8:15 Red Intro At least top ten fom Meteorite Search has hit Lunar discovery proposal in formulation Intro: Red, Hans, Dave W., Bares, Gump, Dimi, Eric R., Mike P., Alex, Ried, Deans, Kathy, Jack, Maimone, Sib, John B., Paul, Mike B., Lalit, Murph, Jim T., Ben, Jesse, Barry Brummit, Ken Waldron, Jim tamoke (SEI), Deepak Dimi: 8:25 Purpose and goals of the program See the slides Milestiones: Completed design, configuration, prototype, detaisl in last six months System integration in February 97 readiness review in May 2 months in Chile Folow up: 3 years program for meteorite search in Antartica General Objectives: demonstrtae/validate enabling capabilities for high performance planetary exploration demonstrate long distance/duration operations in planetary analog Specific objectives for Atacama demonstrate- locomotion, navigation, visualization, comm, unattended traverse Not power remote control- teleoperation + autonomous provide realistic desert experience- inline of LRI high quality imagery and virtual envirnoment demonstarte patterened navigation with position registration: preview to meteroite search Rover: NOMAD 4 wheel, all wheel drive/steerpanospherric Transformation chassis, safe guarded teleop with delay, onboard processing postion estimation using DGPS and IMU active poinintg of antenna ultra FOV These technologies would have strong impact on future space mission Site: Atacama Desert, Chile - cold desert - average elevation: 8000 ft - barren, arid and dry High level task in Summer 97 trials - rover, command truck, relay station : three subsystems in the desert - control station at science center- more control stations possible _ - evaluate remote operations, control modes and navigation pattern - locomotion, pano, stereo visualization, active pointing- various performance measures - Using VEVI, demonstrate safeguarded teleop with novice drivers (Somebody) Four sites (Dimi) Yes. increasing difficulty, we have visited all the sites (Red) Only performance matrix: 200 kms Side agenda competing: anything else we do come in the way of distance (Bares) Unattended traverse? Waht do you mean? (Dimi) We will be visiting everyday to refuel. (Red) We can decided today what is unattended? (Bares) For ex: during difficult terrain, you might be able to take fuel for 5 days. If you can operate for more than couple of days without going to rover is goig to be very good. (Red) Unattended: no one in proximity. Why don't we advertise it like this. (Mainome) I thnk it is imp for a person to be looking for it (Red) There is point at whihc we need to cut the cord. (Reid) Are you going to call of the machine if somebody needs to go near? Or are we going to say that during the first 10 days we can approach the vehicle? Is this a misison failure? (Red) I won't call off the mission. Let me challenge the team. We compromised whole lot (including an addition year). Lets not compromise on "uanttended". there is ample opporuinit to test and rework. The predeployment / premission is real "trial" or experiemnt not the "juen demo" (Bares) Would like to talk about this in detail during hte day. You should not even go to look at it. (Dimi) Based on the power budget and amount of fuel- we should have fuel for atleast 2 days. We can probably do more than 2 days (probably 4) with tank fuel. (Red) Thermal is another big compromise we made in addition to fuel. Team decided not to address this. (Reid) In previous discussion there were much less concern about repairs. I don't mind people being there as long as they don't do anything. they are there for emergencey. Refuelling doesn't bother me. (Dimi) Lets say a mech component break. What is imp. are "lessons learnt". What is imp. is "level of complition". Calibrating a camera once on the machine in the field is not failure. (Gump) 5 kms a day!!!o.5 km/hr Not good enough (Lalit/Murph) Is this we are targeting? We never talked of 14 cms/s (Eric/Dimi) This is what we need min to complete the target. Machine if capable of moving much faster. (Gump) Why don't you reset the time if there is intervention? (Dimi) Not possible. Time/Money. (Hans.) There are lot of non-critical systems. If any of htese fail would you repair it or continue driving. (Dimi) Continue. We will repair only if it is catastrophic failure. (lalit) What if we complete 200 kms before duration (Dimi) (Hans) "realistic desert experiece/novice drivers"- qualitative unlike other requirements. (Dimi) We are tring to quantity that- no. of diverse drivers etc. Ex: 100 people commaniding rover might be good success. (Gump) Deciding what is realistic to public is difficult. (Hans) There requirements are driving some technical/development issues. So we should make this clear. Mark Maimone: 9:10 Software Software Rover: Antenna pointing, Real time, navigation, pano compress Relay Station: antenna pointing Command truck: low end user interface, comm routing, comm debug, audio/video conferencing, pano decompress Stateside:hi end user interface, comm routing, comm debug, audi/video conferevcing, pano decompress Alex: Real Time Control- driving, steering, antenna Reading all the sensors Receving/sending commands to/from remote station 68040, 68030, VME cage with 9 slots, Scuzzy for laser scanner, Ethernet board Real time connected to relay through RF modem. RF modem should be our most roboust link (NON-LOS too). () Are you going to be able to push some imagery through low bandwidth (Alex) Yes (Bares) Would the imagery be enough for driving (Murph) Yes- like AMES mission (Bares) What does low BW radio do for you? (Alex) Command and control (Hans) Should be OK. Coarse but can be done.This link has much more margin. (Bares) Now you have to develop two UI- one for highbandwidht and other for low bandwidth. I bet you will stop when you loose the highbandwidth. (Bares) Hans, how fast you can drive with lowbandwith (Hans) we drove at 30 cms/sec. (Hans) Better way to test ARLAN is to send hearbit signal to the rover over the link. Modes of operations: off mode (power swithed off), LOS mode, Non-LOS mode, Non-NAVS, Non-IMAgs etc. (check presentation slides), emergency modes (due to hihg temperatures etc.), shut down modes (Bares) Emergency modes ? (Alex) not all emergency modes defined yet (Reid) Is real time system going to take care of all these non real-time software. If yes, how? (Alex) Yes. Real time controls the solid state relays for powers etc. (Mike B.) Is the real time system going to shut itself (Alex) No. It has to be switched off (Lalit) What if the RTS crashes? (Alex/Hans) All actuators goes down ... (Reid) If RTS goes down, COMM is down, Then there is noway for the offboard to know whats going on. There should be a channel to tranmit through other computers else there is noway to know if hte power is down or if the RTS has crashed. (Hans) Ethernet bridge is full duplex. If the antennas are stll aligned you can telnet and check stuff. Signals form rover to world: computing status up/down, locomotion amps (current, temp, velocity, sensors on motors, ampl fault, amp enable, commanded velocity, velocity error, enocder frequency of enocder ticks), power status (fule level sensor, engine- bus voltage, RPM, on/off), UPS, Weather package, science package (eddie current sensor, other camera), ... (check slide) MOST of these is sampled at 1 Hz. High level control: commands from nav (radius, velocity, laser sight, pendant commands) Big sensos: GPS, Compass, Imu Pointing System: commands to amps, velocity, current, enable/fault lines, desired pos, errors Navigation stuff: steering vetors (Reid) How about stereo info (Marm M.) We can get it for debugging (Lalit) there should be software switch to tailor the commads to our needs. (Reid) Two radio links but there is no way of using either/one. If the RF modem goes down can we send commad through ethernet. (Mark M.) Should be possible. (Hans) Robot itself has two ethernt addresses- low bandwidth host and the high bandwidht host. So we can add the capability inh the software. (Mark Maimone) Safeguarding and navigation sensors stereo cameras- forward lookig depth map at 1 Hz laser scanner Position estimation: Gyrodometry (enoders, inclinometers), GPS, IMU () Why looking in wide FOV stereo when current configurtion is working? Why throwing the redndancy you have with two sets of cameras? (Mark) Some ideosyncracies. Trying to inprove- make it faster. (Reid) We originally had 1 pair of camera on stereo. We had problems with the corners. So we went with two pair stereo. And this ws with one meter wide vehicle. You have 2 m vehicle and with one pair stereo you would have exrtemely small radius. if 90 deg FOV works get two pairs. (Al) I need 160 deg Horizontal FOV and you can never have enough. (Barry) How about backup? There is no direct feedback. So would you not allow any novce driver to backup. (mark M.) Yes thats the plan. (Red) Point turn? (mark) on ratler we allowed on the assumption that there is no obstacles around. (Waldron) How much memory on navigation computer? How much you store? (Reid) Do you have enough terrain map to plan a path on the back? (Mark M) Depends on the dead reckoning. With the sensors we have we should have very good information. (Lalit) Are they real encoders or resolvers converted into enoders ... (Sib) Resolvers to encoders ... (Al) gyro compass- its not absolute. (Alex) Its a MAGNETIC gyrocompass. (Hans) Just use the gyrocompass and don't do odometry if htere is IMU\ (Al) No. There is a big win in including odometry information. (Lalit) Whats the site for testing. Gyrocompass won't work on Slag Heap. so look into site. Laser Scanner: For proximity 5 Hz Laser hit triggers immediate vehicle stop status: NOMAD attitude must be incorporated into the hazard detection module. LOTS OF DISCUSSION ON LASER. Why not sonar? (Reid) Earlier sonar were not considerd as its not lunar relevant. (Mark) Looking into global planning- D* (Mark) Intro to Web ... (Mike B.) If trials are in April then everybody would be trying to use it. Any plan to use Ratler as the testbed. You won't have time on machine to test at the last minute. (Mark M.) Ratler is gone. (Bares) I haven't really heard anything about the software. You talked more of the devices. (Mark M.) Most of it in the document. NAV software is fairly mature because of RATLER while the RTS is being developed. (hans) I am not comfortable as I have not really seen a concreate plan. (Mark. ) Check the document. \(Hans) Get the schedule to the reviewers in nexdt coupld of days.