The sequence rehearsal tool in the Rover Sequencing and Visualization Program (RSVP) is based on modeling and simulation of the multi-body mechanical systems. The methodology has been developed to support a real-time interactive graphics mode for the visualization tool, using the Configuration Kinematics (CK) and 3D terrain models. The sequence simulation is carried out using the on-board flight software modules for realistic rover behavior. It enables the scientists and rover planners to effectively develop the command sequences for rover safety and maximize the science returns of the Mars Exploration Rover (MER) mission. This paper describes the innovative numerical algorithm and the command sequence simulation of the MER mission for surface operations. Recently, the Rover Analysis Modeling Simulation algorithm ( 13, which computes the configuration of the robotic vehicles on rough terrain, has been developed at JPL for planetary surface exploration rover missions. Based on these and related methods, we've developed the sequence simulation tool to achieve the required accuracy and support the time-critical applications. One crucial design decision of the command sequence simulation tool is to represent the multi-body model as a collection of subsystems. Not only is the rover model partitioned by an object-oriented hierarchy of multi-body subsystems, but the numerical algorithms that carry out the solutions of configuration kinematics and inverse kinematics are also implemented via object-oriented methodology. Inheriting the subsystem model and the numerical methods are the structure-preserving simulators, which directly map the numerical solutions to the corresponding physical structures. The subsystem simulators constitute the sequence rehearsal engine that is advantageous to traditional multi-body simulations. The benefits of the structure preserving design for command sequence simulation will be detailed in this paper. 1. Modeling of the Mars Exploration Rovers

This paper describes the innovative numerical algorithm and the command sequence simulation of the MER mission for surface operations.

Immersive environments are just beginning to be used to support mission operations at the Jet Propulsion Laboratory. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover.