LITA REMOTE EXPERIENCE INTERFACE AND INSFRASTRUCTURE 1.Science Operations Tools 1.Science Web Site [Dan Cueller (FRC)] 2.Science Operations Interface [Coppin (ES), Lu (ES)] 2.Science Operations Room [Coppin, Fischer (ES), Stubbs (FRC)] 3.Education and Public Outreach [Coppin, Meyers (ES)] Field Robotics Center [FRC] Robotics Institute Carnegie Mellon University EventScope Project [ES] STUDIO for Creative Inquiry Carnegie Mellon University

Science Web Site Based on Atacama 03 experience Close collaboration with EventScope and LITA project

Joseph Daniel Cuellar Carnegie Mellon University July 15, 2004 Atacama Workshop Using the Science Tools Website Daniel Cuellar - July 12,

The Tools Using the Science Tools Website ➢ SPI Panorama Previews Clickable Image maps to access the individual images taken by the stereo panoramic imaging camera ➢ Text Document Search Search through all the text documents uploaded to the Atacama Project webserver ➢ Image Search Search through all the JPEG images uploaded to the Atacama Project webserver ➢ Graphing Tools Graph up to four fields vs. time or scatter plot two fields of data against each other ➢ Database Query Perform a custom query on the Database Daniel Cuellar - July 12,

SPI Panorama Previews Using the Science Tools Website Daniel Cuellar - July 12, Click anywhere on the image map to get the image file from that region of the panorama Original JPEG and/or PPM Anaglyph of zoomed image

SPI Panorama Previews Using the Science Tools Website Daniel Cuellar - July 12, This tool lets you browse panoramas and retrieve lossless copies of the data. The anaglyph view offers an alternative presentation of the data which combines the R and L camera images to provide depth information.

Text Document Search Using the Science Tools Website Daniel Cuellar - July 12, Search through text and HTML Documents stored on the FRC webserver Results are returned with previews of the portions relevant to your query, file size, location, and score. The results are pages with a 20 results per page and a maximum of 200 total results

Text Document Search Using the Science Tools Website Daniel Cuellar - July 12, What You Can Do: The search gives an interface to find archived documents regarding specific rover related topics. The capabilities of the search include searching through field reports as well as finding when certain components of the rover where tested. What You Cannot Do: Search for a PDF or Powerpoint file.

Image Search Using the Science Tools Website Daniel Cuellar - July 12, Search through all JPEG images stored on the FRC webserver by sol, instrument, dimensions...

Image Search Using the Science Tools Website Daniel Cuellar - July 12, The image search engine allows you to sift through the database of images from the rovers various instruments and find the ones you want. You can sort through the images by: ● Sol ● Instrument ● Date ● Filename and more... The images are displayed with previews and links to all the format that the file is available in. The results are paged and you are allowed to add to your query or start over.

Graphing Tools Using the Science Tools Website Daniel Cuellar - July 12, Two graphing tools are available fro graphing data from the rover. Scatter plot: The scatter plot tool graphs two fields from a table against each other. The graph can be given time constraints and broadened and narrowed accordingly. Graph vs. Time: The graph vs. time graph tool allows you to graph up to four items against time. This graph can be narrowed by time constraints as well

Scatter Plot Using the Science Tools Website Daniel Cuellar - July 12, Plot any two columns of data against each other. The scatter plot supports plotting any two columns against each other provided they are in the same table in the database.

Graph vs. Time Using the Science Tools Website Daniel Cuellar - July 12, Plot up to 4 columns of data vs. time. The Graph vs. Time graphing tool supports graphing up to 4 fields from the same table in the database against time.

Database Query Using the Science Tools Website Daniel Cuellar - July 12, Query the database for data for the data you want using any valid MySQL Select Statement The database query tool returns results in a Matlab readable tab delimitted format. INPUT OUTPUT

Science Operations Interface Coppin, Wagner, Lu, Ludowise

Science Operations Interface: Background Based on: Atacama 03 shakedown LITA operations concept MER EventScope Public Interfaces Past experiences with EventScope

Rover collects designated context imaging Review of Operations Concept Navigate Beyond Rover Field of View [Slide from Dom] Focused samplingLow-res panForward panLocal pan Subsurface

Purposes of Science Ops Interface How scientists get data from the field How scientists understand what they have How scientists express what they want to explore next How everything is labeled, correlated and archived Learn how to make a science ops interface for a semiautonomous life seeking rover Hypothesis: the objective is to specify goals to the rover planner

Interface Demo: Science Operations Interface Downlink Download data through the Remote Download Directory [RDL] Demo in interface

Interface Demo: Verifying Science Data Reviewing data with Lead Scientist prior to distributing to team Demo in interface

Verifying Science Data [Close Up]

Verifying Data for Science Team [Cont.]

Data turns Green When Verified

Clicking Hotspots Loads Data Acquired at Specific Waypoints

Clicking Hotspots Loads Data Acquired at Specific Targets

Interface Demo: Planning the Next Sol Specifying Waypoints –Place waypoints that can be seen within the final pan from the previous day –Place waypoints that are outside the range of the pan through the use of the orbital DEM Demonstrate data volume indicator Demonstrate the ability to move between multiple textures/ orbital datasets Demonstrate ability to adjust waypoint locations Demo in interface

Placing Waypoints and Assigning Actions

3D Pans

Moving Waypoints

Loading Waypoint Summary

Interface Demo: Sending Waypoints to the TEMPEST Planner for Review by Science Team Click TEMPEST upload button to send waypoints to TEMPEST Obtain TEMPEST plan from Remote Download Directory [RDL] Demo in interface

Receiving Back From TEMPEST

Interface Demo: Command Uplink and Downlink Upload plan request RDL for transfer to onboard rover executive Downlink: Transfer Acquired Data Back to OPS Room from RDL Demo in interface

White line is path of rover

Tiangulation Tool

Science Operations Interface: Next Steps Make GUI more science operations centric Finish link to TEMPEST planner Resolution of goal annotations – do scientists want to specify goals to a single pixel? –If so, are annotations precise enough? (use FLAG annotation?) –If not, how do we specify acceptable ambiguity to TEMPEST? Get latest action parameters from instrument teams Refine science tools Ruler Triangulation tool Finish 3D pipeline Get additional feedback from science team How to do schedules

Science Operations Room Coppin, Stubbs, Fischer

Science Operations Room: Characteristics Science Activity Areas: Two science activity areas for two theme groups. Consists of: Computers Projectors Models loosely after MER Instrument Teams: Other computing areas for instrument specialists Wireless internet for scientist laptops Support and EventScope staff

Scientists (arrangement tentative) ES EPO Geb Observation Unpurchased equipment rack ES Team 2’ 5’ 8’ Two plug, three prong outlet (estimated position) 34’ 37’ 21’6” 10’ 12’6” 11’ 8’ 9’ 18’ 14’ Geb Both figures are drawn to scale. Left: 1/8” in figure = 1’ in room Right: 1/4” in figure = 1’ in room K. Stubbs, 6/24/04 Storage area curtain Science Operations Room Layout Projector

Observation and Ethnography Cameras and regarding devices Observers: Stubbs, Thomas, Glasgow, Hinds

Logistics Ops room Integrated with E/PO Testing is easy because the operations room is the EventScope lab E/PO: Across the street from the Carnegie Museum e/po partner Near Craig St. Amenities Hotels Mass transit Food Coffee

Science Operations Room: Next Steps Test printing scenarios Print mosaic from pan Finalize wireless internet Gain feedback from science team on configuration Finalize projector scenario Need to make sure that we have time for ORT’s

Education and Outreach Coppin, Meyers, McCloskey

Overview Atacama E/PO website Public downloadable version of science interface Museum versions of science interface will be installed at: –Carnegie Museum of Natural History –Adler Museum in Chicago –Australia –South America

Atacama E/PO Website

FRC Mission Website [raw data]

Education: Public EventScope Daily Update Lesson 3D Virtual Environment updates each day for public and museum download

CMNH EarthTheater Museum- Goers Classrooms Adler Museum Distance Learning Studio Others via video conference via archiving on the web Museums

Carnegie Museum of Natural History: EarthTheater

Adler Content Outlets Elumens VisionStations Projections Plasma Screens Distance Learning Studio Daily Lessons TerrainScope? EventScope Video Participation in “Press Conf.” Pre-made Video Other Lessons (background info, highlighted events, etc) Video from “Press Conf.” EarthTheater “Press Conf.” Video Slideshows

Adler: Elumens VisionStations [with the daily update lesson loaded]

Museum Interface Screenshot [note simplifications]

Museum Interface Screenshot [note simplifications]

Adler: Projections and Plasma Screens

Adler: Distance Learning Studio

Museums: Next Steps Interface changes –Easier uploading –Remote control of exhibit updates from Pittsburgh –Final decision on teleconferencing

Conclusions Interfaces span science operations, E/PO for the public and museums Interfaces focus on issues relevant to a semi- autonomous life-seeking rover –Ops interface: clear goals for last half of summer –E/PO advancement upon current work Project leverages ongoing EventScope programs Rare blend of science and education is a good fit for new NASA strategies [Education, University involvement, Small business]