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All sourcesNASA NTRSDOE OSTI
NASA NTRS2013

Robot Sequencing and Visualization Program (RSVP)

The Robot Sequencing and Visualization Program (RSVP) is being used in the Mars Science Laboratory (MSL) mission for downlink data visualization and command sequence generation. RSVP reads and writes downlink data products from the operations data server (ODS) and writes uplink data products to the ODS. The primary users of RSVP are members of the Rover Planner team (part of the Integrated Planning and Execution Team (IPE)), who use it to perform traversability/articulation analyses, take activity plan input from the Science and Mission Planning teams, and create a set of rover sequences to be sent to the rover every sol. The primary inputs to RSVP are downlink data products and activity plans in the ODS database. The primary outputs are command sequences to be placed in the ODS for further processing prior to uplink to each rover. RSVP is composed of two main subsystems. The first, called the Robot Sequence Editor (RoSE), understands the MSL activity and command dictionaries and takes care of converting incoming activity level inputs into command sequences. The Rover Planners use the RoSE component of RSVP to put together command sequences and to view and manage command level resources like time, power, temperature, etc. (via a transparent realtime connection to SEQGEN). The second component of RSVP is called HyperDrive, a set of high-fidelity computer graphics displays of the Martian surface in 3D and in stereo. The Rover Planners can explore the environment around the rover, create commands related to motion of all kinds, and see the simulated result of those commands via its underlying tight coupling with flight navigation, motor, and arm software. This software is the evolutionary replacement for the Rover Sequencing and Visualization software used to create command sequences (and visualize the Martian surface) for the Mars Exploration Rover mission.

Cooper, Brian K.↗
NASA NTRS2004

Using RSVP for analyzing state and previous activities for the Mars Exploration Rovers

Current developments in immersive environments for mission planning include several tools which make up a system for performing and rehearsing missions. This system, known as the Rover Sequencing and Visualization Program (RSVP), includes tools for planning long range sorties for highly autonomous rovers, tools for planning operations with robotic arms, and advanced tools for visualizing telemetry from remote spacecraft and landers. One of the keys to successful planning of rover activities is knowing what the rover has accomplished to date and understanding the current rover state. RSVP builds on the lessons learned and the heritage of the Mars Pathfinder mission This paper will discuss the tools and methodologies present in the RSVP suite for examining rover state, reviewing previous activities, visually comparing telemetered results to rehearsed results, and reviewing science and engineering imagery. In addition we will present how this tool suite was used on the Mars Exploration Rovers (MER) project to explore the surface of Mars.

Mars Exploration Rover (MER)↗
NASA NTRS2002

Repetition blindness has a perceptual locus: evidence from online processing of targets in RSVP streams

Four experiments tested whether repetition blindness (RB; reduced accuracy reporting repetitions of briefly displayed items) is a perceptual or a memory-recall phenomenon. RB was measured in rapid serial visual presentation (RSVP) streams, with the task altered to reduce memory demands. In Experiment 1 only the number of targets (1 vs. 2) was reported, eliminating the need to remember target identities. Experiment 2 segregated repeated and nonrepeated targets into separate blocks to reduce bias against repeated targets. Experiments 3 and 4 required immediate "online" buttonpress responses to targets as they occurred. All 4 experiments showed very strong RB. Furthermore, the online response data showed clearly that the 2nd of the repeated targets is the one missed. The present results show that in the RSVP paradigm, RB occurs online during initial stimulus encoding and decision making. The authors argue that RB is indeed a perceptual phenomenon.

Form Perception↗
NASA NTRS2005

Rover Sequencing and Visualization Program

The Rover Sequencing and Visualization Program (RSVP) is the software tool for use in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight-code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover-predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (IDD) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities. Thus, RSVP, being highly data driven, may be tailored to other missions with minimal effort. In addition, RSVP uses a distributed, message-passing architecture to allow multitasking, and collaborative visualization and sequence development by scattered team members.

Cooper, Brian↗
NASA NTRS2005

Update on Rover Sequencing and Visualization Program

The Rover Sequencing and Visualization Program (RSVP) has been updated. RSVP was reported in Rover Sequencing and Visualization Program (NPO-30845), NASA Tech Briefs, Vol. 29, No. 4 (April 2005), page 38. To recapitulate: The Rover Sequencing and Visualization Program (RSVP) is the software tool to be used in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (robotic arm) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities.

Cooper, Brian↗
NASA NTRS1999

A Study of Quality of Service Communication for High-Speed Packet-Switching Computer Sub-Networks

In this thesis, we analyze various factors that affect quality of service (QoS) communication in high-speed, packet-switching sub-networks. We hypothesize that sub-network-wide bandwidth reservation and guaranteed CPU processing power at endpoint systems for handling data traffic are indispensable to achieving hard end-to-end quality of service. Different bandwidth reservation strategies, traffic characterization schemes, and scheduling algorithms affect the network resources and CPU usage as well as the extent that QoS can be achieved. In order to analyze those factors, we design and implement a communication layer. Our experimental analysis supports our research hypothesis. The Resource ReSerVation Protocol (RSVP) is designed to realize resource reservation. Our analysis of RSVP shows that using RSVP solely is insufficient to provide hard end-to-end quality of service in a high-speed sub-network. Analysis of the IEEE 802.lp protocol also supports the research hypothesis.

Cui, Zhenqian↗
NASA NTRS2009

Converting CSV Files to RKSML Files

A computer program converts, into a format suitable for processing on Earth, files of downlinked telemetric data pertaining to the operation of the Instrument Deployment Device (IDD), which is a robot arm on either of the Mars Explorer Rovers (MERs). The raw downlinked data files are in comma-separated- value (CSV) format. The present program converts the files into Rover Kinematics State Markup Language (RKSML), which is an Extensible Markup Language (XML) format that facilitates representation of operations of the IDD and enables analysis of the operations by means of the Rover Sequencing Validation Program (RSVP), which is used to build sequences of commanded operations for the MERs. After conversion by means of the present program, the downlinked data can be processed by RSVP, enabling the MER downlink operations team to play back the actual IDD activity represented by the telemetric data against the planned IDD activity. Thus, the present program enhances the diagnosis of anomalies that manifest themselves as differences between actual and planned IDD activities.

Trebi-Ollennu, Ashitey↗
NASA NTRS1994

Perceptual Repetition Blindness Effects

The phenomenon of repetition blindness (RB) may reveal a new limitation on human perceptual processing. Recently, however, researchers have attributed RB to post-perceptual processes such as memory retrieval and/or reporting biases. The standard rapid serial visual presentation (RSVP) paradigm used in most RB studies is, indeed, open to such objections. Here we investigate RB using a "single-frame" paradigm introduced by Johnston and Hale (1984) in which memory demands are minimal. Subjects made only a single judgement about whether one masked target word was the same or different than a post-target probe. Confidence ratings permitted use of signal detection methods to assess sensitivity and bias effects. In the critical condition for RB a precue of the post-target word was provided prior to the target stimulus (identity precue), so that the required judgement amounted to whether the target did or did not repeat the precue word. In control treatments, the precue was either an unrelated word or a dummy.

Hochhaus, Larry↗
NASA NTRS1995

The Role of Memory Processes in Repetition Blindness

We investigated whether Repetition Blindness (RB) in processing RSVP strings depends critically on memory demands. When all items in the sequence had to be reported, strong RB was found. When only the 2 critical items (cued by color) had to be reported, no RB was found. Preliminary results show that imposing a separate memory load, while reporting only the critical items, also produces little RB. Implications for the processing locus of RB will be discussed.

Johnston, James C.↗
NASA NTRS1998

The Attentional Blink Does Not Prevent Character Identification

The standard RSVP Attentional Blink (AB) paradigm was modified so that RT to the second target could be measured. Character distortion, intended to prolong the letter-identification processing stage, had a marked effect at long lags (baseline condition), but virtually no effect at short lags where AB interference occurred. According to locus-of-slack logic, this pattern of results indicates that the attentional blink causes a processing bottleneck at some stage subsequent to letter identification.

Ruthruff, Eric↗
NASA NTRS2007

Slip Validation and Prediction for Mars Exploration Rovers

This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.

Mars Rovers↗
NASA NTRS2013

Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files can be altered in the respective text files. The rover model and terrain are viewed in Adams View, the GUI for ARTEMIS. The Adams dynamics solver calls terramechanics subroutines in FORTRAN containing the Bekker-Wong equations.

Trease, Brian P.↗