Robotics IV&V

1. NASA IV&V Workshop September 12, 2012 Robotics IV&V NASA IV&V Capability Development Charley Price, Ricky Forquer, Steve Hard, David Turner, Jesse Musgrove

2. Agenda Charley • Message & Context • MSL & OSIRIS-REx Support • Workbenches & Outreach Ricky Steven

3. Our Message • 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. • We have provided robotics training to the Mars Science Laboratory IV&V analysts. • We are currently providing training to the OSIRIS-REx asteroid sample and return mission IV&V analysts. • We have developed hands on simulations and subsystem hardware ‘work benches’ to support this training. • We also support community outreach, robot competitions, and interaction with the greater NASA robotics community. • Our Robotics Lab is part of the JSTAR. • We invite you to see our posters and demonstrations!

4. CD Robotics Context Diagram IV&V of Flight Robotics Projects NASA HQ, GSFC, & VIPs Upreach K-12, STEM, Camps, Robot Competitions Augmentation of IV&V Techniques Training of IV&V Analysts Outreach IV&V Robotics Laboratory in JSTAR Collaborative Activities GSFC, JSC, JPL, ARC,…WVU, …, AIAA/SARTC, IEEE

5. Space Robotics Systems

6. 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: • Soil capturing • Rock abrasion or drilling • Capturing a free flyer; Insertion of a payload into a receptacle • Human – Robot Interface • Command scripts or hand controller commands • Communications delay • Autonomous behaviors

7. CD Robotics Context Diagram IV&V of Flight Robotics Projects NASA HQ, GSFC, & VIPs Upreach K-12, STEM, Camps, Robot Competitions Augmentation of IV&V Techniques Training of IV&V Analysts Outreach IV&V Robotics Laboratory in JSTAR We are currently active here. Collaborative Activities GSFC, JSC, JPL, ARC,…WVU, …, AIAA/SARTC, IEEE

8. MSL and OSIRIS-REx Support Ricky Forquer

9. Courses Taught to MSL Analysts • Introduction to Robotics (August, 2011) • Fundamentals of Robotics, NASA Robotics Technology Plan, Current & Future Robotic Missions, ISS MSS, Robotics Primer Lab: Robotic rover simulation (Swarm) & hands-on Tankbots • MSL Manipulation & Mobility (November, 2011) • MSL Robotic Arm, forward kinematics, inverse kinematics, singularities, hardware architecture & components Lab: Hands-on forward & inverse kinematic control of robotic arms • MSL Basic Mobility, Mobility Manager, Navigation, Engineering Camera, Surface Systems Behavior & Coordination Lab: Mobility simulation: teleoperation, turn in place & arc steer control primitives, and programmed sequences • MSL Stereo Vision & Visual Target Tracking (January, 2012) • MSL autonomous navigation & traversal, visual odometry, slip detection, hazard avoidance, camera pointing, visual target tracking, target loss detection Lab: Computer Vision Workbench & Stereo Vision

11. RoverX: Mobile Robotics Platform • Being developed as: • A robotic hands-on training tool for IV&V analysts • An engineering test bed for: • Evaluating traversal, navigation, and manipulation software techniques • Exploring teleoperation & autonomy • A target system for intern and graduate student assignments • A demonstration for visitors to the Facility

12. 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

13. 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)

14. Workbenches and Outreach Steven Hard

15. 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

16. 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

17. Robot Competition Participation • 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 • 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

18. 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

19. Please come see our posters and demos! Contact Charley Price – charles.price@tasc.com Ricky Forquer – ricky.a.forquer@nasa.gov Steven Hard – steven.l.hard@nasa.gov