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irg.arc.nasa.gov

Robo c Technol ogy Devel opme nt at Ame s The Intelligent Robo cs Gr oup and

Surface Telerobo cs Maria BualatIntelligent Robo cs Gr oup NASA Ames Research [email protected]

irg.arc.nasa.gov

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INTELLIGENT ROBOTICS GROUP OVERVIEW



Robotics Technology Development at Ames 3

Intelligent Robo cs Gr oup (IRG)

Overview• 31 researchers (14 Ph.D.’s)• 20+ summer interns yearly• 75% NASA work (ARMD, HEOMD, STMD, SMD)

• 25% reimbursable (Google, etc.) • SBIR / STTR (10 current proj.)Research themes• Automated planetary mapping

– Base maps & terrain models– Geospa al dat a systems

• Robots for human explorers– Improve efficiency & produc vi ty

– Pre-cursor & “follow-up” work• Public service

– Disaster response & outreachirg.arc.nasa.gov




IRG Collabora ons (2010 –2 012)

GovernmentAcademic Commercial

ProtoInnova ons




Robo cs for Huma n Expl or a on

Purpose• Increase human produc vi ty • Improve mission planning & execu on • Transfer some tasks to robots(tedious, repe ve, long- dur a on)

Before Crew• Recon (scou ng) & pr ospec ng • Site prep, deploy equipment, etc.

Suppor ng Cr ew • Inspec on, mo bi le came r a, et c. • Heavy transport & mobility

A er Cr ew • Follow-up & close-out work• Site survey, supplementary tasks, etc.




IRG’s Current Robots

K10 miniK10 mini

K10K10

KREXKREX

TenseBotTenseBot

Modular ArmModular Arm

Smart SPHERESSmart SPHERES

GigaPanGigaPan

Lake LanderLake Lander




K10 Robot at Haughton Crater, Canada




Sensing

Posi on & or ient a on

Gas & vapor

Vision & distance

Force, torque, & tac le




Percep on

Dark Naviga on (2007) Dark Naviga on (2007)

High Dynamic Range inspec on (2006) High Dynamic Range inspec on (2006) Robo c Si te Sur vey (2008) Robo c Si te Sur vey (2008)

GigaPan Voyage (2009 - 2011)GigaPan Voyage (2009 - 2011)




Rover driving, Basalt Hills, California (2012)




Smart SPHERES robot, ISS (2012)

2x speed




User Interfaces

Google Earth Ops (2008 - 2011)Google Earth Ops (2008 - 2011)

VERVE (2007 - 2013)VERVE (2007 - 2013) K10 Data Browser (2010 - 2011)K10 Data Browser (2010 - 2011)

Interac ve Gr ound Cont rol (2008 - 2010)

Interac ve Gr ound Cont rol (2008 - 2010)




System So wa re

Strategic Data Producers Tactical Data Producers

xGDS

Mission Management Team Tactical Science Ops

Strategic Science Ops

MySQL Python/Django

comm layers

data catalog maps

apache

custom python

static HTML

Google Earth

Web Browser Google

Earth Google Earth Google

Earth Google Earth

Web Browser Web

Browser Web Browser Web

Browser

importer

Gigapan Voyage

MMSEV Data

EVA IS Data

Traverse Plans

Geologic Maps

Comm Coverage

importer importer importer importer importer

Strategic Data Producers Tactical Data Producers

xGDS

Mission Management Team Tactical Science Ops

Strategic Science Ops

MySQL Python/Django

comm layers

data catalog maps

apache

custom python

static HTML

Google Earth

Web Browser Google

Earth Google Earth Google

Earth Google Earth

Web Browser Web

Browser Web Browser Web

Browser

importer

Gigapan Voyage

MMSEV Data

EVA IS Data

Traverse Plans

Geologic Maps

Comm Coverage

importer importer importer importer importer

RAPID Workbench

Chariot Chariot Bridge

RAPID Middleware

API A

PI

ATHLETE

K10 RAPID client

LSMS

K10 Bridge

ATHLETE Bridge

LSMS Bridge

RAPID client

C++

J

R C J

LV

C

C++

R

J

C++

C++

J RoverSW (2006 - 2013)RoverSW (2006 - 2013)

xGDS: Explora on Gr ound Da ta System (2009 - 2013)

xGDS: Explora on Gr ound Da ta System (2009 - 2013) RAPID (2009 - 2013)RAPID (2009 - 2013)




Mars in Google Earth

Explore Mars in 3D• Released Feb. 2, 2009• Co-developed with Google• NASA Ames created content & processing scripts

Content• Global maps: topography, infrared, historical, etc.

• Imager footprints & overlays(HiRISE, CTX, MOC, …)

• Mars rover tracks & color panoramas

• Tours (Bill Nye & Ira Flatow)• Live from Mars: THEMIS• And much more …

The image cannot be displayed. Your computer may not have enough memory to open the image, or the image may have been corrupted. Restart your computer, and then open the file again. If the red x still appears, you may have to delete the image and then insert it again.The image cannot be displayed. Your computer may not have enough memory to open the image, or the image may have been corrupted. Restart your computer, and then open the file again. If the red x still appears, you may have to delete the image and then insert it again.




Moon in Google Earth

Explore the Moon in 3D• Released July 20, 2009• Co-developed with Google• NASA Ames created content & processing scripts

Content• Global maps: topography, geologic, historical, etc.

• Spacecra ima ger y: Apol lo, Lunar Orbiter, etc.

• 3D models of spacecra , landers, and crew rovers.

• Tours (Andy Chaikin, Buzz Aldrin & Jack Schmidt)

• And much more …




WorldWide Telescope | Mars

Complete HiRISE Mosaic• Mars Reconaissance Orbiter HiRISE imager

• 74,000 images • Each image: 20K x 50K pixels (> 1 GB / image)

Mosaic stats

Tile Dimensions 256 x 256 pixels

Root Tiles / Image 15,000

Tile Space 25 KB

Tiles Total 229 million

Total Mosaic Size 5.7 TB




IRG Open Source So wa re

VisionWorkbench

RoverSW

Neo GeographyToolkit

GeoCam

VehicleDetec on

RAPID



SURFACE TELEROBOTICS




Key points• Remotely operated robots (ground control & crew centric ops)

• Mul pl e robots, demos & missions• Support future human explora on

Human Explora on Tel er obo cs (HET )

DeepSpace

Mars, Phobos, & Deimos

Lunar Orbit, L2 Lunar Farside

Asteroids &Near-Earth Objects

Low-Earth Orbit

International Space Station



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