# Presentation: 001023

## Operational Readiness – Rocky 8/CLARAty

- Issa A.D. Nesnas
- Jet Propulsion Laboratory
- March 5, 2002
- _[http://](http://claraty.jpl.nasa.gov/)__[claraty](http://claraty.jpl.nasa.gov/)__[.jpl.](http://claraty.jpl.nasa.gov/)__[nasa](http://claraty.jpl.nasa.gov/)__[.](http://claraty.jpl.nasa.gov/)__[gov](http://claraty.jpl.nasa.gov/)_
- Mars Technology Program
- Intelligent Systems Program

## A Two-Layered Architecture

***THE DECISION LAYER:*** Declarative model-based representation of system capabilities and constraints. Various high-level autonomy technologies can provide planning, scheduling, and execution capabilities – (e.g. CASPER, CLEaR, TDL, MDS GEL, CRL)

**        **CLARAty = Coupled Layer Architecture for Robotic Autonomy

***VARIABLE GRANULARITY INTERFACE:*** Interface between high- and low-level autonomy capabilities of the system. Interface for commanding, multi-level resource queries and predictions, and state updates.

***THE FUNCTIONAL LAYER:*** Generic and reusable robotic software components. Object-oriented design that can be adapted to various robotic, rover, and simulation platforms. Provide basic functionality and low-level autonomy capabilities. Packages include:  I/O, Motion Control, Manipulation, Locomotion, Navigation, Perception, Resource Management, and System Control.

- CLARAty - I.A.N.

## Currently Supported Platforms

- Solaris

- Motorola 68K

- Intel x86

- Ames

- JPL

- CMU

***Rocky 8***

- Intel x86

- VxWorks

- VxWorks

- Linux

***Rocky 7***

***K9***

- JPL

***ROAMS***

- JPL

- Linux

- Intel x86

- JPL AI

- Solaris CC

- Other

- Mac OS X

*New*

- CLARAty - I.A.N.

## Working Groups

**Working Groups:**
- Existing Working groups (no new changes)
*CLARAty Navigation Group (Lead: Reid Simmons - CMU)*
*CLARAty Vision Group (Lead: Issa Nesnas - JPL)      *
*CLARAty Mobility & Manipulation Group (Lead: Hari Das - JPL) *
*CLARAty Estimation Group (Lead: Ashitey Trebi-Ollennu - JPL) *
*CLARAty Decision Layer Group (Lead: Tara Estlin - JPL) *
*CLARAty Test/Release Group (Lead: ? - JPL) *
*CLARAty Rocky 8 Group (Lead: Richard Petras - JPL) *
*K9 CLARAty Developers (Lead: Anne Wright - ARC) *
*CLARAty Science Working Group (Lead: Meemong Lee - JPL)*
*CLARAty Simulation Group (Lead: Gene Chalfant/Jain - JPL)*
- _[http://](http://claraty.jpl.nasa.gov/groups)__[claraty](http://claraty.jpl.nasa.gov/groups)__[.jpl.](http://claraty.jpl.nasa.gov/groups)__[nasa](http://claraty.jpl.nasa.gov/groups)__[.](http://claraty.jpl.nasa.gov/groups)__[gov](http://claraty.jpl.nasa.gov/groups)__[/groups](http://claraty.jpl.nasa.gov/groups)_

- CLARAty - I.A.N.

## Team

- Up-to-date CLARAty team information now available online:
- Actively funded team members and their responsibilities
- Contributors to CLARAty
- Users and Collaborators
- Former team members
- available at:
- _[http://](http://claraty.jpl.nasa.gov/team)__[claraty](http://claraty.jpl.nasa.gov/team)__[.jpl.](http://claraty.jpl.nasa.gov/team)__[nasa](http://claraty.jpl.nasa.gov/team)__[.](http://claraty.jpl.nasa.gov/team)__[gov](http://claraty.jpl.nasa.gov/team)__[/team](http://claraty.jpl.nasa.gov/team)_

- CLARAty - I.A.N.

## General

- Started a series of presentations of various CLARAty pkgs
- ITAR Update
- Prepared and submitted a package describing current and planned CLARAty modules to International Affairs office for clearance of  CLARAty infrastructure and glue code
- Working on a complete package for submission to State Department
- New Participants:
- University of Washington
- MIT

- CLARAty - I.A.N.

## CLARAty Testbed

- Setup a CLARAty testbed in 198-B labs to include:
- CLARAty embedded platforms with complete remote operations (remote access and GUI based remote power cycling)
- Rocky 8 benchtop system (cPCI)
- Dexter manpulation system  (hybrid Rocky 8/7 control) (cPCI)
- Rocky 7 benchtop computational module (VME)
- Rocky 7 benchtop system (VME) (*in progress*)
- Rocky 8 upgrade benchtop system (cPCI) - (*in progress*)
- CLARAty benchtop/simulation platforms
- 1 Linux server for OS booting of networked machines
- 2 Linux graphics workstations for CLARAty/ROAMS development
- _[http://](http://claraty.jpl.nasa.gov/targets)__[claraty](http://claraty.jpl.nasa.gov/targets)__[.jpl.](http://claraty.jpl.nasa.gov/targets)__[nasa](http://claraty.jpl.nasa.gov/targets)__[.](http://claraty.jpl.nasa.gov/targets)__[gov](http://claraty.jpl.nasa.gov/targets)__[/targets](http://claraty.jpl.nasa.gov/targets)_
- Submitted request for Lab changes

- CLARAty - I.A.N.

## Current Lab Setup

- B5

- B5A

- old A/C

- CLARAty - I.A.N.

## Proposed Lab Setup

- B5

*Rocky 8 Bed*

*Cabinets*

*CLARAty Benchtop System*

*Rover*

*Work-*
*station 2*

*Work-*
*station 2*

*Shelves*

*Work-*
*station 3*

*Ceiling mounted WebCAM*

- CLARAty - I.A.N.

## System Infrastructure

- _Operating System Upgrade:_
- Procured a complete upgrade for all VxWorks targets ($25K)
- Wind River initially agreed to release Tornado 2.2 (not officially released till 6/2002)
- Wind River changed its position and will not even release gcc 2.95 x86
- Will upgrade all architectures (m68k, x86) to Tornado 2.02 - 6 licenses
- CLARAty needs to cross compile gcc 2.95 for x86 and m68k
- _GNU C++ for m68k_
- Added support to Makefile for m68kVx5.3 gcc version 2.95
- Cross compiled GNU C++ for m68k architecture
- Successfully cross compiled and tested Rocky 7 software
- Ran continuous driving locomotion as a validation test
- _GNU C++ for x86_
- Leveraged existing installation gcc2.96 (x86) from TMR.
- Successfully compiled Rocky 8 software
- Software failed to operate on Rocky 8
- Need to cross compile gcc2.95 for x86

- CLARAty - I.A.N.

## Software Infrastructure

- Built, tested, and released a set of core modules for all supported platforms, including Linux, VxWorks, Solaris (both gcc and SparcWorks) and IRIX
- Built and tested ACE for m68kVx5.3 under gcc version 2.95 and sparcSol2.6-CC

- CLARAty - I.A.N.

## CLARAty Packages

- Module Updates

## Adapting to a Rover

- Hardware Drivers

- Generic
- Functional Layer

- Rocky 8
- Specialized
- Classes
- &
- Objects

- Connector

- Decision Layer
- (e.g. CASPER/TDL)

- Multi-level access Connector

- Rocky 8
- Models/
- Heuristics

- CLARAty - I.A.N.

## The Functional Layer

- Transforms

- Motion Control

- Vision

- Estimation

- Input/Output

- Manipulation

- Navigation

- Communication

- Math

- Hardware Drivers

- Locomotion

- Rover

- Behaviors

- Path Planning

- Rocky 8

- Rocky 7

- K9

- FIDO

- Science

- Simulation

- Sensor

- Adaptations

- CLARAty - I.A.N.

## The Decision Layer

- Task Description
- Language (CMU)

- CASPER Planner

- CLEaR Integration

- Rover Models

- FL Interface

- CLARAty - I.A.N.

## Hardware Drivers

- Motor Controllers

- HCTL 1100 Motor Controller

- LM 629  Motor Controller

**...**

- I/O Boards/Chips

- VPAR10 – Digital I/O Board

- VADC20 – Analog Input Board

- Framegrabbers/Vision

- MAX186 Analog to Digital Conv.

- MAX528 Digital to Analog Conv.

- Imagenation PX610 Framegrabber

- Imagenation CX100 Framegrabber

- Custom Boards

- Widget Board – Motion Control

- Other

- I2C Master Controller

- Crossbow DMU – Interial Measurement Unit

- Sensoray S720 Digital I/O Board

- 1394 Camera Driver

**...**

- VISA – Vme to ISA Converter

- Widget Board Firmware

- PCI Controller

**...**

**...**

- CLARAty - I.A.N.

## Base Package

- Share
- Common Definitions
- Math Constants
- Function Operators
- Display Functions

- Array
- 1D Arrays
- 2D Arrays
- Sub Arrays

- Matrix
- 1D matrices (math)
- 2D matrices (math)
- Fixed size matrices
- Rotation matrices

- Transforms
- Homogeneous Transforms
- Quaternions

- Frame
- Coordinate Frames
- Locations (Poses)

- Point
- 2-D Points
- 3-D Points

- Linked List
- Linked List
- Doubly Linked List

- Resource
- Timers
- Tasks

**...**

- State
- State data logging
- Database

- Greyed Out – will be implemented
- Orange – non-JPL/non-CLARAty development
- Green – JPL-non-CLARAty development

- CLARAty - I.A.N.

## Input Output Package

- I/O
- I/O
- Digital I/O
- Composite Digital I/O
- Analog I/O

**...**

- Bits
- Bits data structure
- (various implementations)

- CLARAty - I.A.N.

## Motion Control Package

- Motor
- Open Loop Motors
- Controlled Motors

- Trajectory
- Trajectories
- Trajectory Generators

**...**

- Coordinated Systems
- Motor Coordinators

- CLARAty - I.A.N.

## Vision Package

- Camera
- Framegrabbers
- Cameras (single, multi)
- Generic camera models

- Basic Vision
- 2-D Image processing
- Filtering & smoothing
- Edge detection
- Blob detection
- Corner feature detection

- Stereo Implementations
- JPL Stereo engine
- SRI Stereo engine (commercial)
- Ames Stereo engine

**...**

- Stereo Vision
- Stereovision Interface

- Visual Tracking
- Filtering & smoothing
- Edge detection
- Blob detection
- Corner feature detection

- Visual Tracking
- 2-D Feature based tracking
- 3-D shaped based tracking
- Combined 2-D & 3-D tracking
- Visual odometry

- CLARAty - I.A.N.

## Communication Package

- Motion Control Package

- Ethernet
- Socket Communication
- TCP Comm
- UDP Comm

- Messages
- Object serialization
- Socket messages

- Connector
- Client/server comm.
- Executives

**...**

- Serial I/O
- Serial Comm

- CLARAty - I.A.N.

## Locomotion Package

- Wheel Locomotion
- 2-D Wheel Locomotion
- 3-D Rocker Bogie Locomotion
- Continuous driving modules

- Legged Locomotion
- Legged Locomotors

- Hybrid Locomotion
- Wheel/Legged Locomotors

**...**

- CLARAty - I.A.N.

## Sensor Package

**...**

- IMUs
- Generic inertial measurement unit infrastructure

- Tilt Sensors
- Generic Electronic Tilt sensors
- Generic Accelerometers

- Rate Sensors
- Generic Gyros structures

- Temperature Sensors

- Voltage & Current Sensors

- CLARAty - I.A.N.

## Estimation Package

- Kalman Filter
- Kalman Filter implementation

- Pose Estimators
- Wheel-based Pose Estimators
- Legged-based Pose Estimators

**...**

- CLARAty - I.A.N.

## Navigation Package

- Local Navigators
- Generic local navigator structure

- Path Planner
- Generic path planner structure

**...**

- Navigation Implementations
- MER/GESTALT Navigator
- Morphin (CMU) Navigator
- Fuzzy Navigator

- CLARAty - I.A.N.

## Path Planning Package

- Global Path Planners
- Generic path planner structure

**...**

- Path Planner Implementations
- D* Path Planner (CMU)
- Tangent Graph Path Planner (JPL)
- ISE Path Planner (CMU)

- CLARAty - I.A.N.

## Simulation Package

- Simulator Connectors
- Interfaces to ROAMS simulation
- Rover Sim
- Navigator Sim
- Locomotor Sim
- Motor Sim
- I/O Sim
- IMU Sim

**...**

- Simulation Implementations
- ROAMS Rover Simulation (JPL)

- CLARAty - I.A.N.

## Manipulation Package

- Manipulators
- Limited DOF manipulators
- Redundant manipulators
- End effectors

**...**

- Sensor-based Manipulation
- Stereovision based manipulation
- Vision/tactile manipulation

- CLARAty - I.A.N.

## Science Package

- Spectrometers
- Generic Spectra classes
- Generic Spectrometer classes

**...**

- Science Cameras
- Special science cameras (inherits for Cameras of Vision Package)

- CLARAty - I.A.N.

## Behavior Package

- Behaviors
- Basic rover behaviors

**...**

- Behavior Coordination
- Arbiters
- Behavior combinators

- CLARAty - I.A.N.

## Rocky 8 Package

- Rocky 8 Specialized Physical Components
- Rocky 8 Motors
- Rocky 8 Cameras
- Rocky 8 IMUs
- Rocky 8 Hardware Map
- Rocky 8 Digital I/O
- Rocky 8 Analog I/O

**...**

- Rocky 8 Specialized Functional Components
- R8 Locomotor
- R8 Contrained Locomotor
- R8 Navigator
- R8 Rover

- CLARAty - I.A.N.

## Rocky 7 Package

- Rocky 7 Specialized Physical Components
- Rocky 7 Motors
- Rocky 7 Cameras
- Rocky 7 Accels
- Rocky 7 Gyros
- Rocky 7 Hardware Map
- Rocky 7 Digital I/O
- Rocky 7 Analog I/O

**...**

- Rocky 7 Specialized Functional Components
- R7 Locomotor
- R7 Contrained Locomotor
- R7 Navigator
- R7 Rover

- CLARAty - I.A.N.

## FIDO Package

- FIDO Specialized Physical Components
- FIDO Motors
- FIDO Cameras
- FIDO Accels
- FIDO Gyros
- FIDO Hardware Map
- FIDO Digital I/O
- FIDO Analog I/O

**...**

- FIDO Specialized Functional Components
- FIDO Locomotor
- FIDO Contrained Locomotor
- FIDO Navigator
- FIDO Rover

- CLARAty - I.A.N.

## Decision Layer Package

- General Planners
- Basic planner infrastructure

**...**

- Activity Database
- Generic Activity database structure

- Planner Implementations
- CASPER
- ASPEN

- Executives
- Task Description Language
- ...

- Interfaces
- Functional Layer Interface
- ...

- CLARAty - I.A.N.

## Base Package

- _Share Module:_
- Continued maintenance of shared module
- _Arrays and Matrices Modules:_
- Improvements to Matrix classes to guarantee compilation and running on all target architectures.
- _State Module:_
- Continued work on the design of a state class that will allow the logging and monitoring of local state

- CLARAty - I.A.N.

## Vision Package

- _Image Module_
- Added new operations (specializations) for Image_Op (rescale, convolution).
- Implemented Image_IO (file operations) and added support for TIFF format
- _Camera Module_
- Designed and implemented generic Camera and Multi_Camera classes
- Developed specialization/interface for 1394-FireWire Linux implementation..
- _Stereo Module_
- Designed and implemented a Stereo_Processor_Impl class to support various stereo implementations
- Interfaced JPL stereo implementation to the generic CLARAty stereo classes and successfully tested stereo on synthetic images.

- CLARAty - I.A.N.

## Bits Module
Updated Bits class to use a more efficient implementation 

Digital I/O Module
Re-implemented digital input/output class structure to be consistent with the CLARAty latest designs. New classes are  DIO, DIO_Impl, and Composite_DIO which will replace DIO and DIO_PORT classes
Redesign a new AIO class

- Updated Bits class to use a more efficient implementation
- _Digital I/O Module_
- Re-implemented digital input/output class structure to be consistent with the CLARAty latest designs. New classes are  DIO, DIO_Impl, and Composite_DIO which will replace DIO and DIO_PORT classes
- Redesign a new AIO class

- Input/Output Package

- CLARAty - I.A.N.

- Made Locomotion package vxWorks independent. Provided the option to use VxWorks or ACE
- Presented Locomotion package to CLARAty team
- Tested Locomotion using gcc 2.95
- Successfully ran continous driving
- Provided documentation of locomotion algorithms
- Working on a Locomotor design that will incorporate ATRVs

- Locomotion Package

- CLARAty - I.A.N.

- Ran first tests of the Kalman-based pose estimator in the Mars Yard sand box
- Collected first set of IMU and odometry data using the FIDO IMU.
- Data collected had systematic error. IMU driver need to be updated to reflect the version of this spare unit.
- Data will be validated against that collected under Linux
- Continued interactions with MDS/GREASE team on their Kalman-filter software implementation

- Estimation Package

- CLARAty - I.A.N.

- Discussions and iterations between CMU, JPL and Ames on the design of Navigator module proposed  by CMU
- Developed a design for a stereo-vision based navigator class
- Provided a UML description of the Navigation classes that tightly integrates local navigation with global path planning

- Navigation Package

- CLARAty - I.A.N.

## Generic Reusable Algorithms

- CLARAty - I.A.N.

## Code Resuability Results

- CLARAty - I.A.N.

- Setup manipulation platform as part of the CLARAty testbed.
- Platform will be used to continue manipulation development and to support MDS/CLARAty infusion
- Currently running an older version of CLARAty code
- Wrote detailed s/w descriptions for Manipulator and Motion Control packages
- Developed a h/w diagram of the dexter platform

- Manipulation Package

- Dexter

- CLARAty - I.A.N.

- Restored CLARAty/ROAMS demo from FY01 and presented it to Mars Smart Lander project
- Defined various levels of integration between ROAMS and CLARAty.
- Started implementation of interactions at various levels
- Set up two Linux machines to support the integration and use of CLARAty and ROAMS.
- Configured JPL Linux machines to use CLARAty - minor bug fixes

- Simulation Package

- CLARAty - I.A.N.

- Developed generic class designs for Spectra and Spectrometer classes
- Collaboration between Ames and JPL
- Collaboration with Vision working group to ensure consistency of design and implementation

- Science Package

- CLARAty - I.A.N.

## Decision Layer Package

- Analyzing and designing a Mapper package that will use several vision and terrain modules to generate a seamed panorama
- Completed port and test of Decision Layer binaries on Solaris 2.7
- Identified component technologies that are needed to transfer terrain data between rover’s Functional Layer and the Decision Layer
- Defined first draft of the communication infrastructure and interface that will allow the sharing of terrain information between two layers

- CLARAty - I.A.N.

## Rocky 8

- Intel x86

- JPL

***Rocky 8***

- VxWorks

- cPCI x86 233MHz
- 6 Wheel Drive/6 Wheel Steering
- 5 CMOS camera pairs - 3 Framegrabbers
- 30 Widget boards – I2C
- Crossbow IMU
- 4 DOF mast with head
- 4 DOF arm with 1 DOF scoops
- Camera sun sensor
- Wireless Ethernet

- CLARAty - I.A.N.

## Rocky 8 & Rocky 7

- Motorola 68K

- VxWorks

***Rocky 7***

- JPL

- VME – m68k 40 MHz
- 6 Wheel Drive/2 Wheel Steering
- 3 camera pairs – 2 framegrabbers
- 15 LM629 motor controllers
- 2 DOF Arm/2DOF scoops
- 3 DOF Mast
- 3 Accels
- 3 Gyros
- Analog sun sensor
- Wireless ethernet
- Instrument – filter wheel/Raman Spectrometer

- CLARAty - I.A.N.

## Rocky 8 Plan

- Software and OS
- Upgrading operating system to Tornado 2.02, and all BSPs
- Upgrading processor to 1.2 GHz with 256 MB of RAM for faster development/debug and testing – lower CPU plug and play
- Controllable Power System
- Software control on battery usage/charging/solar – Li ion with 8 hour operation
- Motion Control Upgrade
- Upgrade encoders to HP COTS (16 lines/rev)
- Upgrade I2C to a master - use a parallel to I2C dongle to remove host locking interrupts - bandwidth 100kb
- Long Term – next generation widget board with high speed serial
- Upgrade vision to high resolution FireWire Cameras

- CLARAty - I.A.N.

## Rocky 7 Plan

- Software and OS
- Upgrading operating system to Tornado 2.02, and all BSPs
- Need to:
- Upgrade backplane to cPCI
- Upgrade processor to PPC 750
- OS both Linux and VxWorks or just Linux
- New Firewire cameras or new framegrabbers
- New batteries
- Mechanical refurbishing

- CLARAty - I.A.N.

## Concerns

- IP and ITAR
- Changes in personnel and the large number of new members getting up to speed is expected to lead to slower progress for several months.
- Infrastructure tools (such as YaM which is used by MER, Starlight, and CLARAty) are not supported institutionally. Progress has been hindered due to lack of funding and personnel. CLARAty will provide 0.25 FTE to ensure progress

- CLARAty - I.A.N.

## Discussion Slides

## Interactions (1/2)

- Interactions:
***Mars Smart Lander Project ***and*** MDS***
- Supporting meetings for the Technology Infusion Task - MDS compatibility sub-task lead by Steve Peters.
***MDS/CLARAty Infusion***
- Setup Dexter (PDM platform) for the task
- Supporting meeting between CLARAty and MDS to establish plan of migrating technology from CLARAty to MDS framework
***ROAMS***
- Progress reported in Simulation Package
***Navigation on Slopes Task***
- Planned field test for data collection postponed several times due to delays in data collection software, hardware limitations, and limited bandwidth data rates. Some upgrades to Rocky 8 hardware are necessary to meet requirements for data collection.

- CLARAty - I.A.N.

## Interactions (2/2)

***Visual Tracking Task***
- Close participation of members of Visual Tracking Task in the development of the Vision package for CLARAty
***FIDO Team***
- Working with FIDO team on the integration of CLARAty onto FIDO (more in the FIDO integration task report)
***Fuzzy Navigation Task***
- Task members successfully used Locomotion package to control Rocky 8
- Separate funding is supporting plans for integrating Fuzzy Navigation algorithms into the CLARAty navigation package. Participation of various navigation technologists will ensure that the generic framework can support the various candidate technologies.

- CLARAty - I.A.N.

## Why Develop? – Challenges ahead

- Why develop vs. buy?
- No product currently exists to address the scope of problems
- Decades of robotics and rover expertise at JPL
- Needs to be a collaborative effort within the robotics community
- Challenges:
- Getting full ITAR clearance and making CLARAty open source
- Migrating capabilities into a flight environment (MDS)
- Getting various researchers and technologists integrated into the architecture – requires *time* and *support*
- Developing and maintaining a high quality complex product
- Having enough test platforms while maintaining convergence
- Maintaining a highly-skilled, stable, and efficient team to develop the product

- CLARAty - I.A.N.

## Schedule – where are we?

***FY 00***
- Designed and documented architecture
***FY 01***
- Developed a complete end-to-end prototype with basic capabilities and tested it on  Rocky 8 and Rocky 7. Also portions of architecture running on K9 rover at Ames.
- Established close collaborative environment with Ames and CMU
***FY 02 ***
- Developing a more sophisticated set of capabilities
- Initial integration of selected MTP competed task technologies for long range traverse scenario demonstration
- Extending supported platforms to include: FIDO rover, ATRV (used by research community)
***FY 03***
- Demonstrate instrument placement from various rovers
***FY 04***
- Sophisticated mission-like capabilities on various rover prototypes

- CLARAty - I.A.N.

## Decision Layer - Full Navigation  Scenario

*Courtesy of Fisher, Estlin  et al.*

- Unknown obstacle causes navigation s/w to take rover off course

- Goal discarded due to memory resource conflict

- Unknown obstacles causes obstructed path. Science targets are re-sequenced

- Goal discarded due to energy resource conflict

- CLARAty - I.A.N.

## Comparing Different Implementations

*Controlled_Motor_Impl*

- ControlledMotor

- Linear_Axis

- Joint

- Non-Resuable Layer

- R8_Motor

- R7_Motor

- Fido_Motor

- Sim_Motor

- Trajectory

- Trajectory_Generator

- Mz<Type>

- HCTL_Chip

- LM629_Chip

- Widget_Board

- R7_MC_Board

- Widget_Motor

- PID_Servo

- CLARAty - I.A.N.

## R8 Specific Rover Implementation

- Mast

- LeggedLoc

- Wheeled Locomotor

- Locomotor

- CoordMotionSystem

- Motor

- BBMotor

- ControlledMotor

- Analog_IO

- Digital_IO

- IO

- Manipulator

- Arm

- R8_Arm

- R8_Mast

- Implements general fwd &
- inv. kinematics & joint ctrl

- Specialized inv. Kinematics (overrides default)
- Attaches proper motors
- Attaches proper cameras for mast
- Adds filter wheel

- R8_Locomotor

- Attaches proper motors
- Restricts Steering to 2 wheels

- R8_Motor

- R8_Rover

- R8_Arm

- R8_Mast

- R8_Locomotor

***R8***

- Widget Board

- Widget AIO

- Widget DIO

- Widget Motor

- HCTL 1100 Chip

- Non reusable Code

- Reusable Code

- Trajectory

- Trajectory_Generator

- Timers

- CLARAty - I.A.N.

## R7 Specific Rover Implementation

- Mast

- WheeledLoc

- LeggedLoc

- RBLoc

- Locomotor

- CoordMotionSystem

- Motor

- BBMotor

- ControlledMotor

- Analog_IO

- Digital_IO

- IO

- Manipulator

- Arm

- R7_Arm

- R7_Mast

- Implements general fwd &
- inv. kinematics & joint ctrl

- Specialized inv. Kinematics (overrides default)
- Attaches proper motors
- Attaches proper cameras for mast
- Adds filter wheel

- R7_Locomotor

- Attaches proper motors
- Restricts Steering to 2 wheels

- LM629Chip

- LM629Motor

- R7_Rover

- R7_Arm

- R7_Mast

- R7_Locomotor

***R7***

- Device Drivers

- VPAR10Board

- Non reusable Code

- Reusable Code

- CLARAty - I.A.N.

## Code Reusability for Hardware Modules

**Controlled Motor Hierarchies for Rocky 8 and Rocky7**

**Rocky 8**

**Rocky 7**

- CLARAty - I.A.N.

## GESTALT Navigator on Rocky 8 

- CLARAty - I.A.N.

## Publications & Website

**http://claraty.jpl.nasa.gov**
- I.A.D. Nesnas, R. Volpe, T. Estlin, H. Das, R. Petras D. Mutz, "Toward Developing Reusable Software Components for Robotic Applications" *Proceedings of the International Conference on Intelligent Robots and Systems (IROS),* Maui Hawaii, Oct. 29 - Nov. 3 2001. pdf (8 pages, 2MB)
- T. Estlin, R. Volpe, I.A.D. Nesnas, D. Mutz, F. Fisher, B. Engelhardt, S. Chien, "Decision-Making in a Robotic Architecture for Autonomy." *Proceedings of 6**th** International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS),* Montreal Canada, June 18-21 2001. pdf (8 pages, 72KB)
- R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das, "The CLARAty Architecture for Robotic Autonomy." *Proceedings of the 2001 IEEE Aerospace Conference, Big Sky Montana, March 10-17 2001.* pdf (12 pages, 470 KB)
- R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das, "CLARAty: Coupled Layer Architecture for Robotic Autonomy." *JPL Technical Report D-19975*, Dec 2000. pdf (116 pages, 904 KB)

- CLARAty - I.A.N.

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