them
- Book for courseBook for course
MiscellaneousMiscellaneous::
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Book for courseBook for course
- Typical engineering book cost- Typical engineering book cost $100, $90, $80, $70 $100, $90, $80, $70
This Book…This Book…- $13.95 - $13.95 - Rocket Boys - Rocket Boys
Homer HickamHomer Hickam
Also…Set aside $50 for projectAlso…Set aside $50 for project
MiscellaneousMiscellaneous::
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MiscellaneousMiscellaneous::
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WebsiteWebsite::
spacegrant.colorado.edu/space
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1 Minute 1 Minute ReportReport
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1 Minute Report1 Minute Report::
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HomeworkHomework
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HomeworkHomework::
Submit via email
- Subject should be in this format“HW_XX_Lastname_Firstinitial”
- Get from Website
First Homework is…
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Questions?Questions?
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Final WordFinal WordYou’ll Never…
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Picture Picture TimeTime
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Space Grant?
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Vision:Vision:
Providing a diverse group of Colorado students with experiences in space to prepare them for our Nation’s future space programs
Providing a diverse group of Colorado students with experiences in space to prepare them for our Nation’s future space programs
COSGC = Workforce Development
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Students Nationally:Students Nationally:
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Students Statewide:Students Statewide:
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Start Here…Start Here…
Student Training and ManagementStudent Training and Management
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Weaknesses:Weaknesses:
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Start Here…Start Here…
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Weaknesses:Weaknesses:
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LYF
UMJP
RUN
LA K
Future
LYF
UMJP
RUN
LA K
LYF
UMJP
RUN
LA K
Future
BalloonSats
Sounding Rockets
CubeSats
LEOSats
Walk, Run, Jump, Fly
- Steps to Career
- Numerous Flight Experiences
- Student Growth and Confidence
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89
Background image taken at 100,000 feet by a student BalloonSat
DANDEDANDE
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90
Background image taken at 100,000 feet by a student BalloonSat
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New Projects:New Projects:
RocketSat II- Launched April 28, 2007- Spaceport America- Not yet recovered
RocketSat II- Launched April 28, 2007- Spaceport America- Not yet recovered
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New Projects:New Projects:
Funded in part by New Mexico Space GrantFunded in part by New Mexico Space Grant
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New Projects:New Projects:
RocketSat III- Launch June 21, 2007 from White SandsRocketSat III- Launch June 21, 2007 from White Sands
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BalloonSat 1 ImageBalloonSat 1 Launch
Student Research Projects
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Hands-On: IntroHands-On: Intro
Gateway to SpaceGateway to Space
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Focused Discussion:
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Hands-On:Hands-On:
Leader in Starting Student Hardware ProgramsLeader in Starting Student Hardware Programs
1
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Students Statewide:Students Statewide:
Interdisciplinary Interdisciplinary
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Strengths:Strengths:
Hands-on Discovery Learning Hands-on Discovery Learning
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Students Statewide:Students Statewide:
Interdisciplinary Interdisciplinary
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Is It working?Is It working?
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Interdisciplinary Interdisciplinary
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Results:Results:
JSC KSC
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Results:Results:
Students Highly Recruited By Industry & NASAStudents Highly Recruited By Industry & NASA
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Student Outcomes:Student Outcomes:
Students Highly Recruited By Industry & NASAStudents Highly Recruited By Industry & NASA
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Experience Matters
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Experience Matters:Experience Matters:
Satellite Took Kit
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Galileo Mission Control (Just before Crash into Jupiter)
Experience Matters:Experience Matters:
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Space Station Robot Arm (Johnson Space Center)
Experience Matters:Experience Matters:
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Chandra Mission Control
Experience Matters:Experience Matters:
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Mars Observer
Experience Matters:Experience Matters:
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Mission Control (Johnson Space Center)
Experience Matters:Experience Matters:
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Mars Exploration Rover (JPL)
Experience Matters:Experience Matters:
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Kennedy Space Center (Shuttle in background)
Experience Matters:Experience Matters:
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Mars Exploration Rover
Proof That Space Grant WorksProof That Space Grant WorksExperience Matters:Experience Matters:
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Mars Exploration Rover
Experience Matters:Experience Matters:
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Mars Exploration Rover
Experience Matters:Experience Matters:
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Mars Exploration Rover
Experience Matters:Experience Matters: