To meet these challenges, NASA initiated projects like the Ocean Worlds Lander Autonomy Testbed (OWLAT) at the Jet Propulsion Laboratory (JPL) and OceanWATERS at Ames Research Center. Both serve as platforms for developing robotic autonomy technologies.
The virtual OWLAT, driven by JPL's Dynamics And Real-Time Simulation (DARTS) physics engine, replicates the physical testbed's responses. Both versions rely on a Robot Operating System (ROS)-based interface to execute commands and provide telemetry. This unified interface simplifies transitioning between physical and simulated platforms, enabling robust autonomy software testing.
Safety mechanisms embedded in OWLAT ensure operations remain within defined limits, reporting any anomalies to the autonomy software. This comprehensive system paves the way for safe, effective mission operations on distant ocean worlds.
The simulated lander features a 6-DOF arm equipped with a grinder and scoop, powered by a non-rechargeable battery. Autonomy modules, built using open-source tools like PLEXIL, can command the lander and inject simulated faults, such as joint malfunctions or overheating batteries, to test system resilience.
Based on the 2016 Europa Lander Study, OceanWATERS replicates essential mission elements like regolith sampling and battery management. Its unified interface aligns with OWLAT, supporting integrated development of autonomy solutions.
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Ocean Worlds Lander Autonomy Testbed
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