leveraging robotic simulation in design for space applications kylan race 1
TRANSCRIPT
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Leveraging Robotic Simulation in Design for Space Applications
Kylan Race
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Introduction How much help can simulations provide?
What is being covered:Why simulate?The processThe testsWhat did I learn from the tests?DifficultiesThe future
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Why Use a Simulation?
“Downsides” to physical robots:Requires “a lot” of man powerVery dependent on physical resourcesNumber of robots very limitedDifficulties in transporting hardware
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The Process
The Stage Simulator Before Constructing Environments:
(2 Days) Number of environments needed Differences between the various tests What I wanted to finish before the summer was over
(3 Days) The Look Outliers
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The Process cont. – The Look
Simulation of a simulation MDRS
Reference Sources Topography Maps Research Galleries Question Session
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The Process cont. - Outliers
Removing OutliersSkew results
Edit, don’t createSaves time
List of 47 questionsReduced to 9
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The Process cont. – Building Worlds
World files (16) Python Code Image File (33)
Tools Paint / Gimp /
Photoshop Text Editor (vi / gedit)
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The Process cont. - Controls
Directional Key Control
Always updating controlsScaling speedSwitch to browser
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The Tests
In Beginning: 4 POVs 3 Tasks 4 Visual conditions
Removed POVs Support Vehicle vs. EVA Third Person Camera
Final POVs EVA Onboard Camera
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The Tests cont. – Visual Conditions & Pre/Post-Test
Constraints: None Boulders A Wall Boulders and a Wall (Most difficult)
Pre-Test: 15 minute deadline Instructional prompt Questions regarding background
Post-Tests: Test difficulty
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What did I learn from the tests? What method was best?
Efficiency Hypotheses:
Highest Efficiency: Onboard POV (True) Resolution, FOV Singular task (controlling the robot)
Perceived Aptitude =/= Results (True) “Experts” did poorly “Inexperienced” did well
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Difficulties
“Small”405 errorsOver reactive controlsCorrupted / Out of date files
“Biggest”Virtual Box 4gbStill not solved
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The Future
More into the cloudSimulations being used remotely
Deeper into Stage
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Acknowledgments
Professor Sekou Remy Jerome McClendon DREU Fam