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Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge – March 20, 2017 irg.arc.nasa.gov Ames Research Center Controlling Robots on the International Space Station

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Page 1: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Eclipse of the Floating Orbs

DW WheelerIntelligent Robotics GroupConverge – March 20, 2017 irg.arc.nasa.gov

Ames Research Center

Controlling Robots on the International Space Station

Page 2: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Contents

• Background• Astrobee• TheAstrobee ControlStation

• PlanEditor• PlanExecutionandMonitoring• Teleoperation• Multi-robotcontrol

• Videos

Page 3: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

IntelligentRoboticsGroup

Page 4: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

VisualEnvironmentforRemoteVirtualExploration

Page 5: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

VERVEonISS

Page 6: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

SPHERES

Page 7: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

SPHERESPayloads

Page 8: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

AstrobeePerchingArm

CornerBumpers

LEDSignalLightStrips

Impellor

Nozzle

3DHazardCamera

LaserPointer

TouchScreen

ScienceCamera

Speaker/Microphone

Notvisible:DockCamera3DPerchCameraDockingPort

SpeedCamera

Battery

NavigationCamera

Page 9: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

DockandResupply

Page 10: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

ZeroGravityResearchFacility

Page 11: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

MobileCamera

Page 12: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

MobileSensor

Page 13: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

HowtoControlAstrobee?

Page 14: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Astrobee ControlStation(s)

ISS

MissionControl

Astrobee Engineering GuestResearchers

Astronauts

Universities

FlightControllers

ARC

Function Astronauts FlightControllers Astrobee EngineeringandGuestResearchers

CreatePlans X X

RunPlans X X X

Teleoperate X X X

Run GuestResearch X X

Engineering Tools X

Page 15: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

PlanEditor

Page 16: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

PlanEditor

Page 17: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

PlanEditor

Page 18: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

PlanValidation

Page 19: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

RunningPlans

Page 20: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

RunningPlans

Page 21: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

RunningPlans

Page 22: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Teleoperation

Page 23: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Teleoperation

Page 24: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Teleoperation

Page 25: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Teleoperation

Page 26: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

MultipleAstrobee Control

Page 27: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

MultipleAstrobee Control

Page 28: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

MultipleAstrobee Control

Page 29: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

MultipleAstrobee Control- Crew

Page 30: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

EngineeringTools- DebuggingPanel

Page 31: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

EngineeringTools- ModellingPanel

Page 32: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Video:SPHERESControlledfromGround

Page 33: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Video:SPHERESinSpace

Page 34: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Video:SPHERESControlledfromSpace

Page 35: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Video:Astrobee PrototypeDemo

Page 36: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Acknowledgements

• Astrobee GroundDataSystemsTeam• RyanGoetz(JPL)• Pastmembers:ConnorHitt,JayTorres(JPL),AndyMartinez, MariaBualat• Advisors:JessicaMartinez,JustinCartledge (MSFC),JoeFittipaldi (MSFC)

• VERVETeam• MarkAllan,TamarCohen,EricSchafer

• EntireAstrobee Team• TerryFong,ChrisProvencher,TreySmith,LorenzoFluckiger,TedMorse,InWonPark,JesseFusco,JonathanBarlow,MikeMcintyre,HugoSanchez,EarlDaley,OmarTalvera,ErnieSmith,andmore

Page 37: Ames Research Center Eclipse of the Floating Orbs...Eclipse of the Floating Orbs DW Wheeler Intelligent Robotics Group Converge –March 20, 2017 irg.arc.nasa.gov Ames Research Center

Questions?

Thankyou!


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