WindRiver Space Robotics Jan2008

8/9/2019 WindRiver Space Robotics Jan2008

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2007 Wind River Systems, Inc.2

Wind River Systems

Michael Deliman III Sr. Engineering Specialist

Wind River Systems: 1 April 1991

VxWorks user since 1989 (VxWorks 4.2) Involved with several robotic missions for NASA

Primary O.S. Engineer, VxWorks for Rad6000

Mars Pathfinder, Mars Exploration Rovers, SIRTF

VxWorks 5.2 through 5.5.1

Tech Support

Nearly all other VxWorks enabled deep-space probes

MPF through MER and beyond


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Wind River, VxWorks, and Robots

Robots built with Wind River Technology Land-based robots

Research, Commercial: Dante, Asimo, and Zeus

Space-based robots NASA: Interplanetary and Deep Space probes

Sea-based robots Tiburon ROV

Air-based robots (UAVs, UCAVs)

Predator, Global Hawk unmanned aircraft Many more in all classes of robotic devices


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Dante II: Volcanologist

Carnegie Mellon UniversityRobotics Institute, 1994

CMU Field Robotics Center

Autonomous walking robot

Tethered (to climb out)

Technology demonstrated:ability to operate in extremeenvironments

Mt. Spurr, Aleutian Range, AK

Source: www.rmi.cmu.edu


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Mars Pathfinder

NASA JPL 1996 1997 VxWorks RTOS in Lander

Controlled all aspects of mission

Mission extended 30 to 90 days

New technologies

Drop-bounce-roll landing

First COTS HW/SW planetary

probe design

VxWorks

Ported to Rad6000 COTS Ported in one year

3-man team at Wind

Quadrennial Presidential Award

Excellence in Engineering


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New Millennium: Deep Space One

DS1 approaches C. Borrelly

NASA JPL 1998 2001

Mission extended Sept 1999

Fly-bys

Asteroid Braille

Comet Borrelly

Best images of comet's nucleus

Until Deep Impact, Stardust

Technologies demonstrated:

Ion propulsion system

Autonomous navigation

Autonomous flight software

Rad6000 architecture


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Mighty SAT II Experimental Platform

USAF/Spectrum/Orbital

1998 present

Ion propulsion

Earth orbit

Autonomous navigation

Flexible deployment

Hyperspectral imaging



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Mars Odyssey 2001 Orbiter

NASA JPL / Lockheed Orbit insertion Oct 2001

Mission extended 25 Aug 2004

Mapping Marss minerals

Data relay for Mars Exploration Rovers

Detect near-surface water (ice)

Quantify radiation exposure in

preparation for future human missions

Recovered from strongest solar flares

ever recorded, Nov 2003

Recovery: reboot VxWorks OS viapower-cycle



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Genesis Solar Wind Sample Return

NASA JPL

Launched: Aug2001

Returned: Oct 2004

Sample solar wind

Return high-purity samples Autonomous Flight Software

Though mechanical systems

failed, sample return mission

was still successful

Picture-perfect re-entry Sample findings solved a

lunar soil mystery



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SeaWinds QuickSCAT Scatterometer

NASA JPL 1999 present

Replaced NSCAT

SeaWinds on QuickSCAT provides

early-warning forecasting of global

environmental phenomena such asEl Nino

Built in record-breaking 11 mos.

Makes approximately 400,000

measurements, covering 90% of

Earth's surface, in one day Rad6000 architecture


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Mars Exploration Rovers (Mars 2004)

NASA / JPL / Cornell

Launched: Jul / Aug 2003

Landed: Jan 2004

Nominal 90-day mission

Both rovers: 2 Martian years on Mars Spirit: day 1374, 14 Nov 2007

Mission extended indefinitely

Sol 18 problem remotely debugged

(over 35 million miles away)

Mission: to collect evidence of water Mission SUCCESSFUL!

Both rovers survived 2007 Dust Storm



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Stardust: Comet and Interstellar Dust Return

Stardust approaches C. Wild IIArtists concept

NASA / JPL / Lockheed

Launched: 7 Dec 1999

Fly-by completed: 2 Jan 2004

Returned: Jan 2006

Mission: return samples ofinterstellar and comet dust to

Earth

Mission SUCCESSFUL

Autonomous navigation:

Stellar and Inertial modes Return capsule was fastest

man-made object ever!



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Stardust Re-Tasked: NExT

Mission: New Exploration of

Comet Temple-1

New Mission! Re-visit comet

Temple 1, 14 Feb 2011

Recommissioned: 3 Jul 2007 Completed primary mission:

Jan 2006

Temple-1 was damaged by

Deep Impact

This is our first look insidesince the impact

Gravitational sling-shot

maneuverSUCCESSFUL (10

Oct 07)


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Spitzer Space Telescope (SIRTF)

NASA / JPL / Caltech /

Lockheed Martin

IR imaging the universe

Complementary to Hubble,

Chandra, ComptonTelescopes

Launched: Dec 2003

Just after Opportunity

Performing flawlessly

VxWorks controls attitude,imaging control



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MBARIs Tiburon ROV

Tiburon Remote Operated Vehicle

Monterey Bay Aquarium

Research Institutes Remote

Operated Vehicle

Can dive to 4000 meters

First dive, 1997 Variable buoyancy system,

electrical thrusters enable

silent motion and ability to

hover in place

Has discovered dozens ofnew species of squid,

jellyfish, cyanobacter,

benthic worms


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Humanoid Robot: ASIMO

Honda Humanoid Robots Project 1997 Prototype P3 debut: 2000

ASIMO

90 kg reduction in weight

0.4 m height reduction

Advanced Step in Innovative

MObility

i-WALK intelligent, real-time,

flexible-walking

RealTime sensor monitoring enables:

Human-like walking

Increased stability Ability to react to sudden

movements

Ability to anticipate balance shift

necessary to navigate corners,

etc.


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ZEUS: Telerobotic Surgeon

Intuitive Surgical Device

1999: world's first robotic-

assisted beating-heart bypass

surgery

March 2003 world's firsttelerobotics assisted surgery

from 400KM over VPN

Voice control capabilities

Ability to filter out hand tremor

enabling precise micro-surgicaltasks

Distributed world-wide


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NASA Robotic Astronaut: Robonaut

NASA / DARPA EVA robot

Telepresence control system

Sensors include thermal,

position, tactile, force, and

torque instrumentation

More than 150 sensors per arm

Real-time CPU with

miniaturized data acquisition

and power management

Uses existing tools to perform

tasks

No specialized tooling reqts


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Remote Operated Aircraft: UAVs

Predator by General Atomics

Contract awarded: Jan 1994 First flight: July 1994

Intelligence, Surveillance, and

Reconnaissance (ISR)

Global Hawk by Northrop Grumman

First flight: Edwards AFB, 28 Feb

1998

World records for altitude,

endurance, and distance for jet-

powered unmanned aircraft


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FIDO: Field Integrated Design & Operations

NASA / JPL future rovers

prototype

Advanced technology rover

Supports both current and future

robotic missions Simulates mission operation

scenarios

Validates rover technologies

2001 NASA Honor Award

Group Achievement Award

266 MHz Intel Pentium

architecture


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MESSENGER: MErcury Surface, Space

ENvironment, GEochemistry, and Ranging

Mission to Mercury

Johns Hopkins Applied Physics

Laboratory

Launched: 3 Aug 2004 Earth fly-by: 2 Aug 2005

Venus fly-by: 24 Oct 2006

Orbit ETA: Mar 2011

After traveling 4.9 billion

miles

FIRST MERCURY FLY-BY:

14th JAN 2008!



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MRO: Mars Reconnaissance Orbiter

JPL / NASA Mars Orbiter

Launched: Aug 2005

Arrival: Mar 2006

Mission:

Photograph Mars in detail

Detect subterranean water

Search for future mission landingsites

First interplanetarycommunications bridge

Guidance beacon

Aerobraking complete Nov 2006

Survived solar flare 7 Sep 2005(4th largest / 15 years)

RAD750 architecture

MRO over Martian polesArtists concept


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MRO: MSL Landing Site Candidate

Artists concept:

MRO over Martian poles


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Deep Impact: First Look Inside a Comet

NASA / JPL comet impact

Launched: 13 Jan 2005

Impacted comet Tempel 1: 4 Jul

2005 0600 UT

Impact mission: SUCCESSFUL! Studied the pristine interior of a

comet by excavating a crater

more than 25m deep and 100m in

diameter

Measure the composition of theinterior of the crater and its ejecta

Rad750 architecture


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Deep Impact Re-Tasked: EPOXI

Two New Missions for DI-EPOXI DIXI Deep Impact eXtended

Investigation, and

EPOCh Extrasolar Planet

Observation & Characterization

DIXI will fly-by Comet Boethin (5Dec 2008), replacing results of

CONTOUR

EPOCh will use the DI craft to

monitor known giant planets

around nearby stars, to recordthe crossings, and to record the

Earth in near-infrared

EPOCh will be done on the way

to DIXI


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Mars Polar Lander: Phoenix

JPL / NASA Lander

Launched: 4 Aug 2007

Arrival: 25 May 2008

First TCM: 10 Aug 2007 successful.

Designed to study the historyof water and habitabilitypotential in the Martianarctic's ice-rich soil

Combines science goals and

instruments from two previousintended Mars Polar Landermissions



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MSL: Mars Science Laboratory

JPL / NASA Mars Rover

Planned launch: Dec 2009

Arrival: Oct 2010

Advanced analysis of rock

and soil samples, includingGCG, mass spectrometry

First to use precision landing

techniques

Reduces size of landing

zones to 1/3 or less ofprevious

Rad750 architecture


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Our Next Rising Star?

?

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WindRiver Space Robotics Jan2008