Desktop Exploration of Remote Terrain (DERT)
Software tool that utilizes a virtual world to visualize and navigate NASA digital elevation models.
digital elevation model↗
Engineering topics
Keely, Leslie
Publications and source records attributed to Keely, Leslie.
3D Visualization for Phoenix Mars Lander Science Operations
Planetary surface exploration missions present considerable operational challenges in the form of substantial communication delays, limited communication windows, and limited communication bandwidth. A 3D visualization software was developed and delivered to the 2008 Phoenix Mars Lander (PML) mission. The components of the system include an interactive 3D visualization environment called Mercator, terrain reconstruction software called the Ames Stereo Pipeline, and a server providing distributed access to terrain models. The software was successfully utilized during the mission for science analysis, site understanding, and science operations activity planning. A terrain server was implemented that provided distribution of terrain models from a central repository to clients running the Mercator software. The Ames Stereo Pipeline generates accurate, high-resolution, texture-mapped, 3D terrain models from stereo image pairs. These terrain models can then be visualized within the Mercator environment. The central cross-cutting goal for these tools is to provide an easy-to-use, high-quality, full-featured visualization environment that enhances the mission science team s ability to develop low-risk productive science activity plans. In addition, for the Mercator and Viz visualization environments, extensibility and adaptability to different missions and application areas are key design goals.
Edwards, Laurence↗
Virtual Planetary Analysis Environment for Remote Science
All of the data for NASA's current planetary missions and most data for field experiments are collected via orbiting spacecraft, aircraft, and robotic explorers. Mission scientists are unable to employ traditional field methods when operating remotely. We have developed a virtual exploration tool for remote sites with data analysis capabilities that extend human perception quantitatively and qualitatively. Scientists and mission engineers can use it to explore a realistic representation of a remote site. It also provides software tools to "touch" and "measure" remote sites with an immediacy that boosts scientific productivity and is essential for mission operations.
Keely, Leslie↗
FootFall: A Ground Based Operations Toolset Enabling Walking for the ATHLETE Rover
The ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) vehicle consists of six identical, six degree of freedom limbs. FootFall is a ground tool for ATHLETE intended to provide an operator with integrated situational awareness, terrain reconstruction, stability and safety analysis, motion planning, and decision support capabilities to enable the efficient generation of flight software command sequences for walking. FootFall has been under development at NASA Ames for the last year, and having accomplished the initial integration, it is being used to generate command sequences for single footfalls. In this paper, the architecture of FootFall in its current state will be presented, results from the recent Human Robotic Systems Project?s Integrated Field Test (Moses Lake, Washington, June, 2008) will be discussed, and future plans for extending the capabilities of FootFall to enable ATHLETE to walk across a boulder field in real time will be described.
SunSpiral, Vytas↗
Automated Data Assimilation and Flight Planning for Multi-Platform Observation Missions
This is a progress report on an effort in which our goal is to demonstrate the effectiveness of automated data mining and planning for the daily management of Earth Science missions. Currently, data mining and machine learning technologies are being used by scientists at research labs for validating Earth science models. However, few if any of these advanced techniques are currently being integrated into daily mission operations. Consequently, there are significant gaps in the knowledge that can be derived from the models and data that are used each day for guiding mission activities. The result can be sub-optimal observation plans, lack of useful data, and wasteful use of resources. Recent advances in data mining, machine learning, and planning make it feasible to migrate these technologies into the daily mission planning cycle. We describe the design of a closed loop system for data acquisition, processing, and flight planning that integrates the results of machine learning into the flight planning process.
Oza, Nikunj↗
Planetary Spatial Analyst
This is a status report for the project entitled Planetary Spatial Analyst (PSA). This report covers activities from the project inception on October 1, 2007 to June 1, 2008. Originally a three year proposal, PSA was awarded funding for one year and required a revised work statement and budget. At the time of this writing the project is well on track both for completion of work as well as budget. The revised project focused on two objectives: build a solid connection with the target community and implement a prototype software application that provides 3D visualization and spatial analysis technologies for that community. Progress has been made for both of these objectives.
Keely, Leslie↗
A Reliable Service-Oriented Architecture for NASA's Mars Exploration Rover Mission
The Collaborative Information Portal (CIP) was enterprise software developed jointly by the NASA Ames Research Center and the Jet Propulsion Laboratory (JPL) for NASA's highly successful Mars Exploration Rover (MER) mission. Both MER and CIP have performed far beyond their original expectations. Mission managers and engineers ran CIP inside the mission control room at JPL, and the scientists ran CIP in their laboratories, homes, and offices. All the users connected securely over the Internet. Since the mission ran on Mars time, CIP displayed the current time in various Mars and Earth time zones, and it presented staffing and event schedules with Martian time scales. Users could send and receive broadcast messages, and they could view and download data and image files generated by the rovers' instruments. CIP had a three-tiered, service-oriented architecture (SOA) based on industry standards, including J2EE and web services, and it integrated commercial off-the-shelf software. A user's interactions with the graphical interface of the CIP client application generated web services requests to the CIP middleware. The middleware accessed the back-end data repositories if necessary and returned results for these requests. The client application could make multiple service requests for a single user action and then present a composition of the results. This happened transparently, and many users did not even realize that they were connecting to a server. CIP performed well and was extremely reliable; it attained better than 99% uptime during the course of the mission. In this paper, we present overviews of the MER mission and of CIP. We show how CIP helped to fulfill some of the mission needs and how people used it. We discuss the criteria for choosing its architecture, and we describe how the developers made the software so reliable. CIP's reliability did not come about by chance, but was the result of several key design decisions. We conclude with some of the important lessons we learned form developing, deploying, and supporting the software.
Mak, Ronald↗
The MER/CIP Portal for Ground Operations
We developed the Mars Exploration Rover/Collaborative Information Portal (MER/CIP) to facilitate MER operations. MER/CIP provides a centralized, one-stop delivery platform integrating science and engineering data from several distributed heterogeneous data sources. Key issues for MER/CIP include: 1) Scheduling and schedule reminders; 2) Tracking the status of daily predicted outputs; 3) Finding and analyzing data products; 4) Collaboration; 5) Announcements; 6) Personalization.
Chan, Louise↗