The R4SA GUI mentioned in the immediately preceding article is a user-friendly interface for controlling one or more robot(s). This GUI makes it possible to perform meaningful real-time field experiments and research in robotics at an unmatched level of fidelity, within minutes of setup. It provides such powerful graphing modes as that of a digitizing oscilloscope that displays up to 250 variables at rates between 1 and 200 Hz. This GUI can be configured as multiple intuitive interfaces for acquisition of data, command, and control to enable rapid testing of subsystems or an entire robot system while simultaneously performing analysis of data.
The R4SA software establishes an intuitive component-based design environment that can be easily reconfigured for any robotic platform by creating or editing setup configuration files. The R4SA GUI enables event-driven and conditional sequencing similar to those of Mars Exploration Rover (MER) operations. It has been certified as part of the MER ground support equipment and, therefore, is allowed to be utilized in conjunction with MER flight hardware. The R4SA GUI could also be adapted to use in embedded computing systems, other than that of the MER, for commanding and real-time analysis of data.
This work was done by Hrand Aghazarian of Caltech for NASA’s Jet Propulsion Laboratory.
The software used in this innovation is available for commercial licensing. Please contact Karina Edmonds of the California Institute of Technology at (626) 395-2322. Refer to NPO-41797.
This Brief includes a Technical Support Package (TSP).
R4SA for Controlling Robots
(reference NPO-41797) is currently available for download from the TSP library.
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Overview
The document discusses the R4SA (Rapid Robot System Architecture) for controlling robots, as detailed in NASA's Technical Support Package NPO-41797. The primary objective of R4SA is to create a user-friendly graphical user interface (GUI) that facilitates rapid prototyping, commanding, and data collection for robotic systems, while also enabling simultaneous data analysis.
The R4SA GUI is designed to control both single and multiple robots, allowing technologists to conduct meaningful real-time field experiments and research in robotics with minimal setup time. It features powerful graphing capabilities, including a digitizing oscilloscope that can handle up to 250 variables at sampling rates between 1 Hz and 200 Hz. This functionality supports intuitive data acquisition and command/control interfaces, enabling users to quickly test subsystems or entire robotic systems.
The document emphasizes the GUI's component-based design, which allows for easy reconfiguration to suit various robotic platforms by creating or editing setup configuration files. Additionally, the R4SA GUI supports event-driven and conditional sequencing, akin to the operations used in the Mars Exploration Rover (MER) missions. It has been extensively utilized in conjunction with the R4SA real-time software environment to control the MER flight Lander Petal Actuators and rover suspension systems, aiding in rover/lander assembly.
The R4SA GUI has successfully passed the Support Equipment Certification Requirement (SECR) process, which qualifies it for use with flight hardware, underscoring its reliability and effectiveness in critical applications. The document also notes that the R4SA GUI is part of the Mechanical Systems Electrical Ground Support Equipment (EGSE) for the Mars Exploration Rover.
In summary, the R4SA for controlling robots represents a significant advancement in robotic control technology, providing a versatile and efficient tool for researchers and technologists. Its user-friendly interface, robust data handling capabilities, and adaptability to various robotic platforms make it an essential resource for conducting advanced robotics research and experimentation. For further inquiries, the document provides contact information for NASA's Innovative Technology Assets Management at JPL.
