mars eva computing environment project introduction mark smith [email protected]
TRANSCRIPT
Mars Society Australia● Not for Profit Society, one part of global mars
society. The goals are:– Public and outreach programs to promote mars science and exploration
– Encouraging Government endorsement and funding of mars exploration program
– Support of privately funded mars exploration
– Promotion and support of australian contributions toward mars exploration through education, industry, government and individuals.
● Operation Red Centre to build: Rover, Hab, and Suit.
● People from Uni's in Perth, ANU, Uni NSW and QLD involved in various aspects of projects
● http://www.marssociety.org.au
Mars Skin● Mars Skin is the project to
develop a Mechanical Counter Pressure (MCP) Suit.
● Led by James Waldie – RMIT – PhD student
● Requires a method of logging data captured during the mission.
● ExOne planned for 'Version 2' Mars Skin.
Data Logger History
● Mars Society Canada – Produced a Data Logger● Integrated with MarsSkin in Utah(ExOne).● Technologies:
– Linux– 'C'– PC104 platform– Custom 4x4 keypad & display for user input
● Logs to hard disk for later evaluation
Why Yet Another Data Logger?
● Not just a data logger – think of the wider problem
● What are we trying to do when we go to mars and do an EVA?– Explore – gain scientific understanding– collaboratively work through the problem– Co-ordinate our activities
Mars EVA Computing Environment
● Develop software system:– Plan Missions &
EVA's– Execute and
Monitor the Plan – Analyse the
results afterwards● Let's take an
example:
Features: Planning
● Plan the Rover Route from Hab:● EVA Points along the way.● Drill to EVA's, and plan eva route● Plan resources:
– Equipment – Personnel– Suits– Rover
Features: Execution
● Tracking of Route vs Planned● At EVA Points, log EVA activity● Suit will know the EVA it is on, establish Voice
Communications network
Network 1 Network 2
Network 2
Features: Execution 2
● Video, Data logged to disk, but also streamed to Rover
● Rover Operator can be in conversation● Command of robots through same software
GPS
Vital Signs
Suit Data
External Instrument
Suit 1..n
Features: Monitoring
● GPS tracking of each suit through planned route of EVA.
● Events logged by EVA participants, causes annotation to data stream.
● Event summary sent through to any hab, or terrestrial monitors.
● Aliens 2 type video/vitals display
Event Data thru 802.11b
Or, if proximity allows thru 802.11b
Event Summary to HAB Monitor
To earth?
Features: Analysis
● Post Mission/EVA, events punctuate collated data.
● Event data can be extracted for analysis. ● Mission Results stored in Global Mission Store
How?
● Technology Search:
– perl, jxta, palm technologies, C++ streaming libs, SIP phones● Decided:
– Windows/Linux with 802.11b – Wireless Network
– Java – high level language & detailed platform
– Jini – Spontaneous Network technology
– JMF – Java Media Framework – media capture & streaming.
– JSP – Java Server Pages – GUI for planning/monitoring
Systems Overview
Local Mission Controller
Rover User Interface
Rover Suit
EVA Participant
SuitUser Interface
Voice NetworkParticipant
Global Mission Controller
Global Mission Store
HABWireless LAN
Wireless LAN
• Main Points: Wireless LAN for opportunistic connection • Jini Services:
•Global Mission Controller•Global Mission Store•Local Mission Controller
RTP Streaming – for Voice & Data
Voice Network Participant
Voice Network Participant
RTP GSM EncodedData Stream
Provider
EVA Data Manager
Suit 2
Suit 1
Data Stream Provider
RTP (Various Encodings)
JINI•Spontaneous services – perfect for Mars!•Combined with Wireless networking•Ubiquitious, proximity based service and data provision
Registrar
Local Mission Controller
1. Registers LMC with Registrar
EVA Participant
2. Asks for LMC, gets service Object
3. Makes use of LMC service
Project Status
● Documentation Begun:– Model in ArgoUML containing:
● High level use cases● Mission store & hab/suit/rover servers begun. ● Mission/planning objects & services● Rover UI is furthest advanced, shows not much, and trying
to integrate with JINI● JMF used for Audio Streams (not yet operational)
● Code available on source forge.● Susan Smith in Sydney working on persistence
for mission store.
Possible Projects(1)Project Name Objectives Reference Use Cases Effort Estimate
GPS Data Stream GPS JMF data capture
JMF logging &streaming.
Integration of GPS
UC 1.3 RoverMovement
UC 1.5 Data Loggedfrom Suit
2 Person Months
Audio Data Stream JMF audio data capture
JMF logging &streaming.
Integration of audioStreams intoEVAParticipant class.
UC 1.6 AutomaticComms Network.
2 Person Months
Video Data Stream Video JMF data capture
JMF logging & streaming
Integration into EVAParticipant
UC 1.5 Data Loggedfrom Suit
2 Person Months
VoiceCommunicationsNetwork
GUI control of JMFstreams to implementnetwork switching &mixing
UC 1.6 AutomaticComms Network.
UC 1.12 SeparateVoice Network
UC 1.6.1
1 Person Months(dependant on basicaudio streamsworking)
GPS Mapping Real time tracking ofGPS stream over maps(suit, rover)
UC 1.7 RoverOperator MissionView
3 Person Months
(dependant on GPSStreams, co dependanton mission planning)
Possible Projects(2)Project Name Objectives Reference Use Cases Effort Estimate
EVA EventManagement
EVA event creation,notation & streaming
UC 1.9 EVA EventHandling
UC 1.15 EventComplete
UC 1.10 Jen JoinsJohns Event
1 Person Months
Remote Monitoring Remote Monitoring ofMission (eg Hab, EarthMission Control) & eventinterjection.
UC 1.9 EVA EventHandling
1 Person Months
Mission Review &Reporting
Attach summaries &conclusions to missiondata
Replay sections ofmission
UC 2.0 EVA Review 3 Person Months
Mission Planning Design a mission.
Approve a mission
start a mission
UC1.1.1 DetailedPlanning
2 Person Months
Local GlobalMission Store Sync
When a rover returnsfrom out of LAN range,the data needs to besynced
None 1 Person Months
Possible Projects(3)Project Name Objectives Reference Use Cases Effort Estimate
Local Missionalteration.
Ability to cchange themission route and otherdata while mission isunderway
None 0.5 person months(dependant on missionplanning)
Capture, Streamingof other datasources from Suit
integration of genericdata sources as JMFstreams
UC 1.5
UC 1.14 Instrumentdata through suit
2 Person Months
Rover VitalsDisplay
Rover monitoring ofvitals, and display ofJMF streams.
UC 1.5, UC 1.7 3 Person Months.Difficult GUI & datapresentation.Dependant on datastreaming projects
Robot Control robot control using voicecomms
Vocab for sharedgoals/movements
Conceptual basis fordescribing robot
UC 1.8 UtilBot Setup
UC 1.13 Robot calledover voice network.
6 Person Months. Bigproject. Need to designvocab, and do AI forsharedgoals/movements etc.
HAB Software Mission Planning donehere + Monitoring ofmultiple missions
Resource/ Personnelmanagement
None 2 Person Months
Where Now?
● Project needs:– Programmers
– Mars Mission Planners
– Integration with Hab/Rover/Suit groups
– Target? ISU July 04?
● Contact me if you can help!
Questions?