life in the atacama, design review, december 19, 2003 carnegie mellon science ops [contributions...

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003

SCIENCE OPS[contributions from Peter, Trey, Dom, Kristen, Kristina

and Mike]

Life in the Atacama Design ReviewDecember 19, 2003

Peter CoppinPrincipal Investigator of EventScopeRemote Experience and Learning LabSTUDIO for Creative Inquiry, Carnegie Mellon University


Last Year


Science OPS: What is it?[Description and Motivation]

Interface to science autonomy system

[7 minutes]

Short range traverse interface

[7 minutes]

Long Range Traverse Interface

[7 minutes]

OPS Infrastructure[7 minutes]

How scientists get dataHow to understand what they haveHow they say what they want nextHow everything is labeled and correlated


Specifying goals over the horizon


15-18Apr Last Season


Description and Motivation

<What is the thing being designed?>•An interface to specify goals to the planner during long range traverses

<What system requirements motivate it and why is it needed?>•Need a way to specify goals prior to seeing pans or hi-res images of over the horizon sites•Need an intuitive way to interface with the planner SW •Need an easy way to find data once it is retrieved

Goals

DEM


Data correlation: Elevation models, pans, and other data

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003GUI Overview

Run Plan Estimator

Encourage waypoint

Site properties inspector

Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003Specify survey traverse [0800]

Run Plan Estimator

Encourage waypoint


Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003System creates path estimate

Run Plan Estimator

Encourage waypoint


Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003Operator adjusts requests

Run Plan Estimator

Encourage waypoint


Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003Operator re- runs plan estimator

Run Plan Estimator

Encourage waypoint


Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003Finalize target selection [0955]

Run Plan Estimator

Encourage waypoint


Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003Uplink rover traverse [1000]

Run Plan Estimator

Encourage waypoint


Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003Downlink / initial analysis

Run Plan Estimator

Encourage waypoint


Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink

Carnegie MellonLife in the Atacama, Design Review, December 19, 2003Operator verifies data/ more analysis

[0700]

Run Plan Estimator

Encourage waypoint


Pan Set pan angle

Sensors

Hi-res Image

Fluorescence

Pan Spec

Point spec

Locomotion

MakeSearchArea

Comm.

Uplink

Downlink


[SK] Design Considerations

<What issues dominate the design decision?>

Need interactive feedback from local planning software

Need interactive feedback regarding data volume and its relationship to the planner

Need interactive feedback regarding priorities and the planner

<What metrics are important to consider?>

Available time between each uplink

The amount of time it takes to run the planner

<What trades were examined?>

Simplicity/ speed vs. precision


Once scientists tell the robot where to go, how will they tell the robot

what samples they want returned?

[Based on conversations between Peter, Dom, Trey, Kristen and

Kristina]


Science Autonomy Interface: Description and Motivation

•Need a way to tune parameters that define science priorities for autonomous searches that are beyond the range of the pan [over the horizon]

•Need to “train the scientists” to specify requests within the constraints of the system

? ?


[[TBD]]

More LessAttribute

More LessImportance

Step 1: Load images from previous traverses, other sites or orbital images

RoundnessContrastSizeWeighted Value

.9.2

.5

.9.2

.5


[[TBD]]

More LessAttribute

More LessImportance

Step 2: Interactively tune parameters [camera focus analogy]

RoundnessContrastSizeWeighted Value

.9.2

.5

.9.2

.5


Step 3, groups results/ Science Map [from Trey’s Presentation]


Roundness 0.4 0.9 0.6 0.2 0.3Contrast 0.9 0.2 0.6 0.2 0.9Size 0.5 0.9 0.3 0.7 0.2Weighted Value 0.8 0.4 0.5 0.3 0.7

1 Take workspace image2 Identify potential targets3 Evaluate each target4 Apply scientist-defined settings5 Select one for analysis

Slide by Dom after our brainstorm


[SK]Interface to science planner: Key requirements<What is this component supposed to do?>

Translate the goals of the science team into goals for the science planner

<What properties/qualities must it exhibit?>

Enable scientists to interactively tune parameters in order to guide autonomous traverses


Notes

Preceptor technology

Related work at JPL

Simple mockup, test on scientists, iterate

Split tasks between other rover team members


Short range targeted searches


Description and Motivation:

<What system requirements motivate it and why is it needed?>•Need to show correlated full resolution 3D panoramic images, hi-res images, and other data as hyperlinked knowledge maps

•Specify goals •Download data•Make it easy to find data after it is downloaded•Run plan simulations •Provide analysis and measurement tools


Hotspot represents goals to the planner


Planner generates simulated plan


When data arrives on the server, the hotspot turns yellow


When data is verified by scientists, the hotspot turns green Clicking the green hotspot loads new dataAll hyperlinked data is archived in .zip format


Clicking the green hotspot loads new data


PORTAL SERVER

CONVERSION PROCESS

*REMOTE DEFAULT PRESENT

ATION

EVENTSCOPEAUTHORING TOOL

*NEW INTERFACE COMPONENTS,ROVER DATA TREE, SCENE EDITING, SAMPLE HYPERLINKS*S

TE

RE

O

IMA

GE

PA

IRS

*ST

ER

EO

P

OIN

T C

LA

UD

*VR

ML

FIL

E

EV

EN

TS

CO

PE

E

SP

FIL

E

ALLOWS SCIENTISTS TO ADD

COMMENTARY TO DATA

DA

TA

FR

OM

JPL

OTHER DATA AS ESP FILE[SPECTRAL, ETC.]

ST

UD

EN

T O

R

SC

IEN

TIS

T

EVENTSCOPE PORTAL TO MARS[MARS EXPLORATION ROVER]

Changes and enhancements to technology

[SK] EventScope Software

Architecture


Technical Approach<What are the candidate solutions?>

Web type interface

Virtual Environment within EventScope

VIZ

SAP

Large printouts with physical icons

<What is the leading solution?>

Web/ simple GUI

EventScopeVirtual

EnvironmentDatabase


Implementation Issues

<Are prototypes to be tested?>

Starting in January, 7 months of testing using data from Mars Exploration Rovers

Need plan to test long range traverse interfaces

<What are the potential failure conditions?>

Large file sizes

<What are the major schedule issues?>

Need multiple tests with rover prior to expedition


Final thoughts[if not talking about ops infrastructure]

Data structuresData correlation

Communication for both data and humans

Stateside rover team member

Configuration and location of OPS room


OPS Room5 People

Several weeksGood infrastructure

Low cost


OPS Room

5 PC’s with high end graphics cards

Meeting area

Individual work areas

3 Projectors

GeoWall, or panoramic projector

Internet connections for laptops

Printer

Plotter

Video cameras and other documentation equipment


<What are the candidate solutions?>

Future flight central at Ames

A room at CMU

Natural history museum Earth Theater

<What is the leading solution?>

Natural history museum Earth Theater


Final thoughts

Data structuresData correlation

Communication for both data and humans

Stateside rover team member


Implementation Issues

<Are prototypes to be tested?>

<What are the potential failure conditions?>

<What are the major schedule issues?>

life in the atacama, design review, december 19, 2003 carnegie mellon science ops [contributions...

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