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CLARAty : C oupled L ayer A rchitecture for R obotic A u t onom y & CLARAty on FIDO

CLARAty : C oupled L ayer A rchitecture for R obotic A u t onom y & CLARAty on FIDO . Issa A.D. Nesnas Ames Research Center Carnegie Mellon University Jet Propulsion Laboratory October 25, 2002 Mars Technology Program Year-End Review FY02. Presentation Overview. Quad Chart

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CLARAty : C oupled L ayer A rchitecture for R obotic A u t onom y & CLARAty on FIDO

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  1. CLARAty: CoupledLayerArchitecture forRoboticAutonomy&CLARAty on FIDO Issa A.D. Nesnas Ames Research Center Carnegie Mellon University Jet Propulsion Laboratory October 25, 2002 Mars Technology Program Year-End Review FY02

  2. Presentation Overview • Quad Chart • Background and Overview • Relevance to the missions • CLARAty Team and Collaborators • Level I & II Milestones • Accomplishments • CLARAty running on FIDO • CLARAty Software Package developments • Distributed development process and testbed • Future Plans • Publications and website CLARAty FY02 Review- I.A.N.

  3. CLARAty: Coupled Layer Architecture for Robotic Autonomy • Objective • Develop a unified and reusable robot control software that facilitates the integration of new technologies on various robotic and rovers platforms • Milestones – FY01 through FY05 • Prototype robotic software and implement on various rover platforms • Integrate and demonstrate technology components from MTP RMSA program • Demonstrate low-, mid- and high-level autonomy Schedule and Funding Task Manager: Issa A.D. Nesnas, JPL (818) 354-9709, nesnas@ jpl.nasa.gov Participating Organizations: JPL NASA Ames Research Center Carnegie Mellon University Facilities: Rocky 8, Rocky 7, K9, FIDO, and CLARAty testbed ROAMS, WITS JPL Mars Yardhttp://claraty.jpl.nasa.gov/ CLARAty FY02 Review- I.A.N.

  4. Background & Objectives Why are we doing this work? • To capture and preserve robotics expertise from JPL and other centers • To provide a framework for future NASA rover technology development and integration • To reduce the cost of integrating new technologies • To operate various robots from a unified framework • To eliminate cost of redeveloping basic robotic infrastructure CLARAty FY02 Review- I.A.N.

  5. What is CLARAty? CLARAtyis a unified andreusable software that provides robotic functionality and simplifies the integration of new technologies on robotic platforms CLARAty FY02 Review- I.A.N.

  6. Relevance to the Missions Why is this work relevant to the missions? • Provides a common environment for development, test, and comparison of advanced robotic technologies • Provides an infusion path for robotics technologies into flight missions • Demonstrates technologies on relevant robotic systems • Makes research rovers viable test platforms for flight algorithms (e.g. navigation) • Is robust to changes in rover hardware designs • Can be easily adapted to new research and flight prototype rovers (for ground-based testing) CLARAty FY02 Review- I.A.N.

  7. 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 “like” the system CLARAty FY02 Review- I.A.N.

  8. CLARAty Team • NASA Ames Research Center • Maria Bualat • Clay Kunz • Randy Sargent • Anne Wright (lead) • Carnegie Mellon University • Kam Lasater • Reid Simmons (lead) • Chris Urmson • David Wettergreen • Andy Yang • Jet Propulsion LaboratoryCLARAty on FIDO Team • Hrand Aghazarian (35/34) • Terrance Huntsberger (35/34) • Chris Leger (35/34) • Matthew Robinson (35/34) CLARAty/Rocky8/Rocky7 • Max Bajracharya (34) • Edward Barlow (34) • Caroline Chouinard (36) • Gene Chalfant (34) • Hari Das (34) • Tara Estlin (36) • Dan Gaines (36) • Mehran Gangianpour (34) • Dan Helmick (34) • Won Soo Kim (34) • Michael Mossey (31) • Issa A.D. Nesnas (34) (Task Manager) • Ashitey Trebi-Ollennu (35/34) • Richard Petras (34) (Rocky lead) • Stergios Roumeliotis (Univ. of Minnesota) • Kevin Watson (34) Five Summer Students CLARAty FY02 Review- I.A.N.

  9. CLARAty Collaborations (1/2) • JPL - MDS Team • Participated with MDS team on CLARAty/MDS infusion task • Supported MDS by upgrading Rocky 7 to MSL-like hardware and provided working version of CLARAty software for migration to MDS • JPL - ROAMS Team (A. Jain) • Close collaborations for the integration of the Functional and Decision Layers to the ROAM rover simulation • JPL - CLEaR Team (F. Fisher) • Provided an instantiation of the CLARAty Decision Layer, integrated, tested and debugged on Rocky 7 and Rocky 8 rovers • JPL - Instrument Simulation Team (M. Lee) • Worked closely with instrument simulation team to develop spectrometer and spectra infrastructure for CLARAty. CLARAty FY02 Review- I.A.N.

  10. CLARAty Collaborations (2/2) • RMSA Teams: • ARC - Science Analysis Team (T. Roush) • Close interactions to support integration of science analysis into the CLARAty environment. • JPL - Slope Navigation (L. Matthies) • Collaboration for integration of visual odometry on rover platforms • University of Washington (C. Olson & R. Li) • Close collaboration for integration of bundle adjustment and wide baseline stereo • Carnegie Mellon University (A. Stentz) • Integration of D* path planner for long range traverse • Ames Research Center (E. Bandari) • Integration of visual tracking • ALERT Team (former REE) • Providing CLARAty communication and rover control infra-structure to REE for a navigation demonstration on Rocky 8 CLARAty FY02 Review- I.A.N.

  11. Milestones for FY02 • Level I:Demonstrate long range traverse using the integration of global path planning and local navigation capabilities provided through the CLARAty architecture (09/2002) • Level I: Demonstrate a CLARAty capability such as vision-based navigation (using the GESTALT navigator) onto the FIDO rover platform • Level II:Demonstrate mission-like scenario for visiting multiple science targets using improved position estimation • Demonstrate CLARAty locomotion functionality by interfacing to ROAMS at the motor control CLARAty FY02 Review- I.A.N.

  12. Accomplishments

  13. A Two-Layered Architecture CLARAty =Coupled LayerArchitecture forRoboticAutonomy THE DECISION LAYER:Declarative model-based Mission and system constraintsGlobal planning INTERFACE:Access to various levelsCommanding and updates THE FUNCTIONAL LAYER:Object-oriented abstractionsAutonomous behaviorBasic system functionality Adaptation to a system

  14. General • ITAR document complete and submitted to NASA HQ for submission to State Department • Setup several working groups with flexible signup • Upgraded and consolidate all VxWorks licenses (6 seats with full tool suite support) • Setup a repository for 3rd software CLARAty depends on (ACE, Perl, Qt, etc.) • Multiple team members can administer CLARAty site • Established web-based operations (testbed, meetings, plans, procurements) • CLARAty moved to using ACE for OS portability • CLARAty supports several systems: VxWorks, Linux, Solaris, Mac X CLARAty FY02 Review- I.A.N.

  15. Currently Supported Platforms K9 Linux x86 Rocky 8 Rocky 7 Ames VxWorks x86 VxWorks ppc JPL JPL FIDO FIDO ROAMS ATRV VxWorks x86 Linux Linux Solaris x86 JPL CMU JPL CLARAty FY02 Review- I.A.N.

  16. Challenges in Interoperability

  17. Distributed Hardware Architecture Sun Sensor 1394 Bus RS232 Serial Compact PCI IMU x86 Arch Wireless ethernet 1394 FireWire I2C Bus Rocky 8 I2C Serial Bus • Widgets • Single Axis Controllers • Current Sensing • Digital I/O • Analog I/O Actuator/Encoders Potentiometers CLARAty FY02 Review- I.A.N.

  18. Custom Architecture/Variability Gyros Accels Video Switcher VME Arch AIO m68k Arch Framegrabbers Digital I/O Analog I/O Wireless ethernet AIO Rocky 7 Parallel Custom Interface MUX/Handshaking Potentiometers PID Controllers Actuator/Encoders CLARAty FY02 Review- I.A.N.

  19. Centralized Hardware Mapped Architecture Video Switcher RS232 Serial PC104 IMU x86 Arch Framegrabbers Digital I/O Analog I/O Wireless ethernet Fido PID Control in Software Potentiometers Actuator/Encoders CLARAty FY02 Review- I.A.N.

  20. CLARAty on FIDO Adaptation ControlledMotor Mz<Type> Controlled_Motor_Impl Linear_Axis Joint Non-Resuable Layer Fido_Motor Sim_Motor R8_Motor Trajectory Counter PID Controller HCTL_Chip MSI P460 Trajectory_Generator Widget_Motor DIO MSI P430 Widget_Board Analog In Analog Out Non-Resuable MSI P415 MSI P430 Resuable CLARAty FY02 Review- I.A.N.

  21. Code Reusability CLARAty FY02 Review- I.A.N.

  22. Adapting to a Rover Decision Layer Rocky 8 Models/ Heuristics Connector Multi-level access Connector Generic Functional Layer Rocky 8 Specialized Classes & Objects Hardware Drivers Simulation CLARAty FY02 Review- I.A.N.

  23. The Decision Layer General Planners (e.g. CASPER) Activity Database Plans Executives (e.g. TDL) Rover Models FL Interface CLARAty FY02 Review- I.A.N.

  24. The Functional Layer Adaptations Rover Simulation Behaviors Rocky 8 Navigation Locomotion FIDO Manipulation Path Planning Science K9 Estimation Vision Sensor Rocky 7 Transforms Math Base Motion Control Communication Thickness indicates workdone in area in FY02 Input/Output Hardware Drivers Primarily inCLARAty on FIDO CLARAty FY02 Review- I.A.N.

  25. CLARAty Software Packages

  26. Base Package Developed Generic Physical Component Base classes • Math and Data Structure modules • Merging of array/matrix development in Ames branch with the main branch. Added support for sub-arrays, and STL iterators • Bits and I/O modules (JPL) • New implementation of bits, digital and analog I/O modules to be more consistent with the rest of CLARAty, to provide support for reentrancy and to increase efficiency • Telemetry module (ARC) • Added telemetry modules to represent data and parameter sets, handles general serialization and deserialization, provide multi-threaded clients, and increase efficiency • Device module (ARC) • Provide base classes for all devices such as cameras, arms, masts, locomotors, etc. Uses telemetry classes and provides generic interfaces for accessing telemetry from any device in a consistent manner • Power System module (ARC) • Provides information on devices such as power sources, batteries, and battery chargers. Implemented specializations for K9 power hardware CLARAty FY02 Review- I.A.N.

  27. Locomotion Package Front x y C z (d) Partially Steerable (e.g. Rocky 7) x y z C Front (e) All wheel steering (e.g. Rocky8, Fido, K9) Continuous Driving and Separated Model from Control • Developed algorithms for partially-steered and fully-steered vehicles • Developed continuous driving capability (JPL) • Demonstrated on Rocky8 & Rocky7, and currently on FIDO (JPL) • Third generation redesign (CMU) • Separated locomotor model from control • Added concept for wheel, steerable wheel, drive cmds, and drive sequences. • Adapting to Rocky 8, Rocky7, ATRV, FIDO, and K9 • Tested on Rocky 8, Rocky 7 and simulation (including ROAMS) (c) Steerable Axle (e.g.Hyperion) CLARAty FY02 Review- I.A.N.

  28. Example: collaborative development for locomotor Version 2.0 Version 1.0 • Generalized design for wheeled locomotors • Full and partially steerable vehicle • Used generic motor classes • Implements fixed axle model • Developed continuous driving • Adapted to Rocky 8, Rocky 7, and Sim • Designed for Rocky 7 • Used Motor class • Separated wheel control from locomotion • Built-in pose estimation Redesign/ mature JPL - 1998 JPL - 2001 Version 3.0 Redesign/ mature Version 4.0 Add • Separated model from control • Add separate locomotor state • Add concept of wheel andsteerable wheel, Drive Cmd, Drive Sequence • Adapt to ATRV, Sim, Rocky 7, Rocky 8 • Use device and telemetryinfrastructureAdd adaptation to K9 FutureARC - 2003 CMU - 2002 CLARAty FY02 Review- I.A.N.

  29. Vision Package Developed generic Image and Camera infrastructure • Developed generic infrastructure for vision • Generic Camera, Stereo Camera, Camera Models, Image, Image operations (e.g. rectification, edge and corner detection), Image I/O, and Image transport • Provided wrappers for vision algorithms • JPL Stereo, CAHVOR models, ARC Stereo, SVS Stereo, SLOG tracker • Adapted package to various rovers • Rocky 8, K9, FIDO, Rocky 7 are currently using the same vision infrastucture • Worked with Machine Vision Group to support integration visual odometry into CLARAty • Worked with RMSA team (Olson, Roush), ARC, CMU, M. Lee in the development of this package CLARAty FY02 Review- I.A.N.

  30. Completed and tested FIDO-based EKF port to CLARAty (JPL) Two tier Kalman Filter Estimating heading (IMU + odometry), x, and y (odometry) Created second generation design for the Estimator module (JPL & Univ. of Minnesota) Handle non-EKF based estimators Designed to better integrate with Locomotor and other model infrastructure Assume filter primary functions are to propagate state and update measurements Estimation Package FIDO EKF now fully integrated and tested in CLARAty CLARAty FY02 Review- I.A.N.

  31. Navigation & Mapper Package Developed Generic Navigation Infrastructure • New modular design for the Navigator (CMU) • Based on generic action-selector - can be adapted to support navigation technologies • Specialized action selector to Map-based selector • Tightly integrated local and global cost functions (D*) • Navigator interfaces with Locomotor, Location Estimator, and Terrain Map generator. • Refactored Gestalt to separate terrain evaluation from action selection (JPL) • Developed infrastructure to process multi-tiered panoramic images for terrain evaluation (JPL) • Acquired complete 3-D map of Mars Yard CLARAty FY02 Review- I.A.N.

  32. Demonstration of CLARAty Navigation Infrastructure in Simulation (CMU) DStar Map (final state) global cost function Morphin Terrain Analysis (scene from simulator) CLARAty FY02 Review- I.A.N.

  33. Developed adaptation of the CLARAty controlled motor classes to interface with ROAMS simulation (JPL) Tested Locomotor sending commands to wheels which in, turn, send commands to controlled motors (JPL) Specialized Sim_Motors turn commands into streams for socket-based communication Drove Simulated Rocky 8 rover with new locomotor (CMU) Interface between DL/FL (rover-level and ROAMS) is also available Simulation Package CLARAty Locomotor talking to ROAMS via motor cmds CLARAty FY02 Review- I.A.N.

  34. Continued interactions with T. Roush’s team for integration of science analysis and spectrometer functionality in CLARAty Analysis code checked in the repository: Carbonate Analysis Edge Layer detection Continued interactions with Meemong Lee’s for interface with science instruments, analysis, and simulation. Code available in repository Calibrated Reflectance Spectrum Uncalibrated Spectrum Science Package Infrastructure for Spectrometer and terrain analysis CLARAty FY02 Review- I.A.N.

  35. Decision Layer Package Decision Layer integrated D* Path Planner • Integrated D* Path Planner with Decision Layer • Developed infrastructure for sharing terrain map with FL • Migrating a version of CLEaR (CASPER/TDL) into CLARAty repository. Now available are: • TCM - Task Control Management used by TDL • Tangent Graph Path Planner (as used by DL) • D* Path Planner (as used by DL) • TBD: TDL and Java utilities • Unifying DL dependencies to use the CLARAty modules (e.g. path planners - tangent graph, D*), etc. • Ported Decision Layer (ASPEN/CASPER) to Linux CLARAty FY02 Review- I.A.N.

  36. CLARAty Level I Milestone DECISION LAYER D* Path Planner Terrain Map from Laser Path Connector FUNCTIONAL LAYER Rover R7_Rover R8_Rover Navigator D* Star FUNCTIONAL LAYER R7_Locomotor JPL Stereo Position Estimator Stereo Engine Locomotor R8_Locomotor Terrain Map from Laser CameraPX610 Camera Estimator Wheel Locomotor Model Camera1394 Kalman Filter Camera_Image Motor R7_Motor R8_Motor IMU Widget Board CLARAty FY02 Review- I.A.N. Nesnas/JPL

  37. Long Range Traverse Scenario The unliftable Rocky 8 Main Door Garage Door Extending the Trailer Mars Yard Sand Box (important for indoor testing) Working Desk w/ Computer Start Waypoint 1 Wood to prevent sand from entering working area Trailer Waypoint 3 Rocky 7 going into trailer Waypoint 2 CLARAty FY02 Review- I.A.N.

  38. CLARAty Development Process and Testbeds

  39. Software Development Process AFS Backbone Authentication ... ARC JPL UW CMU Repository Repository CLARAty VxWorks K9 ATRV 3rd Party Web Releases Repository Some CLARAty Statistics ~170 Modules (reusable entity) ~31 Packages (module grps) ~3 rovers ~250,000 lines of C++ code ~Java/scripts/ and models Rocky 8 FIDO Rocky 7 Benchtops Benchtops Benchtops CLARAty FY02 Review- I.A.N.

  40. CLARAty Testbed (1/2) Rocky 8 Benchtop Dexter ManipulatorsRocky 7 Benchtop FIDO Benchtop CLARAty FY02 Review- I.A.N.

  41. CLARAty Testbed (2/2) • 5 cPCI embedded targets (x86, ppc) • 2 Linux and 5 Solaris hosts/targets • AFS VxWorks installations (Tornado I, II, II.2, x86, ppc) • Mockups for Rocky 8, FIDO, and Rocky 7 • Remotely accessible to CLARAty developers & users • Web-based target status and control • Small lab sandbox built for indoor testing • Several remote and local users exercising testbed (MDS, CMU, ARC, JPL) • Online sign up for target/rover usage http://claraty.jpl.nasa.gov/testbed CLARAty FY02 Review- I.A.N.

  42. Rocky 8 Upgrades • Computational modules • CPU up to 1.2 GHz Pentium Pro w/ 256 MB (easily swappable) • FireWire 1394 Cameras (front/back) • Wireless 22 MB/sec sysLink Ethernet • I2C Master Control Board (Tracii) • Explored upgrade of widget processors to PIC18xx - product has bugs, awaiting new revision • Electromechanical • Upgraded all motors to COTS motors and encoders • Rewired motor assemblies to make identical and simplify repair • New Li-ion battery system (6-7 hour operation) • Fixed steering slippage problem, upgraded camera and battery boxes. CLARAty FY02 Review- I.A.N.

  43. Rocky 7 Upgrades • Computational modules • Moved from VME backplane to cPCI • CPU - PPC750 300MHz w/ 256 MB - extended temperature • PX610 B/W Imagenation framegrabbers (x2) • New Digital and Analog I/O boards (S720 and industry pack - Acromag) • New 11 MB/s sysLink wireless ethernet • Electromechanical • Fabricated new LM629 custom motion control boards (x3) • Several mechanical repairs • Software • Upgraded most CLARAty drivers to support new hardware - relatively seamless transition CLARAty FY02 Review- I.A.N.

  44. Summary of Accomplishments • Established a distributed inter-center software development process • Provided a remotely accessible rover testbed • Collaborated with MDS to define CL/MDS infusion process • Developed major software infrastructure in the following packages: • Vision, Navigation, Estimation, Science, Locomotion, Motion Control, I/O, Simulation and FIDO adaptation • Upgraded Rocky 7 to MSL-like hardware (PPC) • Upgraded Rocky 8 to FireWire cameras • Integrated Decision Layer and path planning • Completed and submitted ITAR document CLARAty FY02 Review- I.A.N.

  45. FY03 Plans CLARAty FY02 Review- I.A.N.

  46. Publications & Website http://claraty.jpl.nasa.gov • T. Estlin, F. Fisher, D. Gaines, C. Chouinard, S. Schaffer, and I. Nesnas, “Continuous Planning and Execution for an Autonomous Rover,” To appear in the Proceedings of the Third International Workshop on Planning and Scheduling for Space, Houston, TX, Oct 2002 • I.A.D. Nesnas, “CLARAty - An Architecture for Reusable Robotic Software,” CSMISS IT Spotlight Series, June 19, 2002 • 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 6th 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 FY02 Review- I.A.N.

  47. Thank you for your Attention

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