terry fong vytas sunspiral - nasa · • lunar libration mission simulation • astronaut on space...
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1 3D Robot User Interfaces
irg.arc.nasa.gov
Terry Fong Vytas SunSpiral Intelligent Robotics Group
NASA Ames Research Center Moffett Field, California
https://ntrs.nasa.gov/search.jsp?R=20190001245 2020-07-29T07:07:52+00:00Z
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2 3D Robot User Interfaces
NASA Ames Intelligent Robotics Group
Overview • 35 researchers (17 Ph.D.’s) • 25+ student interns yearly • 80% NASA work • 20% non-NASA work • SBIR-STTR (Phase 1, 2, 2E, & 3)
Research themes • Automated planetary mapping
Base maps & terrain models Geospatial data systems
• Exploration user interfaces Robot & science operations Accessible science data
• Robots for human explorers Improve efficiency & productivity Free-flyers, lake lander, & rovers irg.arc.nasa.gov
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3 3D Robot User Interfaces
IRG Collaborations (2015-2016)
Government Academic Commercial
ProtoInnova)ons
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4 3D Robot User Interfaces
Robots
K10
Smart SPHERES
Lake Lander
KREX
Tetra Spine
Superball Bot
GigaPan Voyage
K10 mini
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5 3D Robot User Interfaces
Viz
Interactive 3D UI • Stereo viewing • Background image
Simulation • Time of day lighting • Viewpoint + pose • Object kinematics
Site understanding tools • Point, distance, azimuth
measure • Elevation + slope maps • Sun + planet vectors • Surface area measure • Terrain cross-section • Markers + ancillary data
Missions: MPL, MER, Phoenix, MSL Field Tests: K9/Mojave, IS Level 1, CDS
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6 3D Robot User Interfaces
Centaur (Robonaut): Grasping Tools
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Centaur (Robonaut): Hardware Faults
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8 3D Robot User Interfaces
ATHLETE Footfall Planning
Traversability analysis, stability analysis, single/multi-step planning
ATHLETE (JPL) at Meteor Crater
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9 3D Robot User Interfaces
ATHLETE Footfall Planning
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10 3D Robot User Interfaces
Phoenix Lander: Manipulator Monitoring
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VERVE
3D robot user interface • Interactive planning and
monitoring of space robots • Facilitates situation awareness • Multiple control modes
Technologies • Java & Eclipse RCP • Ardor 3D • NASA RAPID/DDS messaging
Applications • ATHLETE, Robonaut, K10,
K-REX • ISS: Smart SPHERES and
Surface Telerobotics • Resource Prospector mission
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KREX Robot at Basalt Hills
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VERVE at Basalt Hills
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Surface Telerobotics Project
Summary • Demo crew-control surface
telerobotics (planetary rover) • Test human-robot conops for
future exploration mission • Obtain baseline engineering data
(robot, crew, data comm, task, etc)
Implementation • Lunar libration mission simulation • Astronaut on Space Station • K10 rover in NASA Ames Roverscape
ISS Testing (Expedition 36) • 17 June 2013 – C. Cassidy, survey • 26 July 2013 – L. Parmitano, deploy • 20 August 2013 – K. Nyberg, inspect
• Human-robot mission sim: site survey, telescope deployment, and inspection
• Telescope proxy: Kapton polyimide film roll (no antenna traces, electronics, or receiver)
• 3.5 hr per crew session (“just in time” training, system checkout, ops, & debrief)
• Robot ops: manual control (discrete commands) and supervisory control (task sequence)
SUR
VEY
DEP
LOY
INSP
ECT
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15 3D Robot User Interfaces
“Live” Rover Sensor and Instrument
Data (telemetry)
K10 rover at NASA Ames
ISS Test Setup
400 kbit/s (avg), 500 msec delay (max)
Uplink
Dow
nlink
400 kbit/s (avg), Out-of-Band
Uplink, data transfer to laptop storage
Rover Plan (command sequence)
Interface Instrumentation & Evaluation Data
Post-test File Transfer
Rover/Science
Data (e.g. imagery)
3 kbit/sec (avg), 500 msec delay (max)
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16 3D Robot User Interfaces
Robot Interface (Supervisory Control)
Terrain hazards Rover camera display
Task Sequence
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17 3D Robot User Interfaces
Robot Interface (Manual Control) Rover path
Motion controls
Terrain hazards Rover camera display
Camera controls
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Surface Telerobotics
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19 3D Robot User Interfaces
Surface Telerobotics
July 26, 2013 Crew: Luca Parmitano, Expedition 36 Flight Engineer
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Smart SPHERES
ISS Mission Control (Houston)
Smart SPHERES
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Smart SPHERES Network Setup
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ISS Interior Survey with SmartSPHERES
December 12, 2012 Crew: Kevin Ford, Expedition 33 Commander 2x speed
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Questions?
Intelligent Robotics Group irg.arc.nasa.gov