This is Ground Control... Professor Derek Long Department of Informatics King s College London

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1 This is Ground Control... Professor Derek Long Department of Informatics King s College London

2 Deep in Space... Rosetta and Philae 67P/Churyumov-Gerasimenko Launch 2004, arrive 2014 Mars Express 2003 Mars Explorer Rovers, Spirit and Opportunity Landed 2004 Beagle 2, 2003 Sojourner, Mars Pathfinder Mission 1996

3 How do they know what to do? Mission Operations Team A signal takes minutes to reach Mars from Earth So, no joystick control!

contact after 14.5 seconds on Martian surface, 1971. But.

4 What has to be done? Mission is to collect science data Deploy scientific instruments in the places where they can obtain as much new data as possible Rover attached to Mars 3 lander lost contact after 14.5 seconds on Martian surface, But... don t risk the mission! Careful of power use Don t go into dangerous positions or try to do too much

5 Instruments on Mars Exploratory Rovers Mini-TES Camera-bar: Navcams, Pancams & filter wheels Bresina Being on TAP 5

6 Instruments on Mars Exploratory Rovers MI MI Electronics Box Contact Sensor Dust Cover MB Snowshoe Contact Sensor Plate RAT Translate Axis MI Optics APXS Sensor Head APXS Dust Doors Dust Cover Stepper Motor By courtesy of JPL Contact Ring Grinding Wheel Contact Ring Bresina Being on TAP 6

7 We want more Scientists science data The Teams TAP: Tactical Activity Planner Lander Operations Team...and some extra padding round the front, I think... Especially mine Rover Drivers Left hand down a bit... I hate backseat drivers Activity Plan You are going to do what with my rover? Steve Squyres, Principal Investigator and Team Leader

8 The Strange Life of a TAP Shifts based on Mars days (Sols) = 24 hr and 39 minutes

9 TAP Dancing Tools of the Trade MapGen a support tool for building plans

Example: Opportunity, Sol 110 This cylindrical-projection mosaic was created from three navigation camera frames that NASA's Mars Exploration Rover Opportunity acquired on sol 109, May 15, 2004.

10 Example: Opportunity, Sol 110 This cylindrical-projection mosaic was created from three navigation camera frames that NASA's Mars Exploration Rover Opportunity acquired on sol 109, May 15, Opportunity is sitting along the rim of "Endurance Crater" in the Meridiani Planum region. Image credit: NASA/JPL Activity Planning Problem MER B, Sol 110 (05/16/2004) 17 science observations 45 science activities 13 engineering activities 917 activities (all abstraction levels) 220 science constraints 10

11 Plan Summary Scheduled 8 mins of AM Sol 111 PMA Clouds AND Ground atm (2) All 4 mins of AM Sol 111 Anytime MTES cal stare chem (3) All 4 mins of AM Sol 111 Pancam Dust Monitoring phys (3) All 15 mins of AM Sol 111 Pancam Scuff chem (0) All 16 mins of PM ODY MTES Elevation Sky AND Ground atm (2) All 8 mins of Post Drive MTES NCAM Scuff chem phys (0) All 3 mins of Post ODY PANCAM Tau lowsun atm (3) 10 mins of Post Drive 10x1 Ncam Drive Direction Geo (0) All 9 mins of Post Drive 5X1 Pcam Drive Direction Geo (1) All 30 mins of Blind Drive and Scuff (0) 9 mins of Pre Drive Pancam Badlands 13F chem (1) 4 mins of PreDrive Pancam Platz (0) All 22 mins of Pr Drive PCAM MTES LongStop Systematic chem phys (0) 6 mins of Anytime PMA mini Sky AND Ground atm (2) 9 mins of Anytime PMA mini Sky AND Ground atm (1) All 11 mins of Pre Drive MTES V Scan Jackalope chem (1) Left Out All 3 mins of AM Sol 111 PANCAM Tau anytime atm (3) 14 mins out of AM Sol 111 PMA Clouds AND Ground atm (2) 10 mins of Post Drive 10x1 Ncam Drive Direction Geo (0) 7 mins of Pre Drive Pancam Badlands 13F chem (1): 3 mins of PreDrive Pancam Platz (0) 6 mins of Anytime PMA mini Sky AND Ground atm (2) 3 mins of Anytime PMA mini Sky AND Ground atm (1) Quill Report Tactical Activity Planner Engineering Requests - bresinaj :23:46 GMT Quick get fine attitude after drive. Summary - bresinaj :16:03 GMT Drive sol with remote sensing pre- & post-, plus next morning. We do a scuff and backup at the end of the drive. Planning took a bit longer than expected because there was a lot of remote sensing to squeeze in and we wanted to have an energy neutral day. In addition, all the requested science on the next morning did not finish before 11:00. So we had to judiciously pull out any redudant activities (cals, ground stares, taus) plus cut a bit to bring the energy use down. 7/ Bresina Being on TAP 11

12 Sequence Summary Seq ID Activity Type Activity Name Duration Start Time (LB) End Time (LB) N/A CPU_ON CPU_ON 3:07:04 LB:110T10:16:08 LB:110T13:18:11 Master WAKEUP WAKEUP 0:00:00 LB:110T10:21:58 LB:110T10:21:58 Comm GENERIC_MOTOR_HEAT Sol_110_XBand_1_d6_HGA_BEARINGS 0:06:04 LB:110T10:22:00 LB:110T10:27:54 Comm GENERIC_MOTOR_HEAT Sol_110_XBand_1_d7_HGA_ACTUATORS 0:06:04 LB:110T10:22:00 LB:110T10:27:54 N/A X_DFE_HGA Sol_110_XBand_1 0:42:00 LB:110T10:22:00 LB:110T11:02:52 none PLACEHOLDER_ENG none_placeholder_placeholder_interferograms_pre_drive_mtes_v_scan_jackalope chem 0:00:01 LB:110T11:01:59 LB:110T11:02:00 p3335 MTES_20_MRAD p3335_mtes_v_scan_jackalope_pre_drive_mtes_v_scan_jackalope chem_ 0:11:08 LB:110T11:02:00 LB:110T11:12:50 NONE PLACEHOLDER_ENG Placeholder_for_Engineering 0:23:00 LB:110T11:02:00 LB:110T11:24:24 N/A X_CARRIER_LGA Sol_110_Nominal_Blip 0:07:00 LB:110T11:02:52 LB:110T11:09:41 p3577 MTES_20_MRAD p3577_mtes_elevation 30_degrees_Anytime_PMA_mini_Sky_AND_Ground atm_ 0:05:44 LB:110T11:12:49 LB:110T11:18:24 NONE DELETE_DATA UHF_DELETE_DATA 0:00:01 LB:110T11:13:33 LB:110T11:13:34 p2600 PANCAM_SINGLE_POSITION p2600_pancam_pancam_sun_anytime_pma_mini_sky_and_ground atm_ 0:02:48 LB:110T11:18:24 LB:110T11:21:07 none PLACEHOLDER_ENG none_placeholder_placeholder_for_interferograms_pre_drive_pcam_mtes_long_stop_syste 0:00:01 LB:110T11:21:07 LB:110T11:21:08 p3715 MTES_20_MRAD p3715_mtes_long_stop_mtes_pre_drive_pcam_mtes_long_stop_systematic chem_phys_ 0:05:40 LB:110T11:21:07 LB:110T11:26:38 p3577 MTES_20_MRAD p3577_mtes_elevation 30_degrees_Anytime_PMA_mini_Sky_AND_Ground atm_ 0:05:44 LB:110T11:26:38 LB:110T11:32:13 p2460 PANCAM_SINGLE_POSITION p2460_pancam_long_stop_pancam_l234567rall_pre_drive_pcam_mtes_long_stop_systemat 0:07:14 LB:110T11:32:13 LB:110T11:39:15 none PLACEHOLDER_ENG none_placeholder_long_stop_pancam_extra_duration_data_volume_pre_drive_pcam_mtes_ 0:01:24 LB:110T11:39:17 LB:110T11:40:39 p2111 PANCAM_SINGLE_POSITION p2111_pancam_long_stop_pancam_cal_target_l234567rall_pre_drive_pcam_mtes_long_stop 0:07:14 LB:110T11:40:39 LB:110T11:47:42 p2584 PANCAM_SINGLE_POSITION p2584_pancam_slid_l257r1_predrive_pancam_platz 0:05:15 LB:110T11:47:44 LB:110T11:52:50 p2586 PANCAM_SINGLE_POSITION p2586_pancam_pancam_badlands_walldrug_13f_pre_drive_pancam_badlands_13f chem_ 0:09:24 LB:110T11:52:50 LB:110T12:01:59 none ROVER_ROLL none_rover_blind_drive_blind_drive_and_scuff 0:25:12 LB:110T12:04:05 LB:110T12:28:36 p1201 HAZCAM_FRONT p1201_hazcam_front_haz_ultimate_blind_drive_and_scuff 0:01:39 LB:110T12:41:37 LB:110T12:43:13 p1214 HAZCAM_FRONT p1214_hazcam_front_haz_penultimate_blind_drive_and_scuff 0:01:39 LB:110T12:43:13 LB:110T12:44:49 p1312 HAZCAM_REAR p1312_hazcam_rear_haz_ultimate_blind_drive_and_scuff 0:01:39 LB:110T12:44:49 LB:110T12:46:26 p2366 PANCAM_MOSAIC p2366_pancam_post_drive_5x1_pcam Geo Post_Drive_5X1_Pcam_Drive_Direction Geo_ 0:09:04 LB:110T12:46:26 LB:110T12:55:15 p1988 NAVCAM_MOSAIC p1988_navcam_post_drive_5x1_forward_ncam Geo Post_Drive_10x1_Ncam_Drive_Directio 0:11:43 LB:110T12:56:01 LB:110T13:07:25 p1950 NAVCAM_SINGLE_POSITION p1950_navcam_scuff_context_post_drive_mtes_ncam_scuff chem_phys_ 0:01:52 LB:110T13:07:35 LB:110T13:09:24 Master SHUTDOWN SHUTDOWN 0:00:00 LB:110T13:09:26 LB:110T13:09:26 N/A CPU_ON CPU_ON 0:48:03 LB:110T15:59:10 LB:110T16:45:56 Master WAKEUP WAKEUP 0:00:00 LB:110T16:05:00 LB:110T16:05:00 p2620 PANCAM_SINGLE_POSITION p2620_pancam_sun low_post_ody_pancam_tau_lowsun atm_ 0:02:48 LB:110T16:05:01 LB:110T16:07:45 none PLACEHOLDER_ENG none_placeholder_placeholder_for_interferograms_post_drive_mtes_ncam_scuff chem_ph 0:00:01 LB:110T16:08:56 LB:110T16:08:57 p3334 MTES_20_MRAD p3334_mtes_scuff_mtes_post_drive_mtes_ncam_scuff chem_phys_ 0:05:40 LB:110T16:08:56 LB:110T16:14:27 N/A UHF_COMM MRB_ODY_DOY137_1 0:29:00 LB:110T16:08:56 LB:110T16:37:09 NONE POWER_THERMAL_DATA_PRODUCTS BCB_Report1 0:00:01 LB:110T16:08:56 LB:110T16:08:57 none PLACEHOLDER_ENG none_placeholder_placeholder_for_interferogram_bits_for 20_elevation_PM_ODY_Mini_TES 0:00:01 LB:110T16:14:27 LB:110T16:14:28 p3575 MTES_20_MRAD p3575_mtes_elevation 20_degrees_PM_ODY_Mini_TES_Elevation_Sky_AND_Ground atm_ 0:02:44 LB:110T16:14:27 LB:110T16:17:06 p3576 MTES_20_MRAD p3576_mtes_elevations_10_20_30_degrees_pm_ody_mini_tes_elevation_sky_and_ground 0:13:32 LB:110T16:17:06 LB:110T16:30:16 Master SHUTDOWN SHUTDOWN 0:00:00 LB:110T16:37:10 LB:110T16:37:10 N/A CPU_ON CPU_ON 0:44:02 LB:111T04:31:44 LB:111T05:14:36 Master WAKEUP WAKEUP 0:00:00 LB:111T04:37:35 LB:111T04:37:35 NONE POWER_THERMAL_DATA_PRODUCTS BCB_Report2 0:00:01 LB:111T04:37:37 LB:111T04:37:38 N/A UHF_COMM MRB_ODY_DOY137_3 0:29:00 LB:111T04:37:37 LB:111T05:05:50 Master SHUTDOWN SHUTDOWN 0:00:00 LB:111T05:05:50 LB:111T05:05:50 N/A CPU_ON CPU_ON 0:25:02 LB:111T09:24:08 LB:111T09:48:30 Master WAKEUP WAKEUP 0:00:00 LB:111T09:29:58 LB:111T09:29:58 NONE PLACEHOLDER_ENG Keep_CPU_On 0:10:00 LB:111T09:30:00 LB:111T09:39:43 Master SHUTDOWN SHUTDOWN 0:00:00 LB:111T09:39:44 LB:111T09:39:44 N/A CPU_ON CPU_ON 0:57:16 LB:111T10:16:07 LB:111T11:11:51 Master WAKEUP WAKEUP 0:00:00 LB:111T10:21:58 LB:111T10:21:58 p2585 PANCAM_SINGLE_POSITION p2585_pancam_scuff_pancam_l234567rall_am_sol_111_pancam_scuff chem_ 0:08:08 LB:111T10:22:00 LB:111T10:29:54 N/A X_DFE_HGA Sol_111_Xband_Pass_1 0:42:00 LB:111T10:22:12 LB:111T11:03:05 p2111 PANCAM_SINGLE_POSITION p2111_pancam_scuff_pancam_cal_target_l234567rall_am_sol_111_pancam_scuff chem_ 0:07:14 LB:111T10:29:58 LB:111T10:37:00 p2104 PANCAM_SINGLE_POSITION p2104_pancam_mtes_cal_target_l267_am_sol_111_pancam_dust_monitoring phys_ 0:02:04 LB:111T10:37:02 LB:111T10:39:03 p2102 PANCAM_SINGLE_POSITION p2102_pancam_isc_voc_cal_l267_am_sol_111_pancam_dust_monitoring phys_ 0:02:04 LB:111T10:39:03 LB:111T10:41:03 none PLACEHOLDER_ENG none_placeholder_placeholder_for_interferograms_am_sol_111_anytime_mtes_cal_stare c 0:00:01 LB:111T10:41:03 LB:111T10:41:04 p3290 MTES_20_MRAD p3290_mtes_mtes_cal_stare_am_sol_111_anytime_mtes_cal_stare chem_ 0:03:44 LB:111T10:41:03 LB:111T10:44:41 none PLACEHOLDER_ENG none_placeholder_placeholder_for_interferogram_bits_for 20_elevation_AM_Sol_111_PMA_ 0:00:01 LB:111T10:44:41 LB:111T10:44:42 p3575 MTES_20_MRAD p3575_mtes_elevation 20_degrees_AM_Sol_111_PMA_Clouds_AND_Ground atm_ 0:02:44 LB:111T10:44:41 LB:111T10:47:21 p2621 PANCAM_SINGLE_POSITION p2621_pancam_pancam_sky_am_sol_111_pma_clouds_and_ground atm_ 0:04:40 LB:111T10:47:21 LB:111T10:51:53 p1557 NAVCAM_SINGLE_POSITION p1557_navcam_navcam_south_am_sol_111_pma_clouds_and_ground atm_ 0:01:11 LB:111T10:51:54 LB:111T10:53:03 Master SHUTDOWN SHUTDOWN 0:00:00 LB:111T11:03:06 LB:111T11:03:06 7/ Bresina Being on TAP 12

13 Your turn... You are the TAP planning some simple missions using a rover on a distant planner The scientists have said what goals they want achieved The rover driver has planned some safe paths The missions team has decided how long each action will take and how much power and data it consumes Can you build a plan?

14 AI Inside Once you have had a go at solving these problems manually, you can see what Artificial Intelligence can do for you See whether the AI inside the tool can produce a plan as effectively as you, the human problem solvers!

Curiosity lands on Mars

Curiosity lands on Mars Early Monday morning (August 6, 2012), the Mars rover named Curiosity successfully landed on the surface of Mars. The rover launched on November 26 th, 2011 and traveled for 8 ½