1 / 23

The Mobile Agents 2005 Field Test at MDRS:

The Mobile Agents 2005 Field Test at MDRS:. Planning for Exploration. William J. Clancey NASA Ames Research Center Chief Scientist, Human-Centered Computing Intelligent Systems Division. MA 2005 Participants. Brahms: Bill Clancey, Maarten Sierhuis, Ron van Hoof, Mike Scott, Serge Yentus

iniko
Download Presentation

The Mobile Agents 2005 Field Test at MDRS:

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. The Mobile Agents 2005 Field Test at MDRS: Planning for Exploration William J. Clancey NASA Ames Research Center Chief Scientist, Human-Centered ComputingIntelligent Systems Division

  2. MA 2005 Participants Brahms: Bill Clancey, Maarten Sierhuis, Ron van Hoof, Mike Scott, Serge Yentus MEX: Rick Alena, John Ossenfort, Charles Lee, Ed Walker, Hugo Notario RIALIST: John Dowding, Jim Hieronymus Geology: Abby Semple & Brent Garry ERA: Jeff Graham, Rob Hirsh, Eduardo Herrera, Bill Vreugde RST: Shannon Rupert + 12 participating scientists NREN: Ray Gilstrap, Kevin Bass SciOrg: Dan Berrios, Rich Keller

  3. Origins of MA Design:Historical & Analog Missions Biologists navigating in Haughton Crater (1999) Apollo’s CapCom, a virtual assistant on the moon Crew struggles with GPS during MDRS5 simulation

  4. Human-Systems Integration • Device Control: sensors/instruments, tools, robots, systems (life, power, computing) • Data Flow: Queue, sample, store, associate, share, display • Work Management: Monitor, advise (loc, time, activity), interpret, alert Voice-Commanded Toolkit WILLIAM J. CLANCEY, PI & MAARTEN SIERHUIS, PROJECT MANAGER

  5. Technical Features • Multi-Agent System • Functional & personal • Distributed control & data-processing • Wireless Computing • Platform independent • Tested over 5 km • Modular Configurations • Plug & play (Java API) • E.g., 5 robots, 3 cameras, 5 biosensors, 2 computer sensors, dGPS, headsets Astronaut Backpack System

  6. Mobile Agents Utah Field Test 2005 • 50 Participants; 17 days; 2 NASA centers & several universities • Multi-robot, auto-recon, & freeform exploration scenarios • More proactive ERA design • More proactive RST • More robust, faster, reusable agent system (> 60) • Improved alerts, queries (> 90), & auto-associations • EVA crew less reliant on HabCom crew member Geologists Exploring with Mobile Agents

  7. New MA’05 Operations • Interacting with the robots to determine their status:Whom are you following? Do you still have comms? • Establish dependence on robot relay: Boudreaux, join me. • Contextual robot move commands: Come here. Go there. • Directed photos: Take a picture of work site 5. • Astronaut naming of “work stations" (default 1 m areas) within work sites: Call this location 9 with a radius of 5 m. • Astronauts can refer to names teammates create. • Requesting locations and navigation information: Where is work site 5? Where am I? List all the locations near work site 6. Where is the next activity?

  8. New ERA Hardware Robotically Deployed Relay (RDR) Instrument Arm RDR Pin Assembly Thibodeaux (2nd ERA)

  9. ERA Spiral Recon Plan MDRS

  10. Mobile Agents Pooh’s CornerComms Network (2005) Rick Alena, NASA Ames,March 2005

  11. Plan B: ATV with ERA Agent & Operator Display

  12. Mobile Agents MDRS38 Configuration ERAAgent ERA HabComAgent RST Astro AstroAgent Hab Crew

  13. Collaborative Interplanetary Science ERA Brahms VM ERA agent Compendium Hab Brahms VM ScienceOrganizer agent CapCom agent MeetingReplay Comm. agent ERA MDRS Crew ScienceOrganizerAagent Compendium Aagent CA ScienceOrganizer EVA astronaut 2 EVA astronaut 1 Astro_1 agent Astro_1 agent Mars SocietyRST Compendium SpaceSuit_1 agent SpaceSuit_1 agent SUNY BuffaloRST AZ SpaceSuit_1 Brahms VM SpaceSuit_2 Brahms VM UK/NY RST Facilitator Maarten Sierhuis, RIACS/NASA Ames

  14. EVA Data in Science Organizer (WkStn9)

  15. From EVA to Desktop From: capcom@agentisolutions.comSubject: MDRS New ImageCollection: image_collection6Date: April 15, 2005 5:36:55 PM PDTTo: mdrs_rst@agentisolutions.comCc: mdrs_crew@agentisolutions.com, mdrs_ops@agentisolutions.comNew ImageCollection: image_collection6EVA Plan: Day_5_Astro_EVA_2_To_Beyond_Poohs_Corner_PlanActivity: WorkInRavineCreator: AstroOneObject ID: AstroOneModel_IMAGE_COLLECTION_3TimeStamp: 04/16/2005 01:08:07Latitude: 3824.201417 NORTHLongitude: 11046.8688492 WESTLink for RST: https://marst.arc.nasa.gov/mdrs2005/183971. . .

  16. Science Organizer Data MapGenerated During EVA Dan Berrios, NASA Ames

  17. Hub Hub SW Hub Hub MDRS IT Network MDRS WLAN DHCP DirectWay 56 Kbps Monitor Display LCD Display LCD Display LCD Display WLAN AP900+ HabObs OpsCon Win2003 Server TP 390 Habcom Laptop Printer MDRS Top Floor Network MA Workstations Science Organizer Ext Hab Wired Network NREN Satellite Link Network MDRS Lower Network MEX-NET WLAN Root Shoreline Phone Processor ERA WorkStations MEX-Hab(g) WLAN Root MEX WorkStations ERA Workstations Phone Lines Rick Alena, NASA Ames,March 2005

  18. Mobile Agents Systems Architecture Peripheral Devices(dGPS, biosens, cameras, robots, db, email) Agents(Personal, Loc, Nav, Plan, Comm) Mobile Agents Computers(AstroPacks, ERAs, HabCom) KaOS Registry(agent locator) MEX Net(hubs to Tropos & EVA Computers) ISP/IT NETWORK(TAZ to MDRS internal hubs)

  19. Experiment Observations(Day 5 EVA 2 Beyond Pooh’s Corner) • Enables independent, simultaneous work, which geologists prefer • But agents talk over astro conversations • Astro cannot hear that partner is listening to agent • Astro interleaves response with conversation • Results in “What did you say?” • Ready for next level:Voice loop management, alternative feedback, protocol personalization Overall: System Responsive and processed data appropriately

  20. Example Good Results

  21. Some Not So Good Results

  22. DesertRATS (Sept 05) • Ames, JSC, Glenn @ Meteor Crater area • Scout Rover = ERA • 2 Pressurized Suits & Helmet-mounted display • Power, pressure, coolant systems data • Standard commands: Move, Go To, Photo, Print label, Where is…? • EVA plan monitored Scout Rover: Mobile Agents allows voice commanding

  23. For more information… • http://www.marssociety.org/MDRS/fs04 • “Mission Info” • Daily reports • Photographs • http://bill.clancey.name • 1st Space Exploration Conf. • Simulating Activities • Field Science Ethnography • Automating CapCom • Roles for Agent Assistants in Field Science • Brahms: www.agentisolutions.com Special thanks to Abby Semple and Brent Garry

More Related