1. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon SCIENCE OPS [contributions from Peter, Trey, Dom, Kristen, Kristina and Mike] Life in the Atacama Design Review December 19, 2003 Peter Coppin Principal Investigator of EventScope Remote Experience and Learning Lab STUDIO for Creative Inquiry, Carnegie Mellon University

2. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Last Year

3. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Science OPS: What is it? [Description and Motivation] Interface to science autonomy system [7 minutes] Short range traverse interface [7 minutes] Long Range Traverse Interface [7 minutes] OPS Infrastructure [7 minutes] How scientists get data How to understand what they have How they say what they want next How everything is labeled and correlated

4. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Specifying goals over the horizon

5. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon 15-18Apr Last Season

6. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Description and Motivation An interface to specify goals to the planner during long range traverses Need a way to specify goals prior to seeing pans or hi-res images of over the horizon sites Need an intuitive way to interface with the planner SW Need an easy way to find data once it is retrieved Goals DEM

7. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Data correlation: Elevation models, pans, and other data

8. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon GUI Overview Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

9. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Specify survey traverse [0800] Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

10. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon System creates path estimate Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

11. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Operator adjusts requests Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

12. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Operator re- runs plan estimator Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

13. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Finalize target selection [0955] Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

14. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Uplink rover traverse [1000] Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

15. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Downlink / initial analysis Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

16. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Operator verifies data/ more analysis [0700] Run Plan Estimator Encourage waypoint Site properties inspector Pan Set pan angle Sensors Hi-res Image Fluores cence Pan Spec Point spec Locomotion Make Search Area Comm. Uplink Down link

17. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon [SK] Design Considerations Need interactive feedback from local planning software Need interactive feedback regarding data volume and its relationship to the planner Need interactive feedback regarding priorities and the planner Available time between each uplink The amount of time it takes to run the planner Simplicity/ speed vs. precision

18. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Once scientists tell the robot where to go, how will they tell the robot what samples they want returned? [Based on conversations between Peter, Dom, Trey, Kristen and Kristina]

19. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Science Autonomy Interface: Description and Motivation Need a way to tune parameters that define science priorities for autonomous searches that are beyond the range of the pan [over the horizon] Need to “train the scientists” to specify requests within the constraints of the system ? ?

20. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon [[TBD]] MoreLess Attribute MoreLess Importance Step 1: Load images from previous traverses, other sites or orbital images Roundness Contrast Size Weighted Value.9.2.5.9.2.5

21. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon [[TBD]] MoreLess Attribute MoreLess Importance Step 2: Interactively tune parameters [camera focus analogy] Roundness Contrast Size Weighted Value.9.2.5.9.2.5

22. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Step 3, groups results/ Science Map [from Trey’s Presentation]

23. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Roundness0.40.90.60.20.3 Contrast0.90.20.60.20.9 Size0.50.90.30.70.2 Weighted Value0.80.40.50.30.7 1 Take workspace image 2 Identify potential targets 3 Evaluate each target 4 Apply scientist-defined settings 5 Select one for analysis Slide by Dom after our brainstorm

24. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon [SK]Interface to science planner: Key requirements Translate the goals of the science team into goals for the science planner Enable scientists to interactively tune parameters in order to guide autonomous traverses

25. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Notes Preceptor technology Related work at JPL Simple mockup, test on scientists, iterate Split tasks between other rover team members

26. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Short range targeted searches

27. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Description and Motivation: Need to show correlated full resolution 3D panoramic images, hi-res images, and other data as hyperlinked knowledge maps Specify goals Download data Make it easy to find data after it is downloaded Run plan simulations Provide analysis and measurement tools

28. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Hotspot represents goals to the planner

29. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Hotspot represents goals to the planner

30. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Planner generates simulated plan

31. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon When data arrives on the server, the hotspot turns yellow

32. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon When data is verified by scientists, the hotspot turns green Clicking the green hotspot loads new data All hyperlinked data is archived in.zip format

33. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Clicking the green hotspot loads new data

34. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon PORTAL SERVER CONVERSION PROCESS *REMOTE DEFAULT PRESENT ATION EVENTSCOPE AUTHORING TOOL * NEW INTERFACE COMPONENTS,ROVER DATA TREE, SCENE EDITING, SAMPLE HYPERLINKS *STEREO IMAGE PAIRS *STEREO POINT CLAUD *VRML FILEEVENTSCOPE ESP FILE ALLOWS SCIENTISTS TO ADD COMMENTARY TO DATA DATA FROM JPL OTHER DATA AS ESP FILE [SPECTRAL, ETC.] STUDENT OR SCIENTIST EVENTSCOPE PORTAL TO MARS [MARS EXPLORATION ROVER] Changes and enhancements to technology [SK] EventScope Software Architecture

35. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Technical Approach Web type interface Virtual Environment within EventScope VIZ SAP Large printouts with physical icons Web/ simple GUI EventScope Virtual Environment Database

36. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Implementation Issues Starting in January, 7 months of testing using data from Mars Exploration Rovers Need plan to test long range traverse interfaces Large file sizes Need multiple tests with rover prior to expedition

37. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Final thoughts [if not talking about ops infrastructure] Data structures Data correlation Communication for both data and humans Stateside rover team member Configuration and location of OPS room

38. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon OPS Room 5 People Several weeks Good infrastructure Low cost

39. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon OPS Room 5 PC’s with high end graphics cards Meeting area Individual work areas 3 Projectors GeoWall, or panoramic projector Internet connections for laptops Printer Plotter Video cameras and other documentation equipment

40. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Future flight central at Ames A room at CMU Natural history museum Earth Theater Natural history museum Earth Theater

41. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Final thoughts Data structures Data correlation Communication for both data and humans Stateside rover team member

42. Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Implementation Issues