Docstoc

claraty_schedule_msl_v16

Document Sample
claraty_schedule_msl_v16 Powered By Docstoc
					          Plan Summary for the Technology Testbeds (incl CLARAty) Task                                                                                                     October 14, 2002

From        Date        Date        Needed                                                                                                  Date
 Date       Ready      Needed         By                     Technology Description                            Receives From               Needed     Notes
FY 2003
 10/02     01-Nov-02                  LT         D* Path Planner                                    RMSA - Path Planner                   01-Aug-02   Received
 10/02     01-Dec-02                CLARAty/     CLARAty testbed: Rocky 8, Rocky7, six
                                   MDS, LT, IP   embedded mockups for R8, R7, FIDO
 10/02     01-Dec-02   01-Dec-02     LT, IP      CLARAty/ROAMS open-loop locomotion with            ROAMS with wheel control simulation   01-Nov-02
                                                 simulation of closed-loop wheel control
 10/02     15-Dec-02   15-Dec-02      LT         EKF position estimation for (x,y, heading)
 10/02     31-Dec-02   31-Dec-02     LT, IP      CLARAty/WITS - define format for uplink and
                                                 downlink of data products
  8/02     15-Jan-03   15-Jan-03     LT, IP      Visual Odometry on Rocky 8 and Rocky 7             RMSA - Slope Navigation               01-Sep-02   Received
 10/02     31-Jan-03                  LT         Sun sensor heading estimation                      FIDO - sun sensor code - legacy       15-Nov-02
                                                                                                    Rocky 7 - sun sensor code - legacy
 10/02     15-Feb-03   15-Feb-03       LT        ROAMS/CLARAty with reasonable R8 data              ROAMS version with IMU simulation     01-Dec-02
                                                 (kinematic, mass inertias, etc) with locomotion,
                                                 wheel control, IMU, and pose estimation

 10/02     15-Feb-03   01-Mar-03       IP        Stereo-based manipulation infrastructure -         PDM - legacy instrument placement                 Older version available in CLARAty
                                                 control/coordination/sensing for Rocky 8, PDM,
                                                 and K9 Arms and masts
 10/02     01-Mar-03   01-Apr-03       IP        2D Visual Tracker with obstacle avoidance on       RMSA - Visual Tracking                01-Nov-02   Received
                                                 Rocky 8 and Rocky 7
 10/02     01-Mar-03   01-Mar-03       IP        GESTALT navigator on Rocky 8 and Rocky 7           MER - GESTALT navigation software     01-Dec-02
                                                 (encapsulated latest MER version)
 10/02     15-Mar-03   03-Mar-03                 CLARAty/WITS - demonstrate uplink and              WITS version to support interface     01-Feb-03
                                                 downlink of a single command (e.g. Hazcam)
 10/02     01-Apr-03   03-May-03     LT, IP      Two navigators designed with CLARAty               Morphin++ - navigation software       01-Dec-02   Morphin received
                                                 infrastucture - Morphin++, Gestalt                 MER - GESTALT navigation software

 10/02     01-May-03   01-Jun-03     IP, LT      ROAMS/CLARAty image acquistion and transfer        ROAMS interface for image-            01-Apr-03
                                                 (canned images)                                    acquisition
 10/02     01-Jun-03   02-Dec-02       LT        CLARAty/WITS - demonstrate commanding for                                                            Unresolved schedule conflict with LT task
                                                 locomotion (driving) and navigation
 10/02     15-Jun-03   01-Jun-03       IP        CLARAty/ROAMS interface for rover-based            ROAMS simulation of manipulator       01-Apr-03
                                                 manipulators                                       kinematics and interface
 10/02     30-Jun-03   01-Jun-03       IP        CLARAty/WITS - demonstrate manipulator             WITS version to support Rocky 8       01-Mar-03
                                                 commanding for Rocky 8                             commanding interface
                                                 Define format for shared models
 10/02     31-Jul-03    7/03?          LT        Integrated DriveMaps Navigator in CLARAty          FIDO - legacy Drive Maps              01-Jan-03   Pending Review - Port will take 5-6 months (1FTE)
  6/02     01-Sep-03                   LT        Initial integration of (TEMPEST/ISE) long range    RMSA - TEMPEST/ISE (5/03)             01-Jun-03   Delivery date can be affected by
                                                 path planning with CLARAty Decision Layer                                                            DriveMap Integration
FY 2004
 4/03     01-Nov-03       ?       LT, IP   Integrated Position Estimation - visual odometry,   RMSA Slope Navigation                01-May-03
 4/03     30-Nov-03   01-Nov-03    LT      Integrated ROAMAN Path Planner                      Legacy - FIDO                        01-Aug-03    Pending Review - Given DriveMap integration, port will ta
 4/03     01-Dec-03   03-Dec-03     IP     Combined 2D-3D target tracking from 10 m on         RMSA - Visual Tracking               01-Nov-03
                                           Rocky 8, Rocky 7 and K9
 4/03     01-Dec-03                 LT     Wide baseline Stereo?                               RMSA - WBS                           01-Sep-03    Pending Review - C. Olson
 10/03    15-Jan-04   01-Jan-04     IP     Collision Detection for rover manipulators          Legacy - MER                         01-Dec-03
 10/03    01-Feb-04       ?         AS     Bayesian spectral classifier                        RMSA - Autonomous Science            01-Oct-03    T. Roush
  4/03    01-Mar-04       ?         AS     Motor fault detection                               RMSA - Fault Detection               01-Nov-03    R. Deardren
  4/04    01-Apr-04   01-Apr-04     IP     Collision avoidance for manipulators                Legacy - MER                                      C. Leger
 10/03    15-Apr-04   01-Apr-04   LT, IP   Multi-resolution Mapping                            RMSA - Wide Baseline Stereo          15-Feb-03    C. Olson
 10/03    01-Jun-04   01-Jun-04   IP, LT   CLARAty/ROAMS - navigation, stereo on               ROAMS - high resolution synthetic    01-Apr-03
                                           synthetic images, motor level control, estimation   images

 4/04     01-Aug-04       ?        AS      Env perturbation Fault detection                    RMSA - Fault Detection               01-May-03    R. Deardren
 4/04     01-Oct-04       ?        AS      Self calibration                                    RMSA - Dead Recknoning                01-Jul-03   Y. Borenstein

FY 2005
 10/04    01-Feb-05       ?        AS      Image classifier                                    RMSA - Autonomous Science            01-Oct-04    T. Roush
 10/04    01-Jan-05       ?        AS      Active Terrain Estimation                           RMSA - Terrain Characterization
 10/04    01-Feb-05       ?        AS      Visual Terrain Estimation                           RMSA - Terrain Characterization
 10/03    01-Mar-05               LT, IP   CLARAty/ROAMS w/ complete CLARAty                   ROAMS - high resolution syntheitic
                                           navigation, terrain sensing and pose estimation     images
onflict with LT task




will take 5-6 months (1FTE)
n DriveMap integration, port will take 2-3 months (1FTE)

				
DOCUMENT INFO
Shared By:
Categories:
Tags:
Stats:
views:1
posted:3/21/2011
language:English
pages:4