# Presentation: 252053

## JPL DIVISION 34Quarterly Management Review MSL Focused TechnologyRover TechnologyCLARAty 102159 - 06.05.01 TDA 791

**Issa A.D. Nesnas**
- Mobility and Robotics Section (347)
- April 21, 2005

**(818) 354-9709**
**nesnas@jpl.nasa.gov**

## 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

- April 21, 2006

## Schedule (1/2)

- April 21, 2006

## Schedule (2/2)

- April 21, 2006

## Past Period Accomplishments Jan 12, 2005 to Apr 13, 2005

- Deliver final version of GESTALT navigator w/ ROAMS for LT validation
- Prepare delivery of tracking with Navigation to Hazard camera hand-off
- Complete sun sensor error model
- Complete generalized version of DriveMaps Navigator
- Continue prototyping of mechanism model
- Re-film the end-to-end single cycle instrument placement
- Continue repository clean-up and documentation
- Complete FIDO-2 stack battery discharge test

- Complete
- Delivery is on schedule
- Complete
- Work ongoing - was postponed to fix identified bugs in Morphin navigator
- Work ongoing - new mechanism model infrastructure developed
- SCIP now working on Rocky 8
- Continuing - large number of improvements made
- Complete

_**Planned**_

_**Accomplished**_

- April 21, 2006

## Significant Event – MER Navigation in CLARAty/ROAMS

- Delivered to MSL Long Range Validation Task
- MER navigation (GESTALT) integrated with CLARAty and ROAMS simulation
- GESTALT navigation provides:
- Rover capabilities for *obstacle detection*, *obstacle avoidance*, and *navigation*
- A local traversability map of surrounding terrain
- Technology maturation of MER navigation – integration of GESTALT with CLARAty
- Enables deployment on JPL research rovers
- Enables deployment with ROAMS high-fidelity simulation
- Enables component-level validation
- Importance:
- Navigation is necessary for long-range traverses
- Integration with CLARAty enables comparison against other algorithms
- Integration with ROAMS enables controlled experiments with varying pose estimates and terrain difficulty
- Integration and validation mature algorithm for MSL infusion.
***Mike McHenry**** (lead),* *Ron Garret*

- April 21, 2006

## Technical Status (1/4)

_**General**_
- Refactored r8_rover module to allow use with both Rocky 8 hardware and ROAMS simulation. (Shu)
- Eliminates code duplication and allows all CLARAty Rocky 8 users (sim and hardware) to leverage most recent R8 software updates and fixes
- Work being performed in cooperation with RoverWare Task (Norris)
- Continued debugging single-cycle instrument placement. (Kim, Simmons)
- Identified problems in Morphin. Provided navigation data sets to CMU. CMU is in process of fixing identified problems.
- Current fixes incorporated into SCIP demo
- SCIP is now operational on Rocky 8 and ready to refilm
- Met with International Affairs and obtained agreement that CLARAty could keep its current ITAR process of clearing people (vs. adopting new ISIS ITAR process of clearing documents and websites)
- Supporting new NRA work from MIT, Stanford, CMU, and Ames
- Started to define how K10 rover will use CLARAty
- CLARAty website can now be accessed with password from outside (vs. supplying machine IP address)

- April 21, 2006

## Technical Status (2/4)

_**Development Process**_
- Updated CLARAty code development process based on team feedback
- Distributed to team new policy for CLARAty naming conventions and coding standards.
- Developed and began regular use of autobuild system (Sapir, Gaines)
- Build creates nighyly HTML report which includes builds for all targets, success/fail report, and build times
- Build working on large number of core modules.  121 of these now build cleanly for both x86 VxWorks and Linux
- Developed design and began implementation of regression testing plan
- Added support for unit testing and baseline testing in CLARAty make system on Linux platform (Gaines)
- Hooks in place for VxWorks support
_**Vision**_
- Worked with IP validation task to extend delivery for camera panoramic tracking with hand-off to navigations cameras (Madison, Kim)
- Revised camera hand-off to hazard cameras
- Incorporated changes from IP validation task into delivery code
- Currently working on second delivery of navigation camera tracking with hand-off to hazard cameras (Madison)
- Worked with IP validation task to complete plan for second delivery
- Delivery currently on schedule
- Added documentation to CLARAty web site for Ames stereo (Kunz)

- April 21, 2006

## Locomotion & Navigation
Delivered the MER GESTALT Navigation flight code integrated in CLARAty and running with ROAMS (McHenry)
MER 9.0 version of GESTALT (with current bug fixes)
Delivery used latest version of ROAMS
Working with LT validation task to help with delivery installation and use
Adapted GESTALT parameter settings according to R8/ROAMS configuration
Updated GESTALT FDD
Identified several bugs in Morphin Navigator, including problems with viewer and goodness calculations.  CMU has fixed a number of problems.  Still working on a few remaining issues. (Simmons)
Contract in place with CMU for generalizing Drivemaps to support all rovers and enable mix and match of navigation components (Simmons)
Work in progress on generalizing Drivemaps modules

Mechanisms and Manipulation
Completed Mechanism Models Requirements document (Nesnas, Nayar, Kim)
Feedback has been collected
New mechanism model infrastructure (Nayar)
Implemented capability for reading multiple XML model files to create a single Mechanism_Model 
Implemented unit test for Tree class 
Began implementation of thread-safe and re-entrant features using CLARAty semaphore class (Nayar) 

- Delivered the MER GESTALT Navigation flight code integrated in CLARAty and running with ROAMS (McHenry)
- MER 9.0 version of GESTALT (with current bug fixes)
- Delivery used latest version of ROAMS
- Working with LT validation task to help with delivery installation and use
- Adapted GESTALT parameter settings according to R8/ROAMS configuration
- Updated GESTALT FDD
- Identified several bugs in Morphin Navigator, including problems with viewer and goodness calculations.  CMU has fixed a number of problems.  Still working on a few remaining issues. (Simmons)
- Contract in place with CMU for generalizing Drivemaps to support all rovers and enable mix and match of navigation components (Simmons)
- Work in progress on generalizing Drivemaps modules
_**Mechanisms and Manipulation**_
- Completed Mechanism Models Requirements document (Nesnas, Nayar, Kim)
- Feedback has been collected
- New mechanism model infrastructure (Nayar)
- Implemented capability for reading multiple XML model files to create a single Mechanism_Model
- Implemented unit test for Tree class
- Began implementation of thread-safe and re-entrant features using CLARAty semaphore class (Nayar)

**Technical Status (3/4)**

- April 21, 2006

## Rover Position Estimation
Contract in place with Univ. of Minnesota for continuing work on 6DOF EKF pose estimator.
Completed sun sensor error model for the 6DOF EKF pose estimator (Diaz-Calderon)
Resolved numerical problems with sun sensor update function and deriving a measurement model for 6DOF EKF (Roumeliotis)

Simulation and Visualization
Enabled CLARAty to run with latest version of ROAMS (Shu)
Support CMU for testing TEMPEST with CLARAty and ROAMS 

Test bed
FIDO II Stack delivery (Guineau)
Demonstrated to management FIDO II stack controlling 3 motors and acquiring frame rate images
Delivered configuration information to Rover Maintenance task
Will enable upgrade of FIDO avionics and deployment of CLARAty on new hardware
Provided rover usage plan to Eric Baumgartner
Installed new version of Perl into AFS

- Contract in place with Univ. of Minnesota for continuing work on 6DOF EKF pose estimator.
- Completed sun sensor error model for the 6DOF EKF pose estimator (Diaz-Calderon)
- Resolved numerical problems with sun sensor update function and deriving a measurement model for 6DOF EKF (Roumeliotis)
_**Simulation and Visualization**_
- Enabled CLARAty to run with latest version of ROAMS (Shu)
- Support CMU for testing TEMPEST with CLARAty and ROAMS
_**Test bed**_
- FIDO II Stack delivery (Guineau)
- Demonstrated to management FIDO II stack controlling 3 motors and acquiring frame rate images
- Delivered configuration information to Rover Maintenance task
- Will enable upgrade of FIDO avionics and deployment of CLARAty on new hardware
- Provided rover usage plan to Eric Baumgartner
- Installed new version of Perl into AFS

**Technical Status (4/4)**

- April 21, 2006

## Planned Accomplishments April 12, 2005 to July 13, 2005

- Complete delivery of MER GESTALT Navigation on FIDO rover
- Complete tracking delivery with Navigation to Hazard camera hand-off
- Finish filming of integrated single-cycle instrument placement
- Implement forward kinematics for mechanism model
- Implement regression testing plan for VxWorks
- Continue clean up of estimation code, infrastructure classes, and timing classes.
- Continue repository clean-up and documentation
- Complete sun sensor update function for 6DOF EKF and refactor into CLARAty

- April 21, 2006

## Financial Status

- April 21, 2006

## Workforce Status

- April 21, 2006

## Status Summary

**DEC  JAN   FEB  MAR**

_**Technical**_

_**Schedule**_

_**Resources**_

- _Detailed Description_: (for items identified as yellow or red)
- Will reconcile the overrun over next several months
- Some staff is being shifted to support AFL Functional Layer needs in infrastructure, navigation, vision and locomotion
- Some staff is being shifted to support new ESMD ECP Task
- One staff member leaving task

**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

**DEC  JAN   FEB  MAR**

**DEC  JAN   FEB   MAR**

**G**

**Y**

**G**

**G**

**G**

**Y**

**G**

**G**

**Y**

**G**

**G**

**Y**

- April 21, 2006

## Action Items/Issues/Concerns

- Concerns
- Funds to support current NRA team members is not yet available.

- April 21, 2006

## Problems/Solutions

|  | Problem | Solution | Expected
Closure Date |
| --- | --- | --- | --- |
| 1 |  |  |  |
| 2 |  |  |  |
| 3 |  |  |  |
| 4 |  |  |  |
| 5 |  |  |  |
| 6 |  |  |  |

- April 21, 2006