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NASAVERVE: Interactive 3DVisualization within Eclipse
NASAVERVE:
Interactive 3DVisualization within Eclipse
Tam...
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NASAVERVE: Interactive 3DVisualization within Eclipse
The Intelligent Robotics Group (IRG)
at NASA Ames Research Cen...
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NASAVERVE: Interactive 3DVisualization within Eclipse
We have created a number of tools to assist with remote
situat...
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NASAVERVE: Interactive 3DVisualization within Eclipse
Flight Control Room at Ames during HMP experiment
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NASAVERVE: Interactive 3DVisualization within Eclipse
Science backroom at Ames
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NASAVERVE: Interactive 3DVisualization within Eclipse
We develop and work with many different robots for different n...
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NASAVERVE: Interactive 3DVisualization within Eclipse
A simple model of K10Red; we
keep the models small and efficien...
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NASAVERVE: Interactive 3DVisualization within Eclipse
The Ardor3D scene graph is comprised of
Spatials to d...
9
NASAVERVE: Interactive 3DVisualization within Eclipse
/**!
* interface for scenegraph -> telemetry glue for robot vi...
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NASAVERVE: Interactive 3DVisualization within Eclipse
Desert RATS 2011 featured several robots, vehicles,
and astro...
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NASAVERVE: Interactive 3DVisualization within Eclipse
A model of a space suit with instrument backpack and the
Cent...
12
NASAVERVE: Interactive 3DVisualization within Eclipse
Black Point Lava Flow as a GeoTIFF with levels of detail, ren...
13
NASAVERVE: Interactive 3DVisualization within Eclipse
We have a standard Eclipse view
which includes a tree populat...
14
NASAVERVE: Interactive 3DVisualization within Eclipse
We use Java reflection and SWT
databinding to automatically
ge...
15
NASAVERVE: Interactive 3DVisualization within Eclipse
Typically we work with rovers to
explore terrain that has not...
16
NASAVERVE: Interactive 3DVisualization within Eclipse
Representation of LIDAR terrain inVERVE
When we get LIDAR d...
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NASAVERVE: Interactive 3DVisualization within Eclipse
You can see the line scan and point cloud data that Centaur 2...
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NASAVERVE: Interactive 3DVisualization within Eclipse
We use DDS, the Data Distribution Service for Real-Time Syste...
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NASAVERVE: Interactive 3DVisualization within Eclipse
To facilitate collaboration between NASA centers, we came up
...
20
NASAVERVE: Interactive 3DVisualization within Eclipse
For our RAPID VERVE implementation, we have a base
class to c...
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NASAVERVE: Interactive 3DVisualization within Eclipse
!
Our very simple render update thread runs as follows:
...
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NASAVERVE: Interactive 3DVisualization within Eclipse
!
public void handleFrameUpdate(long currentTime) {!
if(isDir...
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NASAVERVE: Interactive 3DVisualization within Eclipse
Scientific Visualization
Here we are rendering data coming b...
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NASAVERVE: Interactive 3DVisualization within Eclipse
We also work with the SPHERES on
the International Space Stat...
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NASAVERVE: Interactive 3DVisualization within Eclipse
Screenshot of the SPHERES Smartphone Workbench: Manual Contro...
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NASAVERVE: Interactive 3DVisualization within Eclipse
The Surface Telerobotics experiment in 2013 examined how
astr...
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NASAVERVE: Interactive 3DVisualization within Eclipse
Roverscape at NASA Ames
NASA VERVE: Interactive 3D Visualization within Eclipse
NASA VERVE: Interactive 3D Visualization within Eclipse
NASA VERVE: Interactive 3D Visualization within Eclipse
NASA VERVE: Interactive 3D Visualization within Eclipse
NASA VERVE: Interactive 3D Visualization within Eclipse
NASA VERVE: Interactive 3D Visualization within Eclipse
NASA VERVE: Interactive 3D Visualization within Eclipse
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NASA VERVE: Interactive 3D Visualization within Eclipse

EclipseCon 2014 presentation about NASA Ames IRG research including Eclipse RCP applications for remote commanding and monitoring of robots.
Published on: Mar 3, 2016
Published in: Technology      
Source: www.slideshare.net


Transcripts - NASA VERVE: Interactive 3D Visualization within Eclipse

  • 1. 1 NASAVERVE: Interactive 3DVisualization within Eclipse NASAVERVE: Interactive 3DVisualization within Eclipse Tamar Cohen and Mark B.Allan Intelligent Robotics Group NASA Ames Research Center
  • 2. 2 NASAVERVE: Interactive 3DVisualization within Eclipse The Intelligent Robotics Group (IRG) at NASA Ames Research Center develops robotic rovers as research platforms for autonomous navigation, human robot interaction, and robot software. Often we send a small team of scientists and robot engineers into the field with some rovers, and science and engineering backroom teams remotely operate the rovers. It is necessary to visualize where the rover is, what algorithms it is executing, and what scientific data it is gathering. K10 Red at Haughton Crater, Devon Island CA
  • 3. 3 NASAVERVE: Interactive 3DVisualization within Eclipse We have created a number of tools to assist with remote situational awareness. Some of these are web tools, and quite a few are Eclipse RCP applications, based aroundVERVE. VERVE is an integrated 3D view built on top of Ardor3D, an open source 3D Java library. Concept of Operations
  • 4. 4 NASAVERVE: Interactive 3DVisualization within Eclipse Flight Control Room at Ames during HMP experiment
  • 5. 5 NASAVERVE: Interactive 3DVisualization within Eclipse Science backroom at Ames
  • 6. 6 NASAVERVE: Interactive 3DVisualization within Eclipse We develop and work with many different robots for different needs, and attach various scientific instruments to them. We also collaborate with different NASA centers to support remote operation of their robots. IRG’s K-series rovers feature: •  four-wheel drive •  all wheel steering •  GPS system •  digital compass •  stereo hazard cameras •  inertial measurement unit •  LIDAR K-series rovers run Rover Software, which supports autonomous navigation and obstacle avoidance. Krex at Basalt Hill, CA
  • 7. 7 NASAVERVE: Interactive 3DVisualization within Eclipse A simple model of K10Red; we keep the models small and efficient and only articulate what will give us useful information. TheVERVE 3DView is an Eclipse view with contents rendered by the Ardor3D libraries which we have wrapped in a plug-in. We render the Ardor3D canvas in an EclipseView. Ardor3D provides user interface support within the view, ie overlay text or floating images / areas. Ardor3D provides hooks for mouse control and keyboard input, along with typical controls for a 3D graphics library (ie cameras, scene, lighting, etc). It supports standard 3D file formats.
  • 8. 8 NASAVERVE: Interactive 3DVisualization within Eclipse The Ardor3D scene graph is comprised of Spatials to define geometry and rendering settings Nodes spatials with parents and children To build up the scene graph, you simply call node.attachChild(Spatial child). For each type and instance of a robot, we create a RobotNode (extends Node) which contains nodes that represent its model (3D object) and child nodes for representation of scientific data. We have a reference between our conceptual representation of a robot and each of its parts, and the Ardor3D nodes which represent each concept. public class RobotNode extends Node {! ! final AbstractRobot m_robot;! ! RobotModelNode m_model;! Node m_concepts;! Node m_sensors;! Node m_base;! ! public RobotNode(AbstractRobot robot, Node model) {! super(robot.getName());! m_robot = robot;! setRobotModel(model);! }!
  • 9. 9 NASAVERVE: Interactive 3DVisualization within Eclipse /**! * interface for scenegraph -> telemetry glue for robot visualization parts! */! public interface IRobotPart {! public String getPartName();! public AbstractRobot getRobot();! ! public void connectTelemetry() throws TelemetryException;! public void disconnectTelemetry() throws TelemetryException;! ! public void attachToNodesIn(Node model) throws TelemetryException, IllegalStateException;! ! public void handleFrameUpdate(long currentTime);! public void reset();! ! public boolean isVisible();! public void setVisible(boolean state);! }! We have created a simple interface to connect the incoming telemetry to the robot parts that are rendered:
  • 10. 10 NASAVERVE: Interactive 3DVisualization within Eclipse Desert RATS 2011 featured several robots, vehicles, and astronauts with sensors
  • 11. 11 NASAVERVE: Interactive 3DVisualization within Eclipse A model of a space suit with instrument backpack and the Centaur 2 rover, which we worked with at Desert RATS
  • 12. 12 NASAVERVE: Interactive 3DVisualization within Eclipse Black Point Lava Flow as a GeoTIFF with levels of detail, rendered with haze
  • 13. 13 NASAVERVE: Interactive 3DVisualization within Eclipse We have a standard Eclipse view which includes a tree populated with the contents of the scene graph. This tree can be extremely deep. Since elements are dynamically added to and removed from the 3D scene, the tree must be populated with WeakReferences to support garbage collection. When various events happen, the tree refreshes asynchronously. Checkboxes show and hide 3D models in the Ardor3D view by setting their render state. Scene Graph View if (show){! !spatial.setCullHint(CullHint.Inherit); } else {! !spatial.setCullHint(CullHint.Always);! }!
  • 14. 14 NASAVERVE: Interactive 3DVisualization within Eclipse We use Java reflection and SWT databinding to automatically generate SWT UI components based on the Java objects defined in the robot class; manipulating these widgets affects how the components are rendered in the Ardor3D scene. This allows our robot engineers and scientists to customize the visualization based on what they are looking for.
  • 15. 15 NASAVERVE: Interactive 3DVisualization within Eclipse Typically we work with rovers to explore terrain that has not been well mapped. We may have satellite imagery and information about the terrain. This data is at a low resolution and may not be accurate. As the rovers traverse the area, they build more accurate maps. We use LIDAR, a remote sensing technology that measures distance with a laser. We use LIDAR both for a line scan and to return a point cloud. We also do stereo reconstruction with our two hazard cameras. LIDAR
  • 16. 16 NASAVERVE: Interactive 3DVisualization within Eclipse Representation of LIDAR terrain inVERVE When we get LIDAR data back to our Eclipse RCP application from the rover, we can “ground truth” or adjust the terrain to the discovered data.
  • 17. 17 NASAVERVE: Interactive 3DVisualization within Eclipse You can see the line scan and point cloud data that Centaur 2 has captured as it drives across a parking lot. Red arrows show the path it has taken.
  • 18. 18 NASAVERVE: Interactive 3DVisualization within Eclipse We use DDS, the Data Distribution Service for Real-Time Systems as our middleware. By having this standard, we can create IDL (Interface Definition Language) files that describe the data which is being serialized between publishers and subscribers. We define data formats for commands and for telemetry, and various consumers (robots, software applications) can subscribe to the published topics. We configure DDS to handle poor connectivity and dropouts, since we are simulating space missions which will have these issues. Adhering to the DDS standard makes it more straightforward to integrate with various robots and scientific instruments. Surface Telerobotics Workbench RCP Application K10 Rover DDS Ground ISS We used DDS to have astronauts on the International Space Station control our K10 Rover at NASA Ames
  • 19. 19 NASAVERVE: Interactive 3DVisualization within Eclipse To facilitate collaboration between NASA centers, we came up with a standard called RAPID (Robot API Delegate), built on top of DDS. This includes a set of IDL files and Java libraries for common commands and telemetry. http://rapid.nasa.gov/
  • 20. 20 NASAVERVE: Interactive 3DVisualization within Eclipse For our RAPID VERVE implementation, we have a base class to connect robot parts to RAPID telemetry. public abstract class RapidRobotPart extends AbstractRobotPart implements IRapidMessageListener! {! …! @Override! public void connectTelemetry() throws TelemetryException {! if(isTelemetryEnabled()) {! try {for(MessageType msgType : rapidMessageTypes()){! !RapidMessageCollector.instance().addRapidMessageListener(getParticipantId(),! ! ! ! ! ! !getRapidRobot().getAgent(), msgType, this );! This way, when the telemetry comes in, the relevant data can be cached and when it is time to rerender, handleFrameUpdate is called.
  • 21. 21 NASAVERVE: Interactive 3DVisualization within Eclipse ! Our very simple render update thread runs as follows: Once the system and display are ready (until the display is disposed) Check the time that the last change occurred; if the elapsed time is enough, asynchronously run an update ! timer = new Timer(); // an Ardor3D timer which uses System.nanoTime! !frameHandler = new FrameHandler(timer);! !frameHandler.addUpdater(new LogicalLayerUpdater());! ! !// we expose camera controls in the Eclipse UI! !frameHandler.addUpdater(new CameraControlUpdater()); !! !renderUpdateThread = new RenderUpdateThread(applicationPlugin, ! ! ! ! ! ! ! ! ! ! ! ! ! ! ! frameHandler, timer);! !renderUpdateThread.start();! frameHandler.updateFrame(); We have data coming in too fast to render, so we throttle that back:
  • 22. 22 NASAVERVE: Interactive 3DVisualization within Eclipse ! public void handleFrameUpdate(long currentTime) {! if(isDirty()) {! try {! float[] ja = m_angleData;! JointInfo joint;! for(int i = 0; i < m_joints.length; i++) {! if(i < m_angleData.length) {! joint = m_joints[i];! if( joint.spatial != null && !Float.isNaN(ja[i]) ) {! m_rot.fromAngleNormalAxis(ja[i]+joint.offset, ! ! ! ! ! ! !joint.rotAxis);! joint.spatial.setRotation(m_rot);! }! }! }! }! catch(Throwable t) {! logger.log(t);! }! setDirty(false);! }! }! Sample handleFrameUpdate for joint data
  • 23. 23 NASAVERVE: Interactive 3DVisualization within Eclipse Scientific Visualization Here we are rendering data coming back from a Ground Penetrating Radar (GPR) system, so scientists can analyze information about the substrate. They can customize the rendering of the GPR telemetry. Arrows indicate previous position, and the rings indicate the sun tracker and the magnetic compass.
  • 24. 24 NASAVERVE: Interactive 3DVisualization within Eclipse We also work with the SPHERES on the International Space Station (ISS); we run DDS on an Android Smartphone which we connect to the SPHERES, and view and control it from our Eclipse RCP Application. In our experiment in 2013, we simulated an internal inspection of an ISS module . We have commanded it from the ground and astronauts have commanded it from the ISS.
  • 25. 25 NASAVERVE: Interactive 3DVisualization within Eclipse Screenshot of the SPHERES Smartphone Workbench: Manual Control
  • 26. 26 NASAVERVE: Interactive 3DVisualization within Eclipse The Surface Telerobotics experiment in 2013 examined how astronauts in the ISS can remotely operate a surface robot (K10 Rover) across short time delays. We simulated an astronaut teleoperating a rover on the lunar farside to deploy a low radio frequency telescope. Deployment of a Telescope
  • 27. 27 NASAVERVE: Interactive 3DVisualization within Eclipse Roverscape at NASA Ames

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