Sequence Rehearsal

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Sequence Rehearsal Validation on Surface
Operations of the Mars Exploration Rovers

• Jeng Yen,
• Brian Cooper,
• Frank Hartman,
• Scott Maxwell,
• John Wright

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RSVP HyperDrive Architecture
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Description

• The rover simulation is used for composing and
  rehearsing the mobility/IDD command sequences.
• The tool is tightly coupled with the HyperDrive
  (the visualization main loop) to support
  interactive simulation and the real-time graphics
  of RSVP.
• The simulation maintains an I/F to the Flight
  Software (FSW) components on the MER.

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Simulation System Architecture
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Design Features

• Object-oriented and Hierarchical
• Numerical algorithm Configuration Inverse
  Kinematics
• Graphical representation of sub-systems
• Simulation managers inherit models and methods

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Design Features (cont.)

• Structure-preserving of the physical system
• MER sub-systems represented as sub-graphs
• Specially designed computational algorithm for
  the subsystems
• Flight S/W components I/F encapsulated

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Rover Simulation Manager Class
RoverSimSimGraph

• the MER model represented as disjoined
  sub-graphs
• A timer, a full-state vector, and a terrain
  model are required
• Handles all the mobility commands and callbacks
  of the visualization main loop

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Navigation Simulation Class

• MER model (Rocker-Bogey-Deifferentail)
• Apply configuration kinematics
• Use quasi-dynamics for duration estimation
• Maintains the I/F to the FSW NAV/MOT

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IDD Arm Simulation Class
Base

• IDD arm model
• Implement the FSW IDD IK algorithm
• Use quasi-dynamics for duration estimation
• Maintains the I/F to FSW IDD module
• Test against the FSW IDD module

Shoulder
Elbow
Wrist
Turret
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Simulation Safe Path
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Simulation Final Location
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Simulation Trench and IDD placement
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MER Movies
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