1. CLARAty: Coupled Layer Architecture for Robotic Autonomy Issa A.D. Nesnas Ames Research Center Carnegie Mellon University Jet Propulsion Laboratory University of Minnesota (FY03) Intel’s Visit - February 21, 2003 Sponsors: Mars Technology Program Intelligent Systems Program

2. February 21, 2003 CLARAty Workshop - I.A.N. 2 Presentation Overview Challenges of developing robotic standards and why is robotic software complex, hard and costly? How can robotic software be reused? A Quick Technical Tour of the Architecture –Overview –Challenges of Interoperability Software Implementation and Status CLARAty testbed Summary

3. Background

4. February 21, 2003 CLARAty Workshop - I.A.N. 4 Why is robotic software “hard”? Software: –Software is large and complex –Has lots of diverse functionality –Integrates many disciplines –Requires real-time runtime performance –Talks to hardware Hardware: –Physical and mechanics are different –Electrical hardware architecture changes –Hardware component capabilities vary

5. February 21, 2003 CLARAty Workshop - I.A.N. 5 Objectives Why are we doing this work? To capture and preserve robotics expertise from JPL, NASA centers, and universities To provide a framework for future NASA and university robotic research and development To reduce the cost of integrating new technologies To operate various robots from a unified framework To eliminate cost of redeveloping basic robotic infrastructure

6. February 21, 2003 CLARAty Workshop - I.A.N. 6 Rocky 8 Rocky 7 K9 Some Recent JPL and NASA Robots Sojourner FIDO

7. February 21, 2003 CLARAty Workshop - I.A.N. 7 More Robots

8. February 21, 2003 CLARAty Workshop - I.A.N. 8 More Rovers

9. February 21, 2003 CLARAty Workshop - I.A.N. 9 More Robots

10. Architecture Overview

11. February 21, 2003 CLARAty Workshop - I.A.N. 11 What is CLARAty? CLARAty is a unified and reusable software that provides robotic functionality and simplifies the integration of new technologies on robotic platforms A research tool for technology development and maturation

12. THE DECISION LAYER: Declarative model-based Mission and system constraints Global planning CLARAty = Coupled Layer Architecture for Robotic Autonomy INTERFACE: Access to various levels Commanding and updates THE FUNCTIONAL LAYER: Object-oriented abstractions Autonomous behavior Basic system functionality A Two-Layered Architecture Adaptation to a system

13. February 21, 2003 CLARAty Workshop - I.A.N. 13 Simulation Hardware Drivers Adapting to a Rover Generic Functional Layer Rocky 8 Specialized Classes & Objects Connector Decision Layer Multi-level access Connector Rocky 8 Models/ Heuristics

14. February 21, 2003 CLARAty Workshop - I.A.N. 14 The Decision Layer Executives (e.g. TDL) General Planners (e.g. CASPER) Activity Database Rover Models FL Interface Plans

15. February 21, 2003 CLARAty Workshop - I.A.N. 15 The Functional Layer Transforms Motion Control VisionEstimation Input/Output Manipulation Navigation Communication Math Hardware Drivers Locomotion Rover Behaviors Path Planning Rocky 8 Rocky 7 K9 FIDO Science Simulation Sensor Adaptations

16. February 21, 2003 CLARAty Workshop - I.A.N. 16 Architectural Traverse Example Stereo Camera Stereo Engine > Navigator Gestalt Navigator Grid Mapper Mapper JPL Stereo Terrain Sensor Locomotor K9_Locomotor Global Cost Func D* Path Planner Stereo Processor Camera R Camera L Synchronous/or Asynchronous e.g. Rate Set at: 10Hz used by other activities Asynchronous > Asynchronous e.g. Rate Set at: 5 Hz > Asynchronous e.g. Rate Set at: 8 Hz EKF Pose Estimator Pose Estimator Path Information Path Planner K9 Rover Rover Decision Layer Commanding and State Updates

17. February 21, 2003 CLARAty Workshop - I.A.N. 17 Architectural Traverse Example Stereo Camera Stereo Engine > Navigator R7/Soj Navigator Mapper JPL Stereo Terrain Sensor Locomotor K9_Locomotor Tangent Graph Stereo Processor Camera R Camera L Synchronous/or Asynchronous e.g. Rate Set at: 10Hz used by other activities Asynchronous > Asynchronous e.g. Rate Set at: 5 Hz > Asynchronous e.g. Rate Set at: 8 Hz EKF Pose Estimator Pose Estimator Path Information Path Planner K9 Rover Rover Decision Layer Commanding and State Updates Obstacle Mapper

18. Challenges in Interoperability

19. February 21, 2003 CLARAty Workshop - I.A.N. 19 Solaris x86 Ames JPL Rocky 8 x86 VxWorks Linux Rocky 7 K9 ROAMS Currently Supported Platforms FIDO CMU Linux ATRV x86 JPL FIDO VxWorks x86 JPL ppc VxWorks JPL Linux

20. February 21, 2003 CLARAty Workshop - I.A.N. 20 Distributed Hardware Architecture x86 Arch Wireless ethernet 1394 FireWire I2C Bus Rocky 8 Compact PCI K9 Controllers  PIC Servos  Current Sensing  Digital & Analog I/O Actuator/Encoders Potentiometers I2C / Serial Bus 1394 Bus IMU RS232 Serial Sun Sensor K9 Rocky Widgets  Single Axis Controllers  Current Sensing  Digital I/O  Analog I/O

21. February 21, 2003 CLARAty Workshop - I.A.N. 21 Custom Architecture/Variability m68k Arch Framegrabbers Digital I/O Analog I/O Wireless ethernet Rocky 7 VME Arch Actuator/Encoders Potentiometers Parallel Custom Interface MUX/Handshaking Video Switcher Gyros Accels AIO PID Controllers

22. February 21, 2003 CLARAty Workshop - I.A.N. 22 Centralized Hardware Mapped Architecture x86 Arch Framegrabbers Digital I/O Analog I/O Wireless ethernet Fido PC104 Actuator/Encoders Potentiometers PID Control in Software Video Switcher IMU RS232 Serial

23. Team and Organization

24. Task Manager Issa A.D. Nesnas Vision Max Bajracharya (JPL) Alt. Task Manager Tara Estlin JPL - Issa A.D. Nesnas ARC – Anne Wright CMU – Reid Simmons U. Minnesota – Stergios Roumeliotis Center Leads Infrastructure and Tools Generic base classes I/O Anne Wright (ARC) Test & Release Anne Wright/Max Bajracharya Math & Data Structure Clay Kunz (ARC) Estimation Dan Gaines (JPL) Decision Layer Tara Estlin (JPL) Navigation Reid Simmons (CMU) CLARAty Cog-Es Core Rover Adaptation Richard Petras (JPL) M3: Motion Ctrl, Mobility & Manipulation Wonsoo Kim (JPL) CLARAty Organization & Working Groups Science Ted Roush (ARC) Science part of RMSA program http://claraty.jpl.nasa.gov/team

25. CLARAty Task Manager Issa A.D. Nesnas CLARAty’s Extended Family ARC K9 Task Manager Maria Bualat Autonomous Science Task Manager Ted Roush Program Manager Richard A. Volpe CLARAty ScienceARC – Anne Wright CMU – Reid Simmons U. Minnesota – Stergios Roumeliotis Design & Develop Robotic Infrastructure Integrate RMSA Technologies into CLARAty Develop and maintain K9 Testbed Integrate ARC RMSA Technologies into CLARAty Design and develop science autonomy algorithms Define CLARAty Science infrastructure

26. Software Implementation & Status

27. February 21, 2003 CLARAty Workshop - I.A.N. 27 Repository Software Development Process AFS Backbone CMU JPL CLARAty Repository 3rd Party Releases Web UW... VxWorks ARC Rocky 8 FIDO Rocky 7 Benchtops K9 Repository ATRV Some CLARAty Statistics ~170 Modules (reusable entity) ~31 Packages (module grps) ~3 rovers ~250,000 lines of C++ code ~Java/scripts/ and models Authentication K9

28. February 21, 2003 CLARAty Workshop - I.A.N. 28 Infrastructure & Platform Support Object-oriented Architecture and Design Patterns C++ Implementation (with some Java) AFS backbone YaM for collaborative distributed development environment ACE for OS independence Qt for Graphics Display Operating Systems & Architectures:

29. February 21, 2003 CLARAty Workshop - I.A.N. 29 Levels of Software Integration Level I - Encapsulated –Uses CLARAty components to interact with rover –Does not support a CLARAty API –Runs on at least one robot platform Level II - Encapsulated & Integrated –Conforms to a generic CLARAty API (or parent class) Level III - Integrated –Has no unsupported 3rd party dependencies –Runs on all applicable rover platforms Level IV - Refactored and Reviewed –Software reviewed by committee to ensure internal/external consistency –Uses all applicable CLARAty classes –Internally conforms to CLARAty conventions and coding standards + Reused –Re-used by other modules in CLARAty - dependent module –Provides access to all internal data products

30. Selected Examples

31. February 21, 2003 CLARAty Workshop - I.A.N. 31 R8 Specific Rover Implementation Mast LeggedLoc Wheeled Locomotor Locomotor CoordMotionSystem Motor BBMotor ControlledMotor Analog_IO Digital_IO IO Manipulator Arm R8_ArmR8_Mast Implements general fwd & inv. kinematics & joint ctrl Specialized inv. Kinematics (overrides default) Attaches proper motors Attaches proper cameras for mast Adds filter wheel R8_Locomotor Attaches proper motors Restricts Steering to 2 wheels R8_Motor R8_Rover R8_Arm R8_MastR8_Locomotor R8 Widget Board Widget AIOWidget DIO Widget Motor HCTL 1100 Chip Non reusable Code Reusable Code Trajectory Trajectory_Generator Timers

32. February 21, 2003 CLARAty Workshop - I.A.N. 32 R7 Specific Rover Implementation Mast WheeledLocLeggedLoc RBLoc Locomotor CoordMotionSystem Motor BBMotor ControlledMotor Analog_IO Digital_IO IO Manipulator Arm R7_ArmR7_Mast Implements general fwd & inv. kinematics & joint ctrl Specialized inv. Kinematics (overrides default) Attaches proper motors Attaches proper cameras for mast Adds filter wheel R7_Locomotor Attaches proper motors Restricts Steering to 2 wheels LM629Chip LM629Motor R7_Rover R7_Arm R7_MastR7_Locomotor R7 Device Drivers VPAR10Board Non reusable Code Reusable Code

33. February 21, 2003 CLARAty Workshop - I.A.N. 33 Example: Generic Controlled Motor Define generic capabilities independent of hardware Provide implementation for generic interfaces to the best capabilities of hardware Provide software simulation where hardware support is lacking Adapt functionality and interface to particular hardware by specialization inheritance Motor Example: public interface command groups: –Initialization and Setup –Motion and Trajectory –Queries –Monitors & Diagnostics Time Velocity S- Profile Instantaneous Profile Change

34. February 21, 2003 CLARAty Workshop - I.A.N. 34 Examples of CLARAty Reusability Controlled_Motor_Impl ControlledMotor Linear_Axis Joint Non-Resuable Layer R8_Motor Fido_Motor Sim_Motor Trajectory Trajectory_Generator Mz HCTL_Chip Widget_Board Widget_Motor PID ControllerCounter DIO Analog Out Analog In MSI P460 MSI P430 MSI P415 MSI P430 Resuable HW reusable Non-reusable R7_Motor LM629_Chip R7_MC_Board

35. February 21, 2003 CLARAty Workshop - I.A.N. 35 Code Reusability

36. February 21, 2003 CLARAty Workshop - I.A.N. 36 Capabilities of Wheel Locomotor Type of maneuvers: –Straight line motions (fwd / bkwd) –Crab maneuvers –Arc maneuvers –Arc crab maneuvers –Rotate-in-place maneuvers (arc turn r=0) Driving Operation –Non-blocking drive commands –Multi-threaded access to the Wheel_Locomotor class – e.g. one task can use Wheel_Locomotor for driving while the other for position queries –Querying capabilities during all modes of operation. Examples include position updates and state queries –Built-in rudimentary pose estimation that assumes vehicle follows commanded motion

37. February 21, 2003 CLARAty Workshop - I.A.N. 37 Wheeled Locomotion – works for Rocky 8, Rocky 7, Fido, K9,... Front x y z C (a) Skid Steering (no steering wheels) x y z C (b) Tricycle (one steering wheel) Front x y z C (d) Partially Steerable (e.g. Sojourner, Rocky 7) Front x y z C (e) All wheel steering (e.g. MER, Rocky8, Fido, K9) Front x y z C (c) Two –wheel steering Generic Reusable Algorithms (f) Steerable Axle (e.g.Hyperion)

38. February 21, 2003 CLARAty Workshop - I.A.N. 38 Example: collaborative development for locomotor JPL - 1998 CMU - 2002 Future ARC - 2003 Designed for Rocky 7 Used Motor class Separated wheel control from locomotion Built-in pose estimation Generalized design for wheeled locomotors Full and partially steerable vehicle Used generic motor classes Implements fixed axle model Developed continuous driving Adapted to Rocky 8, Rocky 7, and Sim Version 1.0 Version 2.0 Separated model from control Add separate locomotor state Add concept of wheel and steerable wheel, Drive Cmd, Drive Sequence Adapt to ATRV, Sim, Rocky 7, Rocky 8 Version 3.0 Redesign/ mature Version 4.0 Use device and telemetry infrastructure Add adaptation to K9 Add JPL - 2001

39. CLARAty Testbed

40. February 21, 2003 CLARAty Workshop - I.A.N. 40 FIDO Benchtop Rocky 8 Benchtop Dexter Manipulators Rocky 7 Benchtop CLARAty Testbed (1/2)

41. February 21, 2003 CLARAty Workshop - I.A.N. 41 Summary CLARAty provides a repository of reusable software components at various abstraction levels It attempts at capturing well-known robot technologies in a basic framework for researchers It publishes the behavior and interfaces of its components It allows researchers to integrate novel technologies at different levels of the architecture It is a collaborative effort within the robotics community It will run on multiple heterogeneous robots

42. February 21, 2003 CLARAty Workshop - I.A.N. 42 Acknowledgements CLARAty Team (multi-center) Jet Propulsion Laboratory ROAMS/Darts Team CLEaR Team Instrument Simulation Team Machine Vision Team FIDO Team Ames Research Center K9 Team Carnegie Mellon University

43. Thank you for your Attention

44. CLARAty Software Packages

45. February 21, 2003 CLARAty Workshop - I.A.N. 45 Decision Layer Package General Planners  Basic planner infrastructure... Activity Database  Generic Activity database structure Planner Implementations  CASPER  ASPEN Executives –TCM - Task Control Management used by TDL –TDL - Task Description Language Interfaces  Functional Layer Interface ...

46. February 21, 2003 CLARAty Workshop - I.A.N. 46 Base Package Share  Common Definitions  Math Constants  Function Operators  Display Functions Array  1D Arrays  2D Arrays  Sub Arrays Matrix  1D matrices (math)  2D matrices (math)  Fixed size matrices  Rotation matrices Transforms  Homogeneous Transforms  Quaternions Frame  Coordinate Frames  Locations (Poses) Point  2-D Points  3-D Points Numeric Solvers  Newton Rhapson  Nedler-Mede Resource  Timers  Tasks... State  State data logging  Database Greyed Out – in progress Orange – non-JPL/non-CLARAty development Green – JPL-non-CLARAty development GPC & GFC  Device  Telemetry  Periodic Objects

47. February 21, 2003 CLARAty Workshop - I.A.N. 47 Input Output Package I/O  I/O  Digital I/O  Composite Digital I/O  Analog Input  Analog Output Bits  Bits data structure  Bit manipulation/masking

48. February 21, 2003 CLARAty Workshop - I.A.N. 48 Motion Control Package Motor  Open Loop Motors  Controlled Motors Trajectory  Trajectories  Trajectory Generators  Continuous Profiling... Coordinated Systems  Motor Coordinators

49. February 21, 2003 CLARAty Workshop - I.A.N. 49 Locomotion Package Wheel Locomotion  Wheels/Steerable Wheels  Locomotor models  Locomotor State  Drive Commands  Motion Sequences  2-D Wheel Locomotion algorithms  3-D Rocker Bogie Locomotion  Continuous driving modules Legged Locomotion  Legged Locomotors Hybrid Locomotion  Wheel/Legged Locomotors...

50. February 21, 2003 CLARAty Workshop - I.A.N. 50 Vision Package Camera  Framegrabbers  Cameras (single, multi)  Stereo Pairs  Camera models Data Structures  Images  Image Pyramids  Image I/O  Color Images  Camera Images  Point Clouds  Meshes Stereo Implementations  JPL Stereo engine  SRI Stereo engine (commercial)  Ames Stereo engine... Stereo Vision  StereoProcessor  StereoEngine Visual Tracking  2-D Feature extraction  3-D Feature extraction  Affine Tracking  2-D Tracking algorithms  Shaped based tracking  Combined 2-D & 3-D tracking  Visual odometry Basic Image Processing  2-D Image processing -Filtering & smoothing -Edge detection -Blob detection -Corner feature detection

51. February 21, 2003 CLARAty Workshop - I.A.N. 51 Estimation Package Kalman Filter Algorithms  3 DOF EKF pose estimation  6 DOF EKF pose estimation Pose Estimators  Wheel-based Pose Estimators  Legged-based Pose Estimators... Data Structure  Measurements  System models  Generic Kalman Filter

52. February 21, 2003 CLARAty Workshop - I.A.N. 52 Navigation Package Local Navigators  Action Selectors  Mapped-base Action Selector  Waypoints  Generic local navigator structure Path Planner  Generic path planner structure... Navigation Implementations  MER/GESTALT Navigator  Morphin (CMU) Navigator  Fuzzy Navigator

53. February 21, 2003 CLARAty Workshop - I.A.N. 53 Manipulation Package Manipulators  Joints  Links  Generic Manipulators  Generalized Fwd Kinematics  Generalized Inverse Kinematics  Limited DOF manipulators  Redundant manipulators  End effectors... Sensor-based Manipulation  Stereovision based manipulation  Vision/tactile manipulation

54. February 21, 2003 CLARAty Workshop - I.A.N. 54 Simulation Package Simulator Connectors  Interfaces to ROAMS simulation  Rover Sim  Navigator Sim  Locomotor Sim  Motor Sim  I/O Sim  IMU Sim... Simulation Implementations  ROAMS Rover Simulation (JPL)

55. February 21, 2003 CLARAty Workshop - I.A.N. 55 Sensor Package... IMUs  Generic inertial measurement unit infrastructure Tilt Sensors  Generic Electronic Tilt sensors  Generic Accelerometers Rate Sensors  Generic Gyros structures Temperature Sensors Voltage & Current Sensors

56. February 21, 2003 CLARAty Workshop - I.A.N. 56 Science Package Spectrometers  Generic Spectra classes –Calibrated Reflectance Spectrum –Uncalibrated Spectrum  Generic Spectrometer classes... Science Cameras  Special science cameras (inherits for Cameras of Vision Package) Analysis Algorithms  Carbonate Analyzer  Edge Layer detector Science Database

57. February 21, 2003 CLARAty Workshop - I.A.N. 57 Communication Package Ethernet  Socket Communication  TCP Comm  UDP Comm Messages  Object serialization  Socket messages Connector  Client/server comm.  Executives... Serial I/O  Serial Comm

58. February 21, 2003 CLARAty Workshop - I.A.N. 58 Path Planning Package Global Path Planners  Generic path planner structure... Path Planner Implementations  D* Path Planner (CMU)  Tangent Graph Path Planner (JPL)  ISE Path Planner (CMU)

59. February 21, 2003 CLARAty Workshop - I.A.N. 59 Behavior Package Behaviors  Basic rover behaviors... Behavior Coordination  Arbiters  Behavior combinators

60. February 21, 2003 CLARAty Workshop - I.A.N. 60 Hardware Drivers Motor Controllers HCTL 1100 Motor Controller LM 629 Motor Controller... I/O Boards/Chips VPAR10 – Digital I/O Board VADC20 – Analog Input Board Framegrabbers/Vision MAX186 Analog to Digital Conv. MAX528 Digital to Analog Conv. Imagenation PX610 Framegrabber Imagenation CX100 Framegrabber Custom Boards Widget Board – Motion Control Other I2C Master Controller Crossbow DMU – Interial Measurement Unit Sensoray S720 Digital I/O Board 1394 Camera Driver... VISA – Vme to ISA Converter Widget Board Firmware PCI Controller...

61. February 21, 2003 CLARAty Workshop - I.A.N. 61 Rocky 8 Package Rocky 8 Specialized Physical Components  Rocky 8 Motors  Rocky 8 Cameras  Rocky 8 IMUs  Rocky 8 Hardware Map  Rocky 8 Digital I/O  Rocky 8 Analog I/O... Rocky 8 Specialized Functional Components  R8 Locomotor  R8 Contrained Locomotor  R8 Navigator  R8 Rover

62. February 21, 2003 CLARAty Workshop - I.A.N. 62 K9 Package K9 Specialized Physical Components  K9 Motors  K9 Cameras  K9 IMUs  K9 Hardware Map  K9 Digital I/O  K9 Analog I/O  K9 Locomotor  K9 Contrained Locomotor  K9 Rover... K9 Specialized Functional Components  K9 Navigator

63. February 21, 2003 CLARAty Workshop - I.A.N. 63 Rocky 7 Package Rocky 7 Specialized Physical Components  Rocky 7 Motors  Rocky 7 Cameras  Rocky 7 Accels  Rocky 7 Gyros  Rocky 7 Hardware Map  Rocky 7 Digital I/O  Rocky 7 Analog I/O... Rocky 7 Specialized Functional Components  R7 Locomotor  R7 Contrained Locomotor  R7 Navigator  R7 Rover

64. February 21, 2003 CLARAty Workshop - I.A.N. 64 FIDO Package FIDO Specialized Physical Components  FIDO Motors  FIDO Cameras  FIDO Accels  FIDO Gyros  FIDO Hardware Map  FIDO Digital I/O  FIDO Analog I/O... FIDO Specialized Functional Components  FIDO Locomotor  FIDO Contrained Locomotor  FIDO Navigator  FIDO Rover

65. February 21, 2003 CLARAty Workshop - I.A.N. 65 CLARAty Development Team CLARAty/Rocky8/Rocky7 –Max Bajracharya (34) –Edward Barlow (34) –Caroline Chouinard (36) –Gene Chalfant (34) –Hari Das (34) –Tara Estlin (36) –Dan Gaines (36) –Mehran Gangianpour (34) –Dan Helmick (34) –Won Soo Kim (34) –Michael Mossey (31) –Issa A.D. Nesnas (34) (Task Manager) –Ashitey Trebi-Ollennu (35/34) –Richard Petras (34) –Stergios Roumeliotis (Univ. of Minnesota) –Kevin Watson (34) NASA Ames Research Center –Maria Bualat –Clay Kunz –Randy Sargent –Anne Wright (lead) Carnegie Mellon University –Kam Lasater –Reid Simmons (lead) –Chris Urmson –David Wettergreen –Andy Yang Jet Propulsion Laboratory CLARAty on FIDO Team –Hrand Aghazarian (35/34) –Terrance Huntsberger (35/34) –Chris Leger (35/34) –Matthew Robinson (35/34) Five Summer Students

66. February 21, 2003 CLARAty Workshop - I.A.N. 66 Guiding Principles Use domain knowledge to guide design Make all assumptions explicit Use abstraction layers to help master complexity Use information hiding to protect implementation variability Use interfaces and documentation to define behavior Avoid ineffective over-generalization Encapsulate system specific runtime models –Capabilities vary considerably across platforms –Hardware and hence runtime models vary across systems –Need for both cooperative and pre-emptive scheduling Least common denominator solutions are unacceptable in hardware/firmware/software interactions

67. February 21, 2003 CLARAty Workshop - I.A.N. 67 On Generic Algorithms Technologies that are generic by design should not be constrained by the software architecture & implementation Non-generic technologies should be accommodated on the appropriate platforms –Example (Generic): if you are working in navigation, you would not care about H/W architecture difference among different rovers –Example (Specific): if you are doing wheel/terrain interaction research, you might require specific hardware which one of the vehicles would support

68. February 21, 2003 CLARAty Workshop - I.A.N. 68 Analysis of amount of resuable code across implementations: -Reusable131Point 2D Reusable2080Controlled Motor -Reusable1083Matrix, Vector, Array Rotation Matrix, Point 2DReusable341Location, Homogeneous Transforms -Reusable435Rotation Matrices 584 (non-reusable) Non-reusable Reusable Status Widget Motor, etc... Rocky 8 Motor - Vector Motion Sequence, 1D Solver, Homogeneous Transforms Depends On ~92%Total Reusable 6995Total 334Rocky 8 Motor 250Rocky 8 Locomotor 3561D Solver 540Motion Sequence 1445Wheel Locomotor Lines of CodeModule Code Resuability Results

69. February 21, 2003 CLARAty Workshop - I.A.N. 69 CLARAty Testbed (2/2) 5 cPCI embedded targets (x86, ppc) 2 Linux and 5 Solaris hosts/targets AFS VxWorks installations (Tornado I, II, II.2, x86, ppc) Mockups for Rocky 8, FIDO, and Rocky 7 Remotely accessible to CLARAty developers & users Web-based target status and control Small lab sandbox built for indoor testing Several remote and local users exercising testbed (MDS, CMU, ARC, JPL) Online sign up for target/rover usage http://claraty.jpl.nasa.gov/testbed