ROBOTICS IV&VNASA IV&V Capability Development

NASA IV&V Workshop

September 12, 2012

Charley Price, Ricky Forquer, Steve Hard,David Turner, Jesse Musgrove

AGENDA

Message & Context

MSL & OSIRIS-REx Support

Workbenches & Outreach

RICKY

CHARLEY

STEVEN

OUR MESSAGE

1. We are developing new capabilities in Robotics at the IVV Facility to assure that the IV&V on missions having robotic elements is performed properly.

2. We have provided robotics training to the Mars Science Laboratory IV&V analysts.

3. We are currently providing training to the OSIRIS-REx asteroid sample and return mission IV&V analysts.

4. We have developed hands on simulations and subsystem hardware ‘work benches’ to support this training.

5. We also support community outreach, robot competitions, and interaction with the greater NASA robotics community.

6. Our Robotics Lab is part of the JSTAR.

7. We invite you to see our posters and demonstrations!

CD ROBOTICS CONTEXT DIAGRAM

K-12, STEM,Camps,Robot

Competitions

IV&V of Flight Robotics Projects NASA HQ, GSFC, & VIPs

Upreach

Collaborative Activities

OutreachTraining of IV&V Analysts

Augmentation of IV&V Techniques

IV&V Robotics Laboratoryin JSTAR

GSFC, JSC, JPL, ARC,…WVU, …, AIAA/SARTC, IEEE

SPACE ROBOTICS SYSTEMS

Flight Robotics System Launch Dates

Source Scope of IV&V IV&V Status

Shuttle 1981 Canada None -

Remote Manipulator System

ISS Mobile Servicing System 2001 Canada Displays only Continuing

Mars Exploration Rovers 2003 US Limited Completed

Robonaut 2011 US None - Experiment -

Robotic Refueling Mission 2011 US None - Experiment -

Mars Science Lab 2011 US Full Completed

OSIRIS-REx 2016 US Full Initiated

UNIQUE BEHAVIORS OF ROBOTICS Vision• Vision-based registration/mapping of complex environments.

• Visual triangulation, odometry, and target tracking.

Mobility• Mobility involving contact with force reactive surfaces.

• Nonlinear path planning.

• Autonomously self-commanded motion.

Manipulation• Posing of complex, reconfigurable articulated systems.

• Grasping or grappling of objects.

• Manipulation involving force reactive payloads:o Soil capturingo Rock abrasion or drillingo Capturing a free flyer; Insertion of a payload into a receptacle

Human – Robot Interface• Command scripts or hand controller commands

• Communications delay

• Autonomous behaviors

CD ROBOTICS CONTEXT DIAGRAM

K-12, STEM,Camps,Robot

Competitions

IV&V of Flight Robotics Projects NASA HQ, GSFC, & VIPs

Upreach

Collaborative Activities

OutreachTraining of IV&V Analysts

Augmentation of IV&V Techniques

IV&V Robotics Laboratoryin JSTAR

GSFC, JSC, JPL, ARC,…WVU, …, AIAA/SARTC, IEEE

We are currently

active here.

MSL and OSIRIS-REx SupportRicky Forquer

COURSES TAUGHT TO MSL ANALYSTS

1. Introduction to Robotics (August, 2011)o Fundamentals of Robotics, NASA Robotics Technology Plan, Current

& Future Robotic Missions, ISS MSS, Robotics PrimerLab: Robotic rover simulation (Swarm) & hands-on Tankbots

2. MSL Manipulation & Mobility (November, 2011)o MSL Robotic Arm, forward kinematics, inverse kinematics,

singularities, hardware architecture & componentsLab: Hands-on forward & inverse kinematic control of robotic arms

o MSL Basic Mobility, Mobility Manager, Navigation, Engineering Camera, Surface Systems Behavior & CoordinationLab: Mobility simulation: teleoperation, turn in place & arc steer control primitives, and programmed sequences

3. MSL Stereo Vision & Visual Target Tracking (January, 2012)

o MSL autonomous navigation & traversal, visual odometry, slip detection, hazard avoidance, camera pointing, visual target tracking, target loss detectionLab: Computer Vision Workbench & Stereo Vision

ROVERX: MOBILE ROBOTICS PLATFORM

Being developed as:1. A robotic hands-on training tool for IV&V analysts

2. An engineering test bed for: Evaluating traversal, navigation, and manipulation software

techniques Exploring teleoperation & autonomy

3. A target system for intern and graduate student assignments

4. A demonstration for visitors to the Facility

OSIRIS-REX At the time of this writing, we are preparing our

support for the IV&V of OSIRIS-REx, the asteroid sample and return mission:• ‘Facilitated discussions’ among CD Robotics and

O-REx IV&V analysts• O-REx manipulator scale models for

hands on assembly• Development of a simulator for the O-REx ‘Touch

and Go’ (TAG) sampling maneuver

• David Turner/TASC and Jesse Musgrove/WVU are supporting this activity

OSIRIS-REX SIMULATION 2-D Simulation of TAG

• Manual Control – experiment with specific TAG dynamics & kinematics to enhance system understanding

• Automatic Control – build sequences of events to test full TAG (approach, contact dynamics, contact accuracy, sample stowage, etc)

Workbenches and OutreachSteven Hard

MANIPULATION

Flowstone software utilized Graphical block style programming

Two application files created Individual joint control Command sequencing (PWM/angle

inputs)

4 DOF robotic arm used for training workbench FK demonstration w/ individual

joint control PSO applied for inverse

kinematics Implemented w/in Python script

using open source KDL IK used to create sequence of

joint angles for specific tasks

COMPUTER VISION RoboRealm software utilized

Intuitive, user friendly Vision filter modules available User defined VS scripts

Stack in a “pipeline” Color filtering Edge detection Blob detection/Tracking Stereoscopic imaging SVS system used for training

workbench Studied effects of different lighting

types and scenarios

Sensitivity analysis of RGB threshold values for color tracking

3D image rectification and distance measurements

ROBOT COMPETITION PARTICIPATION

Responsibilities included: Robotic arm design and assembly KDL implementation for inverse

kinematics capability Target spotter/backup operator

Serial port malfunction caused loss of control to front motors

Lesson learned: Telemetry data is crucial for fault compensation and error analysis

RASC-AL Robo-Ops competition held at JSC

Placed 5th out of 8 teams Objective: Collect rocks to earn

the most points Return rocks to “Mount Cosmos” Find alien life forms

ROBOTICS SUMMER INTERNS

1 college and 2 high school interns Designed software architecture for RoverX

platform

2012 Interns operating RoverX on the Planetary Surface Simulation (PSS)

Developed software for manipulator Applied inverse kinematics for joint control Built mock-up stand for manipulation testing

Operated RoverX on PSS PSS is an environment for testing and

evaluating robotic & autonomous applications

Contact

Charley Price – charles.price@tasc.com

Ricky Forquer – ricky.a.forquer@nasa.gov

Steven Hard – steven.l.hard@nasa.gov

Please come see our posters and demos!