# Presentation: 034861

## Mars Science LaboratoryFY04 Year End Review

*MSL Focused Technology*
**102159 – 09.03.05.02**** Rover Technology TB (incl CLARAty) **
- Issa A.D. Nesnas
- October 15, 2004

## Presentation Outline

- CLARAty overview
- Schedule and milestones
- Team, collaborations, and processes
- Significant events
- _Level I_ – framework for single-cycle instrument placement
- _Level II_ – framework for comparing multiple pose estimators
- Deliverables and technical progress
- CLARAty test bed

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## CLARAty Overview

## Rover Technology TB (incl CLARAty)

**Objectives:**
- Facilitate infusion of performance-enhancing navigation and manipulation technologies into MSL flight system
- Provide a flexible framework for integrating and comparing competing technologies on all research rovers: Rocky8, FIDO, Rocky7, K9, and FIDO5

**Funding Profile ($K):**

**Task Manager:**
- 	Issa A. D. Nesnas	(818) 354-9709
- 	nesnas@jpl.nasa.gov
**Participating Organizations:**
- 	JPL, Ames Research Center, Carnegie Mellon, U. of Minnesota, RMSA Universities
**Facilities: **
- 	Rocky 8, FIDO, Rocky 7, K9, FIDO 5, ATRVs, CLARAty test bed, ROAMS, Maestro, JPL Mars Yard

**FY03-FY05**** ****Milestones:**
**FY03** mobility and navigation for long traverse
**FY04****	**pose estimation, tracking, and manipulation for instrument placement
**FY05****	**complete simulations, onboard science and health monitoring

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Problem Statement

**Problem:**
**Lack** of **integrated** and **validated** robotic technologies for infusion into flight
**Redundant** infrastructure for each robotic project
**No framework** to capture technologies from universities
**No** **interoperable** software among: Rocky 8, FIDO, Rocky 7, K9, ATRVs
**Key Challenges**
- Different physical characteristics for robots
- Different hardware architecture for rovers
- Collaborative multi-center software development
- Flexible framework for advanced research
- Working software for all platforms
- Customer support
- Rover access to remote developers
- Software access and intellectual property
- Legacy code bases

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Mission Relevance and State-of-the-Art

**Mission Relevance**
- Enables integration and validation of competing technologies
- Enables technology transfer to flight from a **single** integrated source
- Captures university technologies for future missions
- Makes research rovers viable test bed for flight
- Easily adapts to future rovers with different hardware architectures
- Relevant to MSL, AFL, and MSR missions; and lunar robotic missions
**State-of-the-art**
- Mainly separate disparate robotic software systems within NASA
- Interoperability limited to high-level encapsulation
- Several efforts seeking common infrastructure – MDS, DARPA (Jaus), Intel (Robotics Engineering Task Force)

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Technical Approach

- Use **global perspective** on various domains (motion, vision, estimation, navigation)
- Identify** recurring patterns** and **common infrastructure **therein
- Use **domain expertise** to guide design
- Define **proper interfaces** for each subsystem
- Develop **generic framework** to support various implementations
**Adapt** legacy **implementations** to validate framework
**Encapsulate** when re-factoring is not feasible or affordable
**Test** on multiple robotic platforms and study limitations
**Feed** learned experience **back** into the design
**Review **and **update** to address limitations
*After several iterations one hopes to have achieved a truly reusable infrastructure*

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## A Two-Layered Architecture

_***THE DECISION LAYER:***_ Declarative model-based global planning and scheduling

***INTERFACE:*** Interactions at various levels

_***THE FUNCTIONAL LAYER:***__*** ***_Object-oriented abstractions for robotic capabilities

- System Adaptation

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Schedule and Milestones

## Schedule (1/5)

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

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## Schedule (2/5)

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Schedule (3/5)

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

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## Schedule (4/5)

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

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## Schedule (5/5)

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Accomplishments—Past Period

**October 2003 to September 2004**

**Planned**

**Accomplished**

**Deliver for validation:**
- Stereovision with CAHVORE to IP
- Visual target tracking to IP
- Morphin navigator to LT
- Deliver LM629 motion control board to MSL manipulation task
**Integrate and Test:**
- MER GESTALT navigator (MER)
- Drivemaps navigator (FIDO legacy)
- Wide baseline stereo (U. Washington)
- Mesh registration / camera hand-off (Ohio State)
- Wheel visual sinkage (MIT)
- Implement and test elements of 6DOF EKF (U. of Minnesota)
- Develop generic manipulation infrastructure
- Fix sun sensor implementation

**Deliver for validation:**
**Complete **
**Complete** – delivered for Rocky 8
**Complete** – delivered for FIDO
**Complete **– tested hardware/software  and delivered
**Integrate and Test:**
**Complete** – tested with ROAMS
**Complete** – encapsulated and tested in simulation
**Complete** - tested on Rocky 8 in Mars Yard
**Complete** – tested with Rocky 8 images
**Complete **– tested with MIT test bed images only
**Complete** – tested on Rocky 8 and FIDO
**Completed **5DOF infrastructure – generic one underway
**Complete **– re-implemented algorithms
- and much more ...

- IP – Instrument Placement Validation task
- LT – Long-range Traverse Validation task

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Action Item Status

**     ****FY03 Year End AI****	****	****Status**

- Identified necessary steps to prepare CLARAty for open source.
- Identified the modules necessary for open source release.
- Provided feedback to program office on alternatives for critical non-releasable modules.
- Started a collaboration with CMU-West to investigate low-cost rover hardware platforms.
- Supporting new RoverWare software dissemination task.

**MTP Board Recommendation #3:** The board recommends that JPL pursue open source status for CLARAty.

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Issues and Resolutions

**Issue Description**

**Solution Options/Schedule**

- Limited number of rover platforms.
- Intellectual Property and sharing of software among NASA centers and universities.
- Difficult and expensive to retain staff with a wide technical base and interest in supporting technologies developed by others.

- Increase by refurbishing or building new rovers.
- Setup a consortium of all centers involved and draft a license agreeable to the consortium.
- One or more:
- Reduce scope of CLARAty.
- Attract members who are generalists and have interest in working across disciplines.
- Increase funding to retain diverse staff.

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Financial Status

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

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## Workforce Status

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## Status Summary

**JUNE  JULY AUG SEPT**

_**Technical**_

_**Schedule**_

_**Resources**_

- _Detailed Description_: (for items identified as yellow or red)
- Schedule and resources are on track

**G**

**Y**

**R**

- No current problem
- All commitments can be met

- Major problem
- Identified solution
- Commitment is in jeopardy

- Major problem
- No identified solution
- Commitment cannot be met

**JUNE  JULY AUG SEPT**

**JUNE  JULY AUG SEPT**

**G**

**G**

**G**

**G**

**G**

**G**

**G**

**G**

**Y**

**G**

**G**

**G**

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

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## Planned Accomplishments – FY05

**Prepare technologies for validation based on MSL needs**
**Start interactions with new NRA awardees**

| Date | To | Delivery Description |
| --- | --- | --- |
| 12/04 | IP | Tracking with panoramic and navigation cameras |
| 1/04 | LT | GESTALT navigation with ROAMS |
| 3/04 | IP | Navigation to Hazard camera tracking and hand-off |
| 4/05 | LT | GESTALT navigation on Rocky 8 |
| 6/05 | IP | Stereo-based manipulation and rover-base placement |
| 9/05 | IP | Collision detection for manipulation |

- LT – Long-range Traverse Validation
- IP – Instrument Placement Validation

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Team, Collaborations, and Processes

## Highlights

- A Challenging Year for CLARAty
- Delivered **four **major algorithms for validation
- Captured **six** major legacy and competed algorithms
- Supporting **four** major platforms
- Maintaining a **large** number of algorithms
- Lost several key staff members (medical leave, MER support, etc.)
- Development Process
- Setup a new development process but needs further tuning
- Started an automated night build process
- Improved CLARAty test bed
- Formalizing manipulation infrastructure (requirements document)
- Participated in several Code T ICP and ECP – awarded two ICPs that will leverage CLARAty
- Presented invited paper at IROS
- Presented papers at Aerospace Conference

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## CLARAty Core Team

**NASA Ames Research Center**
- Maria Bualat
- Clay Kunz (*Data Structure Lead*)
- Eric Park
- Susan Lee
- Anne Wright *(Cog-E & Core lead)*
**Carnegie Mellon University**
- David Apelfaum
- Reid Simmons *(Navigation lead)*
**University of Minnesota**
- Stergios Roumeliotis
- Yukikazu Hidaka

**Jet Propulsion Laboratory**
- Max Bajracharya (34) *(Cog-E &  Vision lead)*
- Edward Barlow (34)
- Antonio Diaz Calderon (34)
- Caroline Chouinard (36)
- Daniel Clouse (34)
- James Dillon (34)
- Tara Estlin (36) *(Deputy & Decision Layer lead)*
- Erann Gat (36)
- Dan Gaines (36) *(Estimation Lead)*
- John Guineau (34)
- Mehran Gangianpour (34)
- Won Soo Kim (34) *(Motion lead)*
- Richard Madison (34)
- Michael Mossey (31)
- Issa A.D. Nesnas (34) *(Task Manager)*
- Richard Petras (34) *(Adaptation lead)*
- Babak Sapir (31)
**OphirTech**
- Hari Das Nayar

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

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## Collaborations

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## Software Development Process

**Software Development Process**

- Repository

*AFS Backbone*

- CMU

- JPL

- CLARAty

- Repository

- 3rd Party

- Releases

- Web

- UW

- ...

- VxWorks

- ARC

- FIDO

- K9

- Repository

- ATRV

*Authentication*

- U. Minnesota

- Rocky 8

- Number of employees and not FTEs

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## Some CLARAty Statistics

- ~320 modules in repository (increase of 6% from FY03) – goal is to limit modules
- ~60 modules are researched technology algorithms (~20%)
- About 500,000 lines of C++ code – revise and reduce
- Five adaptations: Rocky 8, FIDO, Rocky 7, ATRV, K9
- Most technology modules are at Level III
- None are at Level IV or Level V (formally reviewed, documented, and open source)

- CLARAty Integration Levels
- Level I – Deposited
- Level II – Encapsulated
- Level III – Refactored
- Level IV – Formally reviewed
- Level V – Open source and fully                 documented

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## Technology Algorithms in CLARAty

- Single webpage to link to all technology algorithms captured in CLARAty
- Lists:
- Domain Area
- Technology source
- Contact Information
- Integration status

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## Serving the Customer

- Making a formal delivery
- Interact with technologist to plan CLARAty integration
- Capture algorithm and representative data sets
- Understand and operate algorithm
- Integrate into CLARAty and test on a rover platform
- Do an internal shake-down test
- Develop release documentation
- Deliver to validation
- Support delivery, bug fixes and feature additions
- Maintain CLARAty test bed

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

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## Significant Events

- Level I – framework for single-cycle instrument placement
- Level II – framework for comparing pose estimators

## Significant Event – Single Cycle Instrument Placement

- Provided a framework for end-to-end single-cycle instrument placement (SCIP) on Rocky 8 (Level I milestone)
- Demonstrated integration of the following technologies:
- Visual 2D/3D Tracking (JPL - RMSA)
- Morphin Navigator (CMU)
- Wheel odometry pose estimator (JPL)
- Camera handoff (JPL)
- Rover base placement (JPL – IS/MSL)
- 5DOF manipulation (JPL – MTP/MSL)
- Commanding through Maestro
- Importance:
- SCIP increases science return by saving the mission 2 sols out of 3 per placement. Key component for multiple instrument placements.
- Framework to plug in different technologies for validation of end-to-end capability
***Max Bajracharya**** (lead),* *Antonio Diaz Calderon, **Won Soo Kim, Mark Powell **(*Joint effort with MSL manipulation and Maestro tasks)

- Designating
-  a target

- Rocky 8 tracking and navigating

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## Level I Milestone - Key Challenges

- Changes in FOV

- 1st Frame

- 37th Frame after 10 m

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## Framework for Single-cycle Instrument Placement

**Framework for Single-cycle Instrument Placement**

- 2D/3D Visual Tracking

- R8 Mast Pointing

- Morphin Navigator

- KIM
- Hand-off

- MSL Base Placement

- HIPS

- Visual Odometry

- Maestro
- Ground
- System

- Visual Tracker

- Visual
- Odometry

- SIFT
- Tracker

- Gaze Pointing

- K9 Mast Pointing

- Locomotor

- R8 Locomotor

-  Wheel Odometry

- Pose Estimator

- GESTALT

- Drivemaps

- FIDO EKF

- 6DOF EKF

- Visual Odometry

- Camera Hand-off

- Mesh Registration

- Bundle Adjustment

- Base Placement

- Haz Camera Tracking

- 2D/3D Visual Tracking

- SIFT
- Tracker

- Obstacle Avoider

- Possible Alternatives

- Vision-guided Manip

- On -board Rover
- Software
- Infrastructure

- PRE-DECISIONAL DRAFT: For Planning and Discussion Purposes Only

- October 12-15, 2004

## Video of Single-cycle Instrument Placement

| Element | Provider | Comments |
| --- | --- | --- |
| Rover takes panorama and sends images to Maestro | CLARAty |  |
| Maestro displays images and user designates a target point.  Host sends selected target to rover | WITS/Maestro Task (Norris, Powell) |  |
| Rover uses 2D/3D visual tracking from navigation cameras (45° FOV) to track target from 10 – 2 m  | Visual Target Tracking (Nesnas, Bajracharya, Madison, ARC) |  |
| Rover uses Morphin navigator to avoid obstacles | CLARAty (Simmons) |  |
| Rover tracks using mast pointing while avoiding obstacles and estimating pose | CLARAty (Bajracharya) |  |
| At 2 – 3 m, rover hands-off target from navigation cameras to hazard cameras  using first:
Kinematic chain from calibrated mast
Image-based matching to refine new target location
 | 1. Instrument Placement (Kim)
2. CLARAty (Bajracharya) – unplanned effort
 | Hand-off technology from Ohio State did not operate properly on rover images. 
Video demonstrates manual hand-off due to lack of robustness of current on-board algorithm. ARC mesh registration is a possible alternative |
| Rover can use visual odometry to estimate pose from 3 m – 0.5 m using hazard cameras – video shows just wheel odometry for this segment | Slope navigation (Matthies, Cheng, Helmick) | Algorithm failed to produce reliable and accurate estimates on images from Rocky 8 hazard cameras.  |
| Rover base placement | MSL Manipulation (Backes, Calderon) |  |
| 5DOF arm deployment | MSL Manipulation (Backes, Calderon) |  |
| Vision-guided manipulation using HIPS | MSL Manipulation (Backes, Robinson) | At the time the video was acquired, this technology was not integrated onto the rover. |

- Some delays attributed to late integration of new 5DOF arm on the rover

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## Significant Event – Comparing Pose Estimators

- Provided a framework to compare five pose estimators.
- Verified by running on real rover data:
- Sojourner
- Rocky 7 with sun sensing
- FIDO 3DOF EKF
- Simplified version of 6DOF EKF
- Wheel odometry
- Visual Odometry
- Mission Importance:
- Framework to compare algorithms
- Demonstrates SOA and future potential
***Dan Gaines**** (lead), Antonio Diaz Calderon*

- Rocky 8 (front) and FIDO (back)

- Measuring Ground Truth using Total Station

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## Level II Milestone - Comparing Pose Estimators

*Comparison done to verify correctness and not to validate performance*
- Pose Estimators:
**Sojourner: **integrates z-axis gyro with wheel odometry (flat terrain)
**FIDO EKF:** filters z-axis gyro bias & combines wheel odometry (flat terrain)
**Sun sensor:** wheel odometry with sun sensor heading corrections
**6DOF EKF:** *incomplete version* - 3-axis IMU with flat terrain kinematics
**Wheel odometry:** integrated delta encoders
**Visual Odometry:** uses hazard cameras to estimate ego-motion
**Ground Truth** – measured using a total station at every interval
- Tested on four runs
- 2 m straight line traverse over small rocks
- 2 m straight line traverse over larger rocks
- 2 m arc with 0.5 rad heading change over small rocks
- 2 m arc with 0.5 rad heading change over large rocks

- Heading relative to beginning of move
- IMU mount not finely calibrated relative to rover frame

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## Pose Estimators – (a) 2 m straight; small rocks

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## Pose Estimators – (c) 2 m arc; small rocks

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## Pose Estimators – (d) 2 m arc; large rocks

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## Pose Estimators – Some Observations

- Performance of all estimators except wheel odometry is comparable
- A gap exists between most pose estimators and ground truth – there is a significant potential for research to close that gap
- Occlusions from fixed mast impact sun sensor

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## Deliverables and Technical Progress

## Status of Navigation Algorithms in CLARAty

| Description | Morphin | MER GESTALT | GESTALT V1.0 | Drivemaps |
| --- | --- | --- | --- | --- |
| Integration Status | Refactored | Encapsulated (includes its own stereo) | Encapsulated (uses CLARAty stereo version) | Encapsulated
(uses CLARAty stereo version) |
| Platforms Tested | Rocky 8 FIDOROAMS
Simple Sim | ROAMS | Rocky 8 | Simple Sim |
| Validation Status | Delivered to LT | - | - | - |
| Future Plans | - | Test on Rocky 8 | Obsolete | Generalize and test on FIDO, Rocky 8 and ROAMS |

- Simple Sim – a simple and fast CMU simulator that generates binary terrain for navigation testing

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## MER GESTALT with ROAMS

- Encapsulated latest uploaded MER version of GESTALT (R9.0)
- New version (R9.1) still under development. We plan to upgrade once available
- Adapted navigator to ROAMS
- GESTALT runs on the Rocky 8 bench top and interfaces with ROAMS
- Successfully avoided obstacles
- Reached goal on benign terrain
- Future Work
- Further test and tune the adaptation
- Port to Linux
- Adapt to a real rover
- Prepare for validation

- Front Hazard Stereo images

- Example of a
- GESTALT
- Goodness
- Map (does not correspond to above images)

- ROAMS
- FIDO
- simulation

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## Drivemaps Navigator

- Encapsulated FIDO Drivemaps navigator into CLARAty
- Tested elements on real field data
- Preliminary limited testing of behavior using a simple simulator
- Future Work
- Generalize implementation to be rover independent
- Further test for anomalies
- Port to Linux
- Adapt to a real rover
- Prepare for validation

- Status Map

- Stereo Point Cloud
- (above side view)

- Left/Right Hazard       Camera Images

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## Drivemaps vs Morphin Navigators

- Morphin Traverse

- Drivemaps Traverse

- Ran experiments with Drivemaps and Morphin using Simple Simulation (binary obstacle terrain)
- Navigation logic generates different paths to reach goal

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## Sun sensor Heading Estimator

- Implemented a new sun centroid finder
- Implemented new morphological operators (erosion and dilation for two different template sizes)
- Added eccentricity calculation to improve sun detection
- Implemented exposure control for Rocky 8 cameras to improve image quality
- Future Work:
- Add uncertainty to sun vector
- Adapt and test on FIDO

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## Visual Wheel Sinkage 

- Translated MIT’s visual wheel sinkage into CLARAty
- Tested on all supported platforms (VxWorks and Linux)
- Tested against images provided by technologist
- Compiled and posted documentation provided by technologist
- No available rover setup for further testing

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## CLARAty Test bed

## Supported Platforms

**x86**

- Ames

- JPL

***Rocky 8***

**x86**

**VxWorks**

**Linux**

***Rocky 7***

***K9***

***ROAMS***

***FIDO***

- CMU

**Linux**

***ATRV***

**x86**

- JPL

***FIDO***

**VxWorks**

**x86**

- JPL

**ppc**

**VxWorks**

- JPL

**Linux**

**ppc**

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## New in the CLARAty Test Bed

- ATRV Jr.

- FIDO2 Stack

- Dexter ManipulatorBench top

- Rocky 8 PPC Bench top

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## CLARAty Test Bed

- Added two new targets:
- Rocky 8 bench top with PPC for MDS/MSL
- FIDO2 stack – hybrid of Rocky 8 and FIDO
- Used by:
- CLARAty Developers
- MSL Manipulation task
- Validation tasks
- MDS/MSL
- Remote Access
- Web camera
- Remote power cycle

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## LM629 Motion Control Board

- Delivered LM629 Motion Control board to MSL manipulation task
- 16 axes motor controllers/board
- Support for multiple boards
- Current sensing
- H-bridge braking
- Analog interface for potentiometers

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## Publications to Date

- Publications:
- M.G. Bualat, C.G. Kunz , A.R. Wright, I.A. Nesnas, "Developing An Autonomy Infusion Infrastructure for Robotic Exploration," Proceedings of the 2004 IEEE Aerospace Conference, Big Sky, Montana, March 6-14, 2004. pdf (14 pages, 0.7MB)
- R. Volpe, "Rover Functional Autonomy Development for the Mars Mobile Science Laboratory," Proceedings of the 2003 IEEE Aerospace Conference, Big Sky, Montana, March 8-15, 2003. pdf (10 pages, 1.2MB) C. Urmson, R. Simmons, "Approaches for Heuristically Biasing RRT Growth," Proceedings IROS 2003, October, 2003
- I.A. Nesnas, A. Wright, M. Bajracharya, R. Simmons, T. Estlin,_[ ](http://claraty.jpl.nasa.gov/new_site/overview/publications/03_nesnas_challenges_iros.pdf)_Won Soo Kim, "CLARAty: An Architecture for Reusable Robotic Software," SPIE Aerosense Conference, Orlando, Florida, April 2003. (730 KB)
- I.A. Nesnas, A. Wright, M. Bajracharya, R. Simmons, T. Estlin, "CLARAty and Challenges of Developing Interoperable Robotic Software," invited to International Conference on Intelligent Robots and Systems (IROS), Nevada, October 2003. (410 KB)
- C. Urmson, R. Simmons, I. Nesnas, "A Generic Framework for Robotic Navigation," Proceedings of the IEEE Aerospace Conference, Montana, March 2003. (8 pages, 730KB)
- C. M. Chouinard, F. Fisher, D. M. Gaines, T.A. Estlin, S.R. Schaffer, "An Approach to Autonomous Operations for Remote Mobile Robotic Exploration," Proceedings of the IEEE Aerospace Conference, Montana, March 2003 (277 KB)
- T. Estlin, F. Fisher, D. Gaines, C. Chouinard, S. Schaffer, I. Nesnas, "Continuous Planning and Execution for an Autonomous Rover," Proceedings of the Third International NASA Workshop on Planning and Scheduling for Space, Houston, TX, Oct 2002. (168 KB)

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## Backup slides

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## Measuring Success or Failure

- We succeed **IF **we:
- Significantly reduce integration time of new technology software onto real robotic systems
- Support multiple platforms with different hardware architectures
- Provide a service that is enabling for technologists
- Simplify the development/integrate/debug/test cycle for current and next generation NASA rovers
- Have people other than the developers using and “*liking*” the system

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## Pose Estimators – (b) 1.6 m straight; large rocks

*Mast Shadowing** Sun Sensor*

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