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Alter: url, template type. URLs might have been anonymized. Add: website, type, publisher, page, archive-date, archive-url, hdl, bibcode, doi. Removed proxy/dead URL that duplicated identifier. Removed access-date with no URL. Removed parameters. | Use this bot. Report bugs. | Suggested by Whoop whoop pull up | #UCB_webform 62/2173
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Changes "at the JPL" and "in the JPL" to "at JPL". This matches the way engineers at JPL refer to the lab.
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== Mission==
{{main|Mars Pathfinder}}
[[File:Marspathrov.jpg|thumb|''Sojourner'' at
''Sojourner'' was an experimental vehicle whose main mission was to test in the Martian environment technical solutions that were developed by engineers of the NASA research laboratories.<ref name=Matijevic2/> It was necessary to verify whether the design strategy followed had resulted in the construction of a vehicle suitable for the environment it would encounter, despite the limited knowledge of it. Careful analysis of the operations on Mars would make it possible to develop solutions to critical problems identified and to introduce improvements for subsequent planetary exploration missions. One of the mission's main aims was to prove the development of "faster, better and cheaper" spacecraft was possible. Development took three years and cost under $150 million for the lander, and $25 million for the rover; development was faster and less costly than all previous missions.<ref>{{cite web |url=https://nssdc.gsfc.nasa.gov/nmc/spacecraft/display.action?id=MESURPR |title=Mars Pathfinder Rover |publisher=NASA |access-date=2020-09-30 |archive-date=2020-10-21 |archive-url=https://web.archive.org/web/20201021135133/https://nssdc.gsfc.nasa.gov/nmc/spacecraft/display.action?id=MESURPR |url-status=live }}</ref>
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The locomotion system was found to be suitable for the environment of Mars—being very stable, and allowing forward and backward movements with similar ease<ref name=dimensions/>—and was adopted with appropriate precautions in the subsequent ''[[Spirit (rover)|Spirit]]'' and ''[[Opportunity (rover)|Opportunity]]'' rover missions.<ref name=Lindemann/>
In the ten-year development phase that led to the realization of ''Sojourner'', alternative solutions that could take advantage of the long experience gained at
The rover could travel {{Convert|500|m|ft|abbr=on}} from the lander—the approximate limit of its communication range—<ref name=washington/> and had a maximum speed of {{Convert|1|cm/s|abbr=on}}.<ref name=dimensions/>
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''Sojourner'' operation was supported by "Rover Control Software" (RCS) that ran on a [[SGI Onyx2|Silicon Graphics Onyx2]] computer on Earth and allowed command sequences to be generated using a graphical interface. The rover driver would wear 3D goggles supplied with imagery from the base station and would move a virtual model with a specialized joystick. The control software allowed the rover and surrounding terrain to be viewed from any angle, supporting the study of terrain features, the placing of waypoints, and virtual flyovers. Darts were used as icons to show where the rover should go. Desired locations were added to a sequence and sent to the rover to perform. Typically, a long sequence of commands were composed and sent once a day.<ref name=mfex>{{cite web|url=https://mars.nasa.gov/MPF/roverctrlnav/rcw.html|title=MFEX: Microrover Flight Experiment – Rover Control Workstation|last=Cooper|first=Brian K.|website=mars.nasa.gov|access-date=2021-08-15|archive-date=2021-08-14|archive-url=https://web.archive.org/web/20210814200418/https://mars.nasa.gov/MPF/roverctrlnav/rcw.html|url-status=live}}</ref><ref>{{cite web |last1=Mishkin |first1=Andrew |title=Making Tracks on Mars Mission Operations for Deep Space |url=http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/38751/1/06-0058.pdf |website=trs-new.jpl.nasa.gov |publisher=NASA, JPL |archive-url=https://web.archive.org/web/20120323160409/http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/38751/1/06-0058.pdf |access-date=17 August 2021|archive-date=2012-03-23 }}</ref> The rover drivers were Brian K. Cooper and Jack Morrison.<ref name="Sojourner"/>
<gallery mode=
File:Sojourner visualization software 1.jpg|Example of a screen that visualized the surface of Mars, used by rover driver
File:Sojourner visualization software 2.jpg|Example of "virtual reality" interface that allowed driver to see the surface from any angle around the rover
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[[File:Marie Curie Mars Rover 01.jpg|thumb|upright=1.0|''Marie Curie'' in the museum (see also from other angles: [[:File:Marie Curie Mars Rover 02.jpg|1]], [[:File:Marie Curie Mars Rover 03.jpg|2]], [[:File:Marie Curie Mars Rover 04.jpg|3]])]]
''Marie Curie'' is a flight spare for the ''Sojourner''. During the operational phase on Mars, the sequences of the most complex commands to be sent to ''Sojourner'' were verified on this identical rover
According to space historian and NASM curator Matt Shindell:
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== Gallery ==
<gallery mode=
File:Sojourner.gif|''Sojourner'' in the production phase.
File:Mars Pathfinder Lander preparations.jpg|''Pathfinder'' and ''Sojourner'' at JPL in October 1996, being 'folded' into its launch position.
File:Mars Pathfinder Preparations - GPN-2000-000787.jpg|Mars Pathfinder loading into a rocket.
</gallery>
<gallery mode=
File:PIA01551.jpg|The sol 2 "insurance panorama" of ''Sojourner'', taken on 530, 600, and 750 nm filters.{{efn|Image was taken by IMP before the mast was deployed. It was called "insurance panorama", because if something went wrong during deployment, the team would still have a panorama of the landing site. Once the mast was deployed the height of the IMP was constant.<ref name=howimpworks/>}}
File:Pathfinder01.jpg|''Sojourner'' performs spectrometer measurements on the "Yogi" rock.
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<center> '''Comparison of wheels of ''Sojourner'', ''Spirit'' and ''Opportunity'', and ''Curiosity'' rovers.'''
<gallery mode=
File:H_rover-comp_wheels_02.jpg
File:Mars rovers wheels nested.jpg
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