1998 Expedition Science Interface

The 1998 expedition science interface allows this every component of the science autonomy system (SAS) to be tested. The final implementation of this interface deals most directly with three components. First, the user can control the mission planner by specifying a robot task mode: go to a waypoint, execute a coverage pattern, or take sensor measurements. The user can also control the details of how the mission planner will coordinate the science system, such as setting the waypoint tolerance, robot field of view, and coverage pattern type. The user interface also allows access to the target sample database. While the interface does not require the ability to update data on target samples in the database (this should be done autonomously by the SAS), the user needs to be able to query the database about information such as images of targets or classifier probabilities. Finally, the user must control the pan/tilt camera to select new sample targets. This is one of the most critical aspects of the interface. The user can pan, tilt, and focus until an acceptable initial, or "template", image is taken. The user clicks on the target sample in the template image, and the pan/tilt software inserts the image into the database. Then the user is prompted to zoom in and select a high-resolution image of the same target. This image will allow the classifier to determine the target's color, size, and texture.

With these capabilities, the science interface allows efficient monitoring and debugging of the entire science autonomy system. Additionally, the user can get a constant overview of the status of Nomad's critical systems such as whele motors and navigation control status. Its design is based on panels, and each panel allows the user to control a different aspect of the science autonomy system. See the screenshots below for examples.

The database and panoramic panels

The database and real-time monitoring panels

The pan/tilt control and mission planner panels

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