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8/9/2019 WindRiver Space Robotics Jan2008
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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
Rad6000 architecture
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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
Rad6000 architecture
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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
Rad6000 architecture
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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
Rad6000 architecture
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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!
Rad6000 architecture
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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
Rad6000 architecture
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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!
Rad6000 architecture
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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
Rad6000 architecture
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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?
?