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ROBOTICS IV&V NASA IV&V Capability Development NASA IV&V Workshop September 12, 2012 Charley Price, Ricky Forquer, Steve Hard, David Turner, Jesse Musgrove
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 MESSAGE1. 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 analysts2. An engineering test bed for:
Evaluating traversal, navigation, and manipulation software techniques
Exploring teleoperation & autonomy3. A target system for intern and graduate student assignments4. 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
ContactCharley Price – [email protected]
Ricky Forquer – [email protected]
Steven Hard – [email protected]
Please come see our posters and demos!
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