SCIENCE OPS contributions from Peter, Trey, Dom, Kristen, Kristina and Mike

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SCIENCE OPScontributions from Peter, Trey, Dom,
Kristen, Kristina and Mike

• Life in the Atacama Design ReviewDecember 19,
  2003
• Peter Coppin
• Principal Investigator of EventScope
• Remote Experience and Learning Lab
• STUDIO for Creative Inquiry, Carnegie Mellon
  University

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Last Year
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Science OPS What is it?Description and
Motivation
How scientists get data How to understand what
they have How they say what they want next How
everything is labeled and correlated
Interface to science autonomy system 7 minutes
Long Range Traverse Interface 7 minutes
Short range traverse interface 7 minutes
OPS Infrastructure 7 minutes
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Specifying goals over the horizon
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15-18Apr Last Season
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Description and Motivation

• ltWhat is the thing being designed?gt
• An interface to specify goals to the planner
  during long range traverses
• ltWhat system requirements motivate it and why is
  it needed?gt
• 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
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Data correlation Elevation models, pans, and
other data
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GUI Overview
Encourage waypoint
Run Plan Estimator
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Specify survey traverse 0800
Encourage waypoint
Run Plan Estimator
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System creates path estimate
Encourage waypoint
Run Plan Estimator
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Operator adjusts requests
Encourage waypoint
Run Plan Estimator
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Operator re- runs plan estimator
Encourage waypoint
Run Plan Estimator
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Finalize target selection 0955
Encourage waypoint
Run Plan Estimator
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Uplink rover traverse 1000
Encourage waypoint
Run Plan Estimator
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Downlink / initial analysis
Encourage waypoint
Run Plan Estimator
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Operator verifies data/ more analysis 0700
Encourage waypoint
Run Plan Estimator
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SK Design Considerations

• ltWhat issues dominate the design decision?gt
• 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
• ltWhat metrics are important to consider?gt
• Available time between each uplink
• The amount of time it takes to run the planner
• ltWhat trades were examined?gt
• Simplicity/ speed vs. precision

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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
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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

?
?
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Step 1 Load images from previous traverses,
other sites or orbital images
Attribute
Importance
.9
.9
.2
.2
.5
.5
TBD
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Step 2 Interactively tune parameters camera
focus analogy
Attribute
Importance
.9
.9
.2
.2
.5
.5
TBD
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Step 3, groups results/ Science Map from Treys
Presentation
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Slide by Dom after our brainstorm
1 Take workspace image 2 Identify potential
targets 3 Evaluate each target 4 Apply
scientist-defined settings 5 Select one for
analysis
Roundness 0.4 0.9 0.6 0.2 0.3 Contrast 0.9 0.2 0.
6 0.2 0.9 Size 0.5 0.9 0.3 0.7 0.2 Weighted
Value 0.8 0.4 0.5 0.3 0.7
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SKInterface to science planner Key requirements

• ltWhat is this component supposed to do?gt
• Translate the goals of the science team into
  goals for the science planner
• ltWhat properties/qualities must it exhibit?gt
• Enable scientists to interactively tune
  parameters in order to guide autonomous traverses

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Notes

• Preceptor technology
• Related work at JPL
• Simple mockup, test on scientists, iterate
• Split tasks between other rover team members

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Short range targeted searches
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Description and Motivation

• ltWhat system requirements motivate it and why is
  it needed?gt
• 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

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Hotspot represents goals to the planner
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Hotspot represents goals to the planner
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Planner generates simulated plan
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When data arrives on the server, the hotspot
turns yellow
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When data is verified by scientists, the hotspot
turns green Clicking the green hotspot loads new
dataAll hyperlinked data is archived in .zip
format
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Clicking the green hotspot loads new data
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SK EventScope Software Architecture
EVENTSCOPE PORTAL TO MARS MARS EXPLORATION
ROVER Changes and enhancements to technology
ALLOWS SCIENTISTS TO ADD COMMENTARY TO DATA
PORTAL SERVER
EVENTSCOPE AUTHORING TOOL NEW INTERFACE
COMPONENTS,ROVER DATA TREE, SCENE EDITING, SAMPLE
HYPERLINKS
OTHER DATA AS ESP FILE SPECTRAL, ETC.
DATA FROM JPL
REMOTE DEFAULT PRESENTATION
STUDENT OR SCIENTIST
CONVERSION PROCESS
STEREO IMAGE PAIRS
STEREO POINT CLAUD
VRML FILE
EVENTSCOPE ESP FILE
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Technical Approach

• ltWhat are the candidate solutions?gt
• Web type interface
• Virtual Environment within EventScope
• VIZ
• SAP
• Large printouts with physical icons
• ltWhat is the leading solution?gt

Web/ simple GUI
EventScope Virtual Environment
Database
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Implementation Issues

• ltAre prototypes to be tested?gt
• Starting in January, 7 months of testing using
  data from Mars Exploration Rovers
• Need plan to test long range traverse interfaces
• ltWhat are the potential failure conditions?gt
• Large file sizes
• ltWhat are the major schedule issues?gt
• Need multiple tests with rover prior to expedition

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Final thoughtsif not talking about ops
infrastructure

• Data structuresData correlationCommunication
  for both data and humans
• Stateside rover team member
• Configuration and location of OPS room

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OPS Room5 PeopleSeveral weeksGood
infrastructureLow cost
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OPS Room

• 5 PCs 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

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• ltWhat are the candidate solutions?gt
• Future flight central at Ames
• A room at CMU
• Natural history museum Earth Theater
• ltWhat is the leading solution?gt
• Natural history museum Earth Theater

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Final thoughts

• Data structuresData correlationCommunication
  for both data and humans
• Stateside rover team member

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Implementation Issues

• ltAre prototypes to be tested?gt
• ltWhat are the potential failure conditions?gt
• ltWhat are the major schedule issues?gt