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Mission simulation specification

1. Reference Time Reference Chapter 2 2 2 for Albert see Chapter Outline Step assuming Phase 2a assuming Phase 2a step references 2 2 2 for step Reference references Chapter 2 1 4 SO 00 21 00 MO 01 43 10 No particular action No particular action Announce on voice loop to 20 see Step 04010 see Step 04010 Albert You are now on your way back to the habitat SO 00 23 00 MO 02 30 00 No particular action No particular action Announce on voice loop to 20 Note time warp see Step 04030 see Step 04030 Albert Slightly more than three quarters of an hour have passed You have made good progress on the way to the habitat Inject position info corresponding to travelled distance Use utility tool to adjust battery level to traveled distance and given rover condition depending on nominal resp off nominal journey to cache location Phase 2 resp 2a SO 00 23 05 MO 02 30 05 No particular action Provide information on 21 see Step 04040 estimated arrival time and sufficient remaining battery level for safe return offer explanation on tasks status SO 00 25 00 MO 03 15 00 No particular action No particular action Inject habitat position 22 Note time warp see Step 04070 see Step 04070 Use utility tool to adjust MECA HEART WP3 D2b Draft Mission Simulation Specification 62 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs
2. corresponds to the task mission are shown plan mission pops up The purpose of this screen is to fill in the remaining TaskPara meters One task parameter of the process Cache con struction process is LocationOfCache i i ePartner shows best i A question This jocation on mission would be a good planning screen With location Do you explanation why this i agree appears location is good i lighting risk of dangerous weather is ow shelter quality is good etc Albert agrees by clicking Yes R023 EFS SAT R024 EFS The system derives the DR10 optimal value for parameter Location OfCache as well as an explanation ep eP Optimal value for para meter LocationOfCache is shown along with corre sponding explanation Optimal value is assigned ORS to parameter Location OfCach The system calculates the Dot _ CTL EFS ePartner suggest route Optimal route is shown optimal route ePartner asks if the A question I suggest route is OK i to take this route Do i you agree appears Proposed route is con firmed Albert agrees by clicking Yes artner asks whic R02 D resources will be R020 R007 optimal values for the allocated to the EFY HME resources required by the 4 tasks in t
3. The status of the process cache construction pro he deploy button i deployed appears status of the process is cess becomes and i i ndicated as deployed deployed i he status of the first The first task plan The status of the task OR14 task of the process mission is highlighted to plan mission becomes f becomes busy This ndicate that it is busy busy ask is called plan mission 059 Task pla allocated to the role R008 allocated to role mission MissionCommander R003 AUT commander which is which is enacted by EFY EFS enacted by Albert Albert SAF EMO eP Therefore the tasks SAT SAW The task plan mission is A start button is shown The task plan mission is DR7 i pops up in the my R025 EFS highlighted in the my tasks added to the my tasks f asks list of Albert Albert s ePartner asks if he wants to perform the ask tab list of Albert A question You have i anew task do you want to start it MECA HEART WP3 D2b Draft Mission Simulation Specification 20 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 appears Albert agrees by i clicking the start button See next step
4. margins the exchange activity is scheduled to also contains the addi cache construction pro tional task change cess right after drive to battery location i R013 EFS HEART Depends on the tab that is selected processes relevant for EVA rover status Albert status R003 AUT planning schedule for EFY SAF task on process and EMO SAT resource screen R010 EFS SAT R004 SAW R002 EFF Depends on the tab that is selected R009 EFY The position of Albert and SAW Roveri have changed R010 EFS Notify Hannah that EVA SAT team has reached the R025 EFS spot for the cache in R027 EFS process screen R002 EFF SAW R023 EFS The status of the task OR15 drive to location becomes finished and that of the task change battery becomes D Task change battery is A message Task drive to location has been completed ap pears Notify Albert to start DR3 battery replacement SAT allocated to role astronaut activity notify Hannah R024 EFS i i EVA which is enacted by of beginning battery Albert replacement activity The task change battery DR7 is added to the my tasks list of Albert The task change battery is A stat bu
5. 0eceseeee 49 Mission Simulation Script for Hannah Phase 4b Problem Gcenartol 50 Mission Simulation Script for Albert Phase 1 53 Mission Simulation Script for Albert Phase 3 55 Mission Simulation Script for Albert Phase 29 59 Mission Simulation Script for Albert Phase 3 61 Mission Simulation Script for Albert Phase A 63 Mission Simulation Script for Albert Phase Aa 67 Mission Simulation Script for Hannah Phase 1 68 Mission Simulation Script for Hannah Phase 2 69 Mission Simulation Script for Hannah Phase 29 71 Mission Simulation Script for Hannah Phase 3 72 Mission Simulation Script for Hannah Phase A 73 Mission Simulation Script for Hannah Phase Aa 75 Stepwise Decomposition of Problem Scenario without ePartner Phase 2 0 90 Stepwise Decomposition of Problem Scenario without ePartner Phase 4 92 Stepwise Decomposition of Design Scenario with ePartner Phase 2 93 Stepwise Decomposition of Design Scenario with ePartner Phase A 94 Mission Simulation Script for Albert Phase 2 Problem Scenario cceeeeseeeeerees 96 Mission Simulation Script for Albert Phase 4 Problem Gcenario 97 MECA HEART WP3 D2b Draft Mission Simulation Specification 4 of 97 Project MECA Mission Execution Crew Assistant Filename _ MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 ACRONYMS
6. Acronym Definition A Albert CTL Cognitive Task Load EGP Eurobot Ground Prototype ePartner Electronic Partner H Hannah HEART Human E partner Agent Robot Teaming MECA Mission Execution Crew Assistant RB Requirements Baseline RM1 First Review Meeting R1 Rover 1 SA Situation Awareness sCE Situated Cognitive Engineering method sCET Situated Cognitive Engineering Tool UCD User Centered Design UI User Interface UX User Experience MECA HEART WP3 D2b Draft Mission Simulation Specification 5 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 1 DOCUMENT OVERVIEW This document provides the required information for preparing and executing mission scenario simulations for the MECA HEART project In chapter 2 the revised mission scenario is first introduced then described and finally decomposed into simulation steps Chapter 3 describes the methodical approach to experiment and evaluation Chapter 4 consists of detailed mission simulation scripts on a per actor basis Chapter 5 then provides detailed instructions for experiment subjects and the experiment leader Chapter 6 lists for reference the complete set of rules used by the inference engine during the scenario Chapters 7 8 and 9 contain appendices that provide further reference information As this document contains several tables with a large number
7. The position of Albert and Albert resources tab Details of Communication establish the shown in which the System are shown in connection to the resource Communication particular its status habitat in resource i System is highlighted screen i tries re comm status of Communication System becomes functional i The status of the task OR12 return to habitat becomes functional communication been restored eP eP The status of the cache OR8 construction process becomes functional ep eP MECA HEART WP3 D2b Draft Mission Simulation Specification 31 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 The status of the function OR6 communication becomes functional The functions tab is shown where the function commu nication is shown in green A message The function communica tion is functional Details of the function Notify Hannah that Albert s communication s restored i The functions tab is shown where the function commu nication is shown in green function communica tion is functional appears communication are shown Details of Albert are shown in particular
8. Note time warp position MECA HEART WP3 D2b Draft Mission Simulation Specification 39 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Use utility tool to adjust displayed battery level to reflect traveled distance and being gradually decreased further Announce on voice loop to Albert Almost three quarters of an hour have passed You have now made approximately half the way to the cache location Inject simulated wheel angle deviation to generate corresponding sensor readings Use human mediated interface to make rover stop SO 00 10 30 MO 00 45 30 Observe FDIR info indicating wheel Use human mediated interface to problem start of recovery procedure initiate FDIR simulation and partial success of that procedure wheel deviation largely reduced but not completely corrected SO 00 11 00 MO 00 46 00 Discuss problem with Hannah who checks documentation and decide to continue mission see Step 02040 SO 00 11 30 MO 00 46 30 Command rover to continue trip to Use human mediated interface to planned cache site make Eurobot move see Step 02010 Initiate utility tool to cause gradually decreasing battery level now at higher rate to be displayed SO 00 14 00 MO 01 35 00 No actions yet Inject cache location as rover position Use utility too
9. MECA Mission Execution Crew Assistant MECA HEART WP3 D2b Technical Note Mission Simulation Specification Project HEART Human E partner Agent Robot Teaming ESA contract No 4000110730 14 NL LvH Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Type Deliverable Status Draft Authors The MECA HEART Consortium Date 03 June 2015 Pages 97 TNO s e t ARBUS Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date O3 June 2013 DOCUMENT HISTORY Version Date Author Description 1 0 20 Feb 2015 Frank PlaBmeier Initial Version of Deliverable for Design Review Tibor Bosse Jan Willem Baggerman 1 1 4 March Frank PlaBmeier Changes added in response to RID review Jurriaan van Diggelen 1 2 14 april Nanja Smets Added step wise problem scenario Tibor Bosse 1 3 16 April Nanja Smets Added method section 1 4 15 May Nanja Smets Added requirements to design scenario added appendix B nominal scenario to Appendix C merged Method section and experiment leader instruction section 1 5 20 May Frank PlaBmeier Added mission simulation scripts for problem scenario 1 6 03 June 2015 Frank PlaBmeier Version for SRR Mission planning primarily assigned to Albert now mission commander Hannah acts as support engineer removed obsolete notes on limitations of the software editorial
10. Hannah loses communication with Rover1 Alarm is given that i The communication sta transmission signal is tus of Communication interrupted i System becomes dysfunctional The status of the function communication becomes transmission interrupted communication signal being lost He has to decide himself what to do now wait until communication is restored if this will ever happen wait for Hannah to pick him in a rescue mission continue the mission or abort and directly try to find the habitat without having a possibility to keep Hannah informed about his status Albert decides it is too risky to stay where he is with a limited amount of oxygen and battery so he decides to try and find the habitat manually Operating the Rover without communications channel is possible but his navigational abilities are limited since only a backup navigation system is available and everything now is operated manually and he has to keep track of the sensory data of the Rover himself as well This adds risk to the mission signal is Table 5 Stepwise Decomposition of Problem Scenario without ePartner Phase 4b MECA HEART WP3 D2b Draft Mission Simulation Specification 18 of 97 2 2 2 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 DESIGN SCENARIO T
11. T uses Resource R1 AND Task T requires Functionality F AND Resource R1 provides Functionality F AND Resource R2 provides Functionality F THEN Resource R2 is proposed for Task T DR15 Propose alternative resource for task in case of stress IF Task T uses Resource R1 AND Resource R1 has PerformerStatus stressed AND Task T requires Functionality F AND Resource R1 provides Functionality F AND Resource R2 provides Functionality F THEN Resource R2 is proposed for Task T DR16 Propose empty resource for task IF Task T uses Resource R AND Resource R has Status dysfunctional AND Task T requires Functionality F AND Resource R provides Functionality F AND Resource none provides Functionality F THEN Resource none is proposed for Task T 6 4 NOTIFICATION RULES Generating warnings NR1 Generate warning for compromised functions IF Function F has FuncStatus compromised THEN warn user about compromised function F NR2 Generate warning for compromised tasks IF Task T has TaskStatus insufficientResources THEN warn user about compromised task T MECA HEART WP3 D2b Draft Mission Simulation Specification 83 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 Ju
12. return to return to habitat have location and return to habitat are shown insufficient resour habitaf are shown in red indicating that these tasks ces appears have insufficient resources e A Details of the tasks drive Ma ince the malfunction ning wheel is expected to cause a higher load on the battery several alternatives are evalu ated by the ePartner MECA HEART WP3 D2b Draft Mission Simulation Specification 23 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 team huddle to both Albert and Hannah This can be alternatives ike e Following the original plan runs the risk of having to abandon the rover having to walk back to the habitat and loose valuable mission ime for recovering the rover i Aborting the mission and directly returning to he habitat also loses mission time The option of aborting the DR8 amp mission is generated i The option of changing DR11 i the value of task parameter LocationOfCa che is generated Setting up the cache closer to the habitat reduces the benefit of he cache extending he range of the traver se also adversely affecting mission objecttives The option of alloca
13. Configure Roveri to drill and control Rover1 through robot control unit to drill the holes in desired location Should Albert help e g equip Eurobot already been mounted before leaving Show in process R025 EFS screen that the drilling R027 EFS has finished Notify Albert to start the unfolding cache activity Albert confirms clicking on start R010 EFS highlighted in the my tasks tab Depends on the tab that is selected with a drill Or has that A message Task aril holes has been completed appears The task unfold cache is A question You have a new task do you want to start it appears The task drill holes is Details of the task drill holes are shown Depends on the tab that holes becomes finished and that of the task unfold cache becomes allocated to role astronaut EVA which is enacted by Albert The task unfold cache is A start button is shown added to the my tasks highlighted in the my tasks allocated to role electronic assistant which is i enacted by ePartnerA The task drill holes is DR7 added to the my tasks list of ePartnerA The status of Roveri and LargeDrill have changed to operational i
14. The status of the task drill DR7 list of Albert MECA HEART WP3 D2b Draft Mission Simulation Specification Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 construction kit out of Rover1 and unfold it i Report of successful completion of unfolding cache i R025 EFS The status of the task R027 EFS unfold cache becomes finished and that of the task fix cache becomes unfold cache has been completed appears process screen which cache are shown pole he has to put where use an instant tent or shelter eP eP The system derives the DR10 quechua optimal value for that the parameter Location participant OfPoles unpacks i and places i in the A question This correct would be a good position location for the poles R023 EFS Do you agree SAT appears Optimal value for para meter LocationOfCache off placed poles o process screen and confirm erection of cache i to parameter Location OfPoles i The status of CacheTent has changed to been placed and cache s in place display that ask has been finished R027 EFS cache becomes
15. functions construction and shown indicating that this safety function is not appears maintain safety The first unction is compromised realized i i function is shown in green the second one in red i DRO OR2 ePartner suggests to R039 EFS A question Do you add a safety monitoring HME CRS want to add pro procedure i cesses for ensuring i safety appears i The system derives that DR9 adding a process monitor mission from habitat solves the problem The process is added OR2 which means that its status changes to deployed Albert agrees by clicking Yes eP See next step message p process has been shown indicating that two deployed appears processes cache i construction process and monitor mission from habitat are currently deployed added process monitor mission from safety is not compro R027 EFS habitat are shown mised anymore Table 6 Stepwise Decomposition of Design Scenario with ePartner Phase 1 MECA HEART WP3 D2b Draft Mission Simulation Specification 22 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Phase 2a Clearing the surface off nominal condition with ePartner Hannah logsinonh
16. see Step 05110 that task highlighting the fact that it can be safely performed with interrupted communication see Step 05110 SO 00 23 20 MO 02 30 20 No particular action No particular action Inject heightened arousal 23 see Step 05113 see Step 05113 and low valence of Albert SO 00 23 25 MO 02 30 25 No particular action Provide feedback on 23 see Step 05115 Albert s emotional state and show related detailed information Ask Albert for level of perceived anxiety SO 00 23 30 MO 02 30 30 Provide feedback on Comfort Albert 23 level of anxiety according to indicated see Step 05117 level of anxiety and offer options to either wait or continue journey back to habitat recommending the latter see Step 05100 SO 00 24 00 MO 02 31 00 No particular action Propose taking over 24 yet navigation and MECA HEART WP3 D2b Draft Mission Simulation Specification 65 of 97 Project Filename MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 see Step 05120 autonomously perform task return to habitat SO 00 24 05 MO 02 31 05 Confirm proposal to let Show information on 24 ePartner take over task return to habitat navigation let ePartner pointing out that it is perform task return to performed by ePartner habitat see Step 05120 SO 00 26 00 MO 02 45 00 No particular action
17. 20 No particular actions No particular actions Use human mediated 11 interface to make rover move again Use utility tool to adjust decrease of displayed battery level to simulated failure condition SO 00 12 00 MO 01 35 00 No actions yet Report drive to location Inject cache location as 11 Note time warp see Step 02080 as completed rover position see Step 02080 Use human mediated interface to make Eurobot stop Use utility tool to adjust displayed battery level to reflect traveled distance with given failure condition Announce on voice loop to Albert About three quarters of an hour have passed You have now reached the cache location SO 00 12 05 MO 01 35 05 No actions yet Report battery 12 see Step 02090 exchange task as required and request confirmation of task start see Step 02090 SO 00 12 10 MO 01 35 10 Confirm start of Provide details for 12 battery exchange battery exchange task task see Step 02090 see Step 02090 MECA HEART WP3 D2b Draft Mission Simulation Specification 58 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 SO 00 12 15 MO 01 35 15 Exchange battery No particular action 12 see Step 02100 see Step 02100 SO 00 14 00 MO 01 37 00 Confirm completion of Report battery Inject updated battery 12 ba
18. 2015 This chapter contains the complete set of rules used by the inference engine during the scenario Four sets of rules are distinguished e Observability rules OR o These are rules that serve to update the status of functions processes tasks resources parameters etc This is done either based on user input or based on rules that propagate the status of entities between different levels of the abstraction hierarchy e Predictability rules PR o These are rules that aim to predict the status of various entities in particular it monitors for compromised tasks and functions For example when a resource conflict is identified for a task within a process the task s field TaskStatus becomes InsufficientResources e Directability rules DR o These are rules that serve to allow human actors to change the current state of the system This is done either by allocating tasks to roles or by proposing certain changes to improve the mission effectiveness e g resource allocations process changes etc e Notification rules NR o These are rules that serve to notify the actors of important changes for example about a malfunctioning system or a predicted risk 6 1 OBSERVABILITY RULES Processing user input OR1 Confirm process 1 IF Process P has ProcessStatus idle AND user clicks on deployed for process P THEN Process P has ProcessStatus deployea OR2 Confirm process 2 IF P
19. Input Date 03 June 2015 are now on your way back to the habitat SO 00 21 00 MO 03 15 00 No particular action Inject habitat position 20 Note time warp see Step 04070 Use utility tool to adjust battery level to traveled distance and nominal rover condition Phase 2 Announce on voice loop to Albert About one and a half hours have passed You have now reached the habitat Use human mediated interface to make Eurobot stop SO 00 21 30 MO 03 15 30 Notify Hannah on voice loop about 20 arrival at habitat see Step 4070 Table 40 Mission Simulation Script for Albert Phase 4 Problem Scenario MECA HEART WP3 D2b Draft Mission Simulation Specification 97 of 97
20. Report process cache Announce on voice loop to 22 see Step 04080 construction as Hannah Albert has now completed returned to the habitat The see Step 04080 mission is completed Table 33 Mission Simulation Script for Hannah Phase 4 MECA HEART WP3 D2b Draft Mission Simulation Specification 73 of 97 MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Project Mission Phase 4a Return to habitat off nominal condition Wall clock Time Simulated Mission Actions Hannah see Actions ePartner Actions WOZ limited to Design Scenario Reference Time Reference Chapter 2 2 2 for Hannah see Chapter voice loop Hannah data Outline Step assuming Phase 2a assuming Phase 2a step references 2 2 2 for step injection amp rover control Reference references actions described in Chapter 2 1 4 section for Albert SO 00 21 00 MO 01 43 10 No particular action No particular action Announce on voice loop to 20 see Step 05010 see Step 05010 Hannah Albert is now on his way back to the habitat SO 00 23 00 MO 02 30 00 No particular action No particular action Announce on voice loop to 20 Note time warp see Step 05030 see Step 05030 Hannah Slightly more than three quarters of an hour have passed Albert has made good progress on the way to the habitat SO 00 23 05 MO 02 3
21. Simulation Specification 53 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Mission Phase 2 Approaching site and clearing the surface nominal condition Wall clock Time Simulated Mission Actions Albert see Actions ePartner Actions WOZ Design Scenario Reference Time Reference Chapter 2 2 2 for Albert see Chapter Outline Step step references 2 2 2 for step Reference references Chapter 2 1 4 SO 00 06 00 MO 00 06 00 Put on spacesuit and load cache payload onto rover see Step 01000 SO 00 07 00 MO 00 07 00 Take seat stand on rover see Step 01000 SO 00 07 15 MO 00 07 15 Log into ePartner Obtain up to date cache 6 see Step 01005 set up mission plan from central knowledge base see Step 01005 SO 00 07 20 MO 00 07 20 Initiate transition to Report mission Use human mediated 6 cache location planning as completed interface to make Eurobot see Step 01010 and drive to location as move active Initiate utility tool to cause see Step 01010 gradually decreasing battery level to be displayed Announce on voice loop to Albert You are now on your way to the planned cache location SO 00 10 00 MO 01 30 00 No actions yet Report drive to location Inject cache location as 8 9 Note time warp see Step 01030 as completed rover position s
22. Time Simulated Mission Actions Albert see Actions ePartner Actions WOZ Design Scenario Reference Time Reference Chapter 2 2 2 for Albert see Chapter Outline Step assuming Phase 2a assuming Phase 2a step references 2 2 2 for step Reference for Phase 2 subtract for Phase 2 subtract references Chapter 2 1 4 2 minutes 2 minutes SO 00 16 15 MO 01 39 15 No particular actions Highlight drill holes and 17 see Steps 03010 show detailed 03020 information for task see Step 03020 SO 00 16 20 MO 01 39 20 No particular actions No particular actions Use human mediated 17 see Step 03030 see Step 03030 interface to configure rover for drilling and drill holes possibly simulated When drilling is finished inject completion of drilling task information SO 00 18 00 MO 01 41 00 No particular actions Report completion of 17 see Step 03040 drilling see Step 03040 SO 00 18 05 MO 01 41 05 No particular actions Report task unfold 18 see Step 03050 cache as active and request confirmation to start it see Step 03050 SO 00 18 10 MO 01 41 10 Confirm start of task Show detailed 19 dismount rover take cache construction kit information for fixing cache out of rover and unfold see Step 03060 it see Step 03055 Report successful unfolding MECA HEART WP3 D2b Draft Mission Simulation Specification 60 of 97 Project Filename ME
23. Wall clock Time Reference based on Phase 2a Simulated Mission Time Reference based on Phase 2a Actions Hannah see Chapter 2 2 1 for step references Actions WOZ Problem Scenario Outline Step Reference Chapter 2 1 3 SO 00 20 30 MO 01 41 30 Check robot data and determine that Use human mediated interface to 18 battery level is sufficient for trip back to specify power consumption according habitat to wheel offset phase 2a see Step 05030 SO 00 21 00 MO 01 42 00 Begin keeping track of camera feeds Use human mediated interface inject 18 and monitoring rover data for trip back to habitat see Step 05045 corresponding video and telemetry data Table 21 Mission Simulation Script for Hannah Phase 4a Problem Scenario MECA HEART WP3 D2b Draft Mission Simulation Specification 49 of 97 Project Filename Status Date 03 June 2015 MECA Mission Execution Crew Assistant Final SRR Input MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 4b Return to habitat off nominal condition communication problem Wall clock Time Reference based on Phase 2 Simulated Mission Time Reference based on Phase 2 Actions Hannah see Chapter Error Reference source not found for step references Actions WOZ Problem Scenario Outline Step Reference Chapter 2 1 3 SO 00 17 30 MO 01 38 30 Check robot data and determine that Use
24. and sometimes unavailable due to interference with the Sun 2 1 2 INITIAL PLAN The plan is carried out by a support engineer who remains in the habitat called Hannah and an astronaut on EVA acting as the mission commander called Albert Albert uses the rover for transportation over the Mars surface and to help him with heavy work such as moving rocks and drilling holes Hannah monitors the robot and Albert from the habitat and has access to the following sensor data e On the rover o Eight camera feeds provided by the Rover Temperature Battery level Wheel orientation of each wheel O O O 0 Robotic arm orientation O Signal strength of the communication network e OnAlbert o Heart rate Compressed air pressure levels of spacesuit o Temperature inside the space suit Cognitive workload The sensor data is sent from the EVA team to the habitat periodically in predefined packages The transmission cycle time for these packages has to be specified manually Furthermore for most sensors e g rover s battery spacesuit air pressure etc threshold values have been built in that automatically communicate alarms to the habitat The initial plan of setting up the cache distinguishes in four phases 1 Preliminary preparation Albert and robot are still in the habitat and pick a site on the map and make a plan of the mission 2 Clearing the surface Albert and robot are on EVA and prepare the area for deploying the sh
25. are described by two sets of tables one for Albert and one for Hannah 4 1 1 MISSION SIMULATION SCRIPT FOR ALBERT Mission Phase 1 Preliminary preparation Wall clock Time Simulated Mission Actions Albert see Chapter 2 2 1 for Actions WOZ Reference Time Reference step references Problem Scenario Outline Step Reference Chapter 2 1 3 SO MO Sit down with Hannah for planning mission log into device with username and password see Step 00010 SO 00 00 30 MO 00 00 30 Look up procedures and documentation for related to setting up a cache see Step 00020 SO 00 01 00 MO 00 01 00 Open digital map to look for suitable cache position see Step 00025 SO 00 03 00 MO 00 03 00 Select cache position and ask Albert for confirmation see Step 00025 No Wizard of Oz actions required basic functionality for mission planning provided by prototype 1 MECA HEART WP3 D2b Draft Mission Simulation Specification 37 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 SO 00 03 30 MO 00 03 30 Mark route to planned location on map 2 see Step 00030 SO 00 04 00 MO 00 04 00 Schedule operation phases 3 see Step 00040 SO 00 04 30 MO 00 04 30 Look up required inventory
26. finished and that of the task fill cache becomes busy cache has been completed appears message ease fill supplies into cache appears with request for R025 EFS The status of the task fill cache becomes finished and that of the task return Fill cache with supplies and confirm task completion f allocated to role astronaut EVA which is enacted by Albert The task return to habitat DR7 is added to the my tasks list of Albert The task return to habitat is A start button is shown highlighted in the my tasks ab MECA HEART WP3 D2b Draft Mission Simulation Specification 28 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 A question You have a new task do you want to stat it appears Albert clicks ok Show next step in process return to habitat in process screen R023 EFS SAT Details of the task return to habitat are shown Table 8 Stepwise Decomposition of Design Scenario with ePartner Phase 3 MECA HEART WP3 D2b Draft Mission Simulation Specification 29 of 97 Action Process screen select return to habitat process screen that Albert is in the next step
27. human mediated interface to 18 battery level is sufficient for trip back to specify power consumption according habitat to nominal conditions phase 2 see Step 06030 SO 00 18 00 MO 01 39 00 Begin keeping track of camera feeds Use human mediated interface inject 18 and monitoring rover data for trip back to habitat see Step 06037 corresponding video and telemetry data Table 22 Mission Simulation Script for Hannah Phase 4b Problem Scenario 4 2 DESIGN SCENARIO The mission simulation scripts for the design scenario are described by two sets of tables one for Albert and his ePartner and one for Hannah and her ePartner MECA HEART WP3 D2b Draft Mission Simulation Specification 50 of 97 Project Filename 4 2 1 MISSION SIMULATION SCRIPT FOR ALBERT MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Mission Phase 1 Preliminary preparation Wall clock Time Simulated Mission Actions Albert see Actions ePartner Actions WOZ Design Scenario Reference Time Reference Chapter 2 2 2 for Albert see Chapter Outline Step step references 2 2 2 for step Reference references Chapter 2 1 4 SO MO Sit down with Hannah No particular action yet No Wizard of Oz actions 1 for mission preparation required functionality for and provide mission planning provided credentials to by pr
28. minutes 3 minutes SO 00 15 30 MO 01 36 30 Instruct arm to employ drilling tool and 14 place arm in right location see Step 03010 SO 00 16 00 MO 01 37 00 Enter drill depth and instruct robot to Use human mediated interface to 15 create holes make Eurobot drill holes see Step 03030 SO 00 16 30 MO 01 37 30 Monitor progress of rover take cache 16 construction kit out of rover and unfold it see Step 03050 SO 00 18 00 MO 01 39 00 Check documentation and place poles 17 in holes accordingly see Step 03060 SO 00 18 30 MO 01 39 30 Fill cache with supplies 17 see Step 3085 Table 13 Mission Simulation Script for Albert Phase 3 Problem Scenario MECA HEART WP3 D2b Draft Mission Simulation Specification 42 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Mission Phase 4a Return to habitat off nominal condition battery depletion Wall clock Time Simulated Mission Actions Albert see Chapter 2 2 1 for Actions WOZ Problem Scenario Reference Time Reference step references Outline Step based on Phase 2a based on Phase 2a Reference Chapter 2 1 3 SO 00 20 00 MO 01 41 00 Notify Hannah that cache construction 18 task is completed and trip back to habitat can begin see Step 05010 SO 00 20 30 MO 01 41 30 Agree with Hannah to begin trip bac
29. notifications EEE Figure 4 MECA HEART UI 5 2 2 S W UI FOR ALBERT PROBLEM SCENARIO Rover cache and other hardware items are identical to the design scenario The Software Ul will be a stripped down version of the one for the design scenario e g Processes and Functions tabs removed It will be briefly explained interactively to the participant with focus on Albert s part of the mission 5 3 INTRODUCTION TO ROLE HANNAH Hannah is responsible for planning the cache set up mission and monitoring it She remains at the habitat and does not require any hardware tools for performing her job 5 3 1 S W UI FOR HANNAH DESIGN SCENARIO The Software UI for Hannah consists of an Android application running on a tablet with large screen similar to the one used by Albert The use of this Software UI is described in RD1 It will be briefly explained interactively to the participant with focus on Hannah s part of the mission 5 3 2 S W UI FOR HANNAH PROBLEM SCENARIO The Software UI will be a stripped down version of the one for the design scenario e g Processes and Functions tabs removed It will It will be briefly explained interactively to the participant with focus on Hannah s part of the mission MECA HEART WP3 D2b Draft Mission Simulation Specification 78 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June
30. process becomes been completed ap active construct pears i cache The first task in this sub process is activated The status of the task drive to location becomes finished and that of the task clear area becomes busy i R023 EFS Task clear area is in his my task list clear SAT i i i allocated to role astronaut area R024 EFS i i EVA which is enacted by i Albert The task clear area is DR7 added to the my tasks f list of Albert The task clear area is A start button is shown highlighted in the my tasks ab A question You have a new task do you want to start it appears and he starts perfor ming the task and clicks start Details of the task clear area are shown Depends on the tab th selected resource screen Drive CTL rover to rocks and R010 EFS remove them from SAT location R002 EFF SAW Rocks have R025 EFS A message Task The status of the task removed from area R027 EFS clear area has been highlighted in the my tasks clear area becomes fini is selected Roveri have changed show current status in completed appears tab i shed and that of the task process screen i i drill holes becomes Tabl
31. return to habitat Receives information from the robot and sees SAT that all processes are OK R005 EFS SAF SAT RO15 HME R016 HME ep eP SA i f R045 HME SAW ep eP pos EFS HME R036 EFS eP ep DAG HME l S SAW ep H Show warning in function screen that the communication i functionality is not to be sent to the habitat when communication is location of EVA team Explain they can wait R032 here for the communi cation to restore or travel back and that HME Hannah is aware of the R039 EFS problem and is awaiting HME CRS his return in the habitat The ePartner recom ends to travel ba MECA HEART WP3 D2b Draft Mission Simulation Specification On process screen R049 HME Project Filename Status Date tion Effect left tab ECA A warning The func communication is compromised ap pears A question Do you agree option appears MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Final SRR Input 03 June 2015 Effect middle tab overv in which the construction process is highlighted return to Depends on the tab that is selected is selected The functions tab is shown where the function commu n
32. situation 5 Albert controls the Rover and drives it to the planned location 6 Hannah keeps track of camera feeds provided by the Rover keeps a sharp eye on any incoming alarms and occasionally requests sensor data like heart rate internal compressed air pressure levels 7 Halfway to the desired location the Rover experiences an error one of the wheels fails to turn back to the original position 8 The Rover stops driving and starts its recovery procedure FDIR try turning the incorrectly oriented wheel back to its desired orientation This partly succeeds the wheel turns back but is still off by a slight angle of a few degrees 9 Since the wheel is only off by a few degrees this hardly affects the driving capabilities of the rover After a warning that FDIR failed Albert agrees with Hannah to continue the journey 10 Albert confirms to Hannah that they reached the spot using their headset 11 Albert instructs Rover to move unwanted rocks out of the selected area 12 During this entire mission the Rover s battery level is shown on Hannah s display together with all other information so without a real emphasis 13 Rover successfully finished moving the rocks Phase 3 Construction 14 Albert instructs the robot arm to employ the drilling tool and places the arm in the right location 15 Albert enters drill depth and instructs the robot to create the holes 16 Albert takes the cache construction kit out of the
33. 0 EFS screen that the robot SAT has enough battery level to finish the journey i The resources tab is shown Details of Battery are in which Battery is high shown in particular its lighted Battery Status i Rover have changed i The my tasks tab is shown Details of the task return The status of the task OR10 in which the task return to to habitat are shown in return to habitat becomes finished Show in process R025 EFS A message Task screen that the EVA R027 EFS return to habitat has team has arrived at R002 EFF been completed habitat SAW appears habitat is highlighted particular the taskrunstate which is finished i A message e status of the proc cache construction 1 cache construction has been completed becomes finished appears Table 38 Stepwise Decomposition of Design Scenario with ePartner Phase 4 MECA HEART WP3 D2b Draft Mission Simulation Specification 94 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 9 3 SIMULATION SCRIPT PROBLEM SCENARIO IN NOMINAL CONDITIONS Mission Phase 2 Approaching site and clearing the surface nominal condition Wall clock Time Simulated Mission Actions Albert see Chapter
34. 0 05 No particular action Report failure of 21 see Step 05040 communication function and provide corresponding detailed information SO 00 23 30 MO 02 30 30 No particular action Continuously provide 22 see Step 05060 estimates of position of Rover amp Albert during communication interruption phase SO 00 26 10 MO 02 45 10 No particular action Report restored 25 Note time warp see Step 05150 communication and level of distress felt by Albert SO 00 26 30 MO 02 46 30 Talk to Albert about 25 return trip see Step 05160 SO 00 29 05 MO 03 15 05 No particular action Report task return to 25 MECA HEART WP3 D2b Draft Mission Simulation Specification 74 of 97 Project MECA Mission Execution Crew Assistant Filename Status Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx Note time warp see Step 05170 habitat as completed and provide corresponding detailed information see Step 05170 Report process cache construction as completed see Step 05180 SO 00 29 10 MO 03 15 10 No particular action No particular action Announce on voice loop to 25 see Step 05180 see Step 05180 Hannah Albert has now returned to the habitat His mission and yours are completed Table 34 Mission Simulation Script for Hannah Phase 4a MECA HEART WP3 D2b Draft Mission Simulation Specification 75 of 97 Pr
35. 01 30 30 Notify Hannah on voice loop that 7 cache location has been reached see Step 01040 SO 00 12 00 MO 01 31 00 Look up next activity in agenda 8 documentation see Step 01050 and instruct rover to remove rocks from cache site see Step 01060 Table 39 Mission Simulation Script for Albert Phase 2 Problem Scenario Mission Phase 4 Return to habitat nominal condition Wall clock Time Simulated Mission Actions Albert see Chapter Error Actions WOZ Problem Scenario Reference Time Reference eference source not found for step Outline Step based on Phase 2 based on Phase 2 references Reference Chapter Error eference source not found SO 00 17 00 MO 01 38 00 Notify Hannah that cache construction 18 task is completed and trip back to habitat can begin see Step 04010 SO 00 17 30 MO 01 38 30 Agree with Hannah to begin trip back 18 see Step 04030 SO 00 18 00 MO 01 39 00 Mount rover and command it to drive Use human mediated interface to 18 back to habitat see Step 04040 make Eurobot move Use human mediated interface to specify power consumption according to nominal conditions phase 2 Announce on voice loop to Albert You MECA HEART WP3 D2b Draft Mission Simulation Specification 96 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR
36. 2115 02140 03040 03057 03080 01010 01040 01070 04040 04070 04080 When a schedule is changed MECA shall share the changes with those who may be affected HEART R028 02050 MECA shall update information about the execution of a procedure s step after its completion HEART R029 MECA shall detect potential problems in planned processes HEART R015 02030 05040 Potential problems in planned process are not detected MECA shall evaluate impact on planned tasks when resource status change out of planned boundaries HEART RO0O30 02040 05100 MECA shall calculate time that the robot will take to reach a target point following a certain route HEART R031 00070 04040 MECA shall alert the user of any problems detected in the planned process HEART R016 02030 05040 Problems in planned processes are not detected and thus the user will receive no alerts MECA shall propose resource reallocations that could solve process related problems 02040 No resource HEART R017 allocations are proposed When the robot fails MECA shall look for alternative reconfiguration that would 02040 allow it completing its task and reaching its goal HEART R032 When the user gets isolated MECA shall adapt a rescue procedure based on 05100 predefined plans adapted to the current situation and the estimated status of resources HEART R050 MECA shall allow the user to prop
37. A HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 25 As the Rover closes in on the habitat the connection is reestablished and Albert returns to the habitat safely The mission is completed 2 2 STEPWISE DECOMPOSITION The stepwise decomposition of the mission scenario provides the next level of detail by outlining actions that are taken by the involved actors for performing the tasks identified in the scenario description 2 2 1 PROBLEM SCENARIO The stepwise decomposition of the problem scenario is shown by a set of tables according to the following format 1 2 3 The first column contains a number identifying each step The second column identifies the actor s that performs the action described in the step The third column identifies the target i e the actor s affected by the action receiving a message or being changed in some way as result of the action The fourth column describes the action The fifth column indicates the effect that the action will have on the middle tab the overview on the target ePartner s note that only a minimalistic version of the ePartner is meant here The sixth column indicates the effect that the action will have on the right tab the detailed view on the target ePartner s The seventh column indicates the effect that the action will have on the underlying knowledge base The eighth column indicates the corresponding step
38. Albert exchanges the batteries and informs Hannah accordingly MECA HEART WP3 D2b Draft Mission Simulation Specification 12 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 13 Albert delegates to the ePartner to instruct the Rover for moving unwanted rocks from 14 the selected area Hannah gets process updates on her ePartner during the entire mission 15 The Rover successfully finished moving the rocks Phase 3 Construction 16 17 18 19 Albert selects the construction phase on his ePartner Albert s ePartner configures and controls the robot to drill the holes Albert takes the cache construction kit out of the Rover and unfolds it Albert gets instruction from the ePartner indicating which pole he has to put in which corresponding hole Phase 4 Return to habitat nominal situation 20 21 22 Hannah s ePartner is receiving information from the robot and sees that all processes are OK Since the cache is erected successfully the ePartner indicates the journey back to the habitat is commenced The ePartners of both Albert and Hannah indicate the expected arrival time and make sure the robot has enough battery level to finish the journey In case of previous phase 2a changed location the decision to exchange the batteries proved to be right the battery level is getting lower more quick
39. CA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 see Step 3057 SO 00 18 15 MO 01 41 15 Place poles possibly No particular actions 19 simulated tick off see Step 03070 placed poles in ePartner UI Erect cache and confirm cache construction task completion in ePartner UI see Step 03070 SO 00 20 00 MO 01 43 00 No particular actions Report completion of 19 all poles have finally cache fixing task been marked as see Step 03080 placed see Step 03080 SO 00 20 05 MO 01 43 05 No particular actions Report task return to 19 see Step 03090 habitat as active and request confirmation to start task see Step 03090 SO 00 20 10 MO 01 43 10 Mount rover confirm Show details of return to Use human mediated 19 start of task return to habitat see Step 03090 habitat see Step 03100 interface to make rover move Table 26 Mission Simulation Script for Albert Phase 3 MECA HEART WP3 D2b Draft Mission Simulation Specification 61 of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 4 Return to habitat nominal condition Wall clock Time Simulated Mission Actions Albert see Actions ePartner Actions WOZ Design Scenario
40. CONDITIONS Load supplies onto rover and mount it device with a username and password thereby gaining access to the up to date knowledge base with all information relevant to the cache set up Drive Rover1 A message Task planned location R027 EFS plan mission has i been completed ap pears Depends on the tab that is Details are shown of a selected particular function pro cess task or resource depends on user choice The status of the task plan mission becomes finished and that of the task drive to location ecomes busy Monitor processes relevant for EVA rover status Albert status R013 EFS R003 AUT EFY SAF Depends on the tab that is selected Depends on the tab that is selected S MECA HEART WP3 D2b Draft Mission Simulation Specification 92 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 task on resource R010 EFS screen map view table SAT view and process R004 SAW screen R002 EFF on reached Roveri have changed R010 EFS SAT R002 EFF DAN The next task in the R025 EFS A message Task general mission R027 EFS drive to location has
41. Error Actions WOZ Problem Scenario Reference Time Reference eference source not found for step Outline Step references Reference Chapter Error eference source not found SO 00 07 00 MO 00 07 00 Put on spacesuit and load cache 5 payload onto rover see Step 01000 SO 00 08 00 MO 00 08 00 Take seat stand on rover 5 see Step 01000 SO 00 08 30 MO 00 08 30 Log into handheld device Use human mediated interface to 5 see Step 01005 make Eurobot move command rover to drive to planned Initiate utility tool to cause gradually location decreasing battery level to be see Step 01010 displayed and notify Hannah on voice loop about A ice Albert Y departure nnounce on voice loop to Albert You see Step 01010 are now on your way to the planned cache location SO 00 11 00 MO 01 30 00 No actions yet Inject cache location as rover position 7 Note time warp Use utility tool to adjust displayed battery level to reflect traveled distance and being gradually decreased further Use human mediated interface to make Eurobot stop Announce on voice loop to Albert MECA HEART WP3 D2b Draft Mission Simulation Specification 95 of 97 Project Filename Status Date 03 June 2015 MECA Mission Execution Crew Assistant Final SRR Input MECA HEART WP3 D2b MissionSimulationSpecs docx Almost one and a half hours have passed You have now reached the cache location SO 00 11 30 MO
42. MO 01 37 30 Begin keeping track of camera feeds Use human mediated interface inject 16 and monitoring rover data for drilling see Step 03055 corresponding video and telemetry data Table 19 Mission Simulation Script for Hannah Phase 3 Problem Scenario MECA HEART WP3 D2b Draft Mission Simulation Specification 48 of 97 Project Filename Status Date MECA Mission Execution Crew Assistant Final SRR Input 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 4 Return to habitat nominal condition Wall clock Time Reference based on Phase 2 Simulated Mission Time Reference based on Phase 2 Actions Hannah see Chapter 2 2 1 for step references Actions WOZ Problem Scenario Outline Step Reference Chapter 2 1 3 SO 00 17 30 MO 01 38 30 Check robot data and determine that Use human mediated interface to 18 battery level is sufficient for trip back to specify power consumption according habitat to nominal conditions phase 2 see Step 04030 SO 00 18 00 MO 01 39 00 Begin keeping track of camera feeds Use human mediated interface inject 19 and monitoring rover data for trip back to habitat see Step 04060 corresponding video and telemetry data Table 20 Mission Simulation Script for Hannah Phase 4 Problem Scenario Mission Phase 4a Return to habitat off nominal condition battery depletion
43. No Wizard of Oz actions 1 for planning mission active during planning It required functionality for see Step 00010 will obtain the planning mission planning provided SO 00 04 00 MO 00 04 00 Agree to ePartner results when Hannah by prototype 45 proposal for cache logs in Phase 2 2a setup mission and assigned role see Step 00080 as well a suggested schedule inventory overview and cache payload see Step 00090 and safety provided by monitoring from habitat see Step 00110 Table 29 Mission Simulation Script for Hannah Phase 1 MECA HEART WP3 D2b Draft Mission Simulation Specification 68 of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 2 Approaching site and clearing the surface nominal condition Wall clock Time Simulated Mission Actions Hannah see Actions ePartner Actions WOZ limited to Design Scenario Reference Time Reference Chapter 2 2 2 for Hannah see Chapter voice loop Hannah data Outline Step step references 2 2 2 for step injection amp rover control Reference references actions described in Chapter 2 1 4 section for Albert SO 00 07 20 MO 00 07 20 No actions yet No actions yet Announce on voice loop to 6 see Step 01010 see Step 01010 Hannah Albert is now on his way to the planned cache loca
44. No particular action yet Inject updated position 24 Note time warp yet see Step 05130 closer to habitat see Step 05130 Use utility tool to adjust battery level to traveled distance and given rover condition depending on nominal resp off nominal journey to cache location Phase 2 resp 2a Announce on voice loop to Albert You have now traveled almost a quarter of an hour and made good progress towards the habitat It is a good time to try to re establish the communication SO 00 26 05 MO 02 45 05 Try to re establish Show details on Inject information that 25 communication communication system communication system has see Step 05130 see Step 05130 been restored SO 00 26 10 MO 02 45 10 No particular action Report that 25 see Step 05140 communication system has become functional again and show updated task and process info see Step 05140 MECA HEART WP3 D2b Draft Mission Simulation Specification 66 of 97 Project MECA Mission Execution Crew Assistant Filename Status Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx SO 00 27 00 MO 02 45 00 Reply to Hannah No particular action 25 about return trip see Step 05160 see Step 05160 SO 00 29 00 MO 03 15 00 No particular action No particular action Inject habitat position 25 Note time warp see Step 05170 see Step 05170 Use utility tool to adjust batt
45. Phase 4a Problem Scenario Mission Phase 4b Return to habitat off nominal condition communication problem Wall clock Time Simulated Mission Actions Albert see Chapter 2 2 1 for Actions WOZ Problem Scenario Reference Time Reference step references Outline Step based on Phase 2 based on Phase 2 Reference Chapter 2 1 3 SO 00 17 00 MO 01 38 00 Notify Hannah that cache construction 18 task is completed and trip back to habitat can begin see Step 06010 SO 00 17 30 MO 01 38 30 Agree with Hannah to begin trip back 18 see Step 06030 SO 00 18 00 MO 01 39 00 Mount rover and command it to drive Use human mediated interface to 18 back to habitat make Eurobot move see Step 06035 Use human mediated interface to specify power consumption according to nominal conditions Phase 2 Announce on voice loop to Albert You are now on your way back to the habitat SO 00 21 00 MO 02 45 00 No particular action Use utility tool to adjust battery level to 19 Note time warp see Step 06050 traveled distance and nominal rover condition Phase 2 MECA HEART WP3 D2b Draft Mission Simulation Specification 44 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Announce on voice loop to Albert About one hour has passed You are approximately 4 kilometer
46. QUIREMENTS csscccssseccnssecccsseccseeecnseeeeeseeneeeensesenseeseneeesenes 85 9 APPENDIX B NOMINAL SCENARIO ccccsseccssseccnseeecnseeeeseeeesseeusseeenseeseneeesenes 90 9 1 STEPWISE DECOMPOSITION PROBLEM SCENARIO IN NOMINAL CONDITIONS 90 9 2 STEPWISE DECOMPOSITION DESIGN SCENARIO IN NOMINAL CONDITIONS 92 9 3 SIMULATION SCRIPT PROBLEM SCENARIO IN NOMINAL CONDITIONS snnsoeeene 95 MECA HEART WP3 D2b Draft Mission Simulation Specification 3 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 LIST OF FIGURES Figure 1 Figure 2 Figure 3 Figure 4 Problem Scenario with Nominal and Off Nominal Branches esseesesesecesesesesesesesesesesesn 9 Design Scenario with Nominal and Off Nominal Branches sessssssssssrsssresrresrresrresrresree 9 UNO DO EEN 77 MECA HEART UL 78 LIST OF TABLES Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Table 36 Table 37 Table 38 Table 39 Table 40 Stepwise Decomposition of Problem Scenario without ePartner Phase 15 Stepwise Decomposition of Problem
47. Rover and unfolds it 17 Albert finds the correct pole for each hole and places them in the corresponding holes Phase 4 Return to habitat nominal situation based on Phase 2 MECA HEART WP3 D2b Draft Mission Simulation Specification 10 of 97 18 19 20 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Hannah is occasionally requests sensory data information from the robot e g on battery level Hannah sees that the Rover s battery level should be just enough to get back to the habitat Since the exploratory cache is erected successfully the journey back to the habitat is commenced During the trip back all data is continuously monitored and Hannah notices everything is going according to plan Albert arrives back at the habitat and the mission is completed Phase 4a Return to habitat off nominal following Phase 2a 18 19 20 Hannah is still receiving all sensory data information from the robot e g on battery level The battery level is lower than it should be at this stage of the mission but still within technical limits Therefore no special notification is provided Since the exploratory cache is erected successfully the journey back to the habitat is commenced There is a huge setback the wheel orientation problem of the Rover created an extra drag load on the motor draining the battery
48. Scenario without ePartner Phase 29 16 Stepwise Decomposition of Problem Scenario without ePartner Phase 3 17 Stepwise Decomposition of Problem Scenario without ePartner Phase Aa 17 Stepwise Decomposition of Problem Scenario without ePartner Phase Ap 18 Stepwise Decomposition of Design Scenario with ePartner Phase 22 Stepwise Decomposition of Design Scenario with ePartner Phase 29 26 Stepwise Decomposition of Design Scenario with ePartner Phase 3 29 Stepwise Decomposition of Design Scenario with ePartner Phase Aa 32 Simulation Session Gchechule AANEREN 33 Mission Simulation Script for Albert Phase 1 Problem Gcenario 39 Mission Simulation Script for Albert Phase 2a Problem Scenario ccceeeeseeeees 41 Mission Simulation Script for Albert Phase 3 Problem Gcenario 42 Mission Simulation Script for Albert Phase 4a Problem Scenario ccceeeeseeeees 44 Mission Simulation Script for Albert Phase 4b Problem Scenario c ccseeeeeeeeees 45 Mission Simulation Script for Hannah Phase 1 Problem Gcenario 46 Mission Simulation Script for Hannah Phase 2 Problem Gcenario 47 Mission Simulation Script for Hannah Phase 2a Problem Scenario cceseeee 48 Mission Simulation Script for Hannah Phase 3 Problem Gcenario 48 Mission Simulation Script for Hannah Phase 4 Problem Gcenario 49 Mission Simulation Script for Hannah Phase 4a Problem Scenario
49. Step 00025 SO 00 05 00 MO 00 05 00 Agree to suggested schedule 2 3 4 inventory overview and cache payload see Steps 00030 0040 0050 Table 16 Mission Simulation Script for Hannah Phase 1 Problem Scenario MECA HEART WP3 D2b Draft Mission Simulation Specification 46 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Mission Phase 2 Approaching site and clearing the surface nominal condition Wall clock Time Simulated Mission Actions Hannah see Chapter 2 2 1 Actions WOZ Problem Scenario Reference Time Reference for step references Outline Step Reference Chapter 2 1 3 SO 00 08 30 MO 00 08 30 Begin keeping track of camera feeds Use human mediated interface inject 6 and monitoring rover data for trip to corresponding video and telemetry cache location data see Step 01020 SO 00 12 00 MO 01 31 00 Begin keeping track of camera feeds Use human mediated interface inject 9 Note time warp and monitoring rover data for rock removal see Step 01070 corresponding video and telemetry data Table 17 Mission Simulation Script for Hannah Phase 2 Problem Scenario Mission Phase 2a Approaching site and clearing the surface off nominal condition Wall clock Time Simulated Mission Actions Hannah see Chapter 2 2 1 Actions WOZ Prob
50. and create 4 inventory list MECA HEART WP3 D2b Draft Mission Simulation Specification 38 of 97 Project Filename MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 SO 00 05 00 MO 00 05 00 Ask Albert for confirmation on route schedule and inventory list Table 11 Mission Simulation Script for Albert Phase 1 Problem Scenario Mission Phase 2a Approaching site and clearing the surface off nominal condition Wall clock Time Simulated Mission Actions Albert see Chapter 2 2 1 for Actions WOZ Problem Scenario Reference Time Reference step references Outline Step Reference Chapter 2 1 3 SO 00 07 00 MO 00 07 00 Put on spacesuit and load cache 5 payload onto rover see Step 02000 SO 00 08 00 MO 00 08 00 Take seat stand on rover 5 see Step 02000 SO 00 08 30 MO 00 08 30 Log into handheld device Use human mediated interface to 5 see Step 02005 make Eurobot move command rover to drive to planned Initiate utility tool to cause gradually location decreasing battery level to be see Step 02010 displayed and notify Hannah on voice loop about A ice Albert Y departure nnounce on voice loop gt ert Bes see Step 02010 are now on your way to the planne cache location SO 00 10 00 MO 00 45 00 No actions yet Inject midcourse location as rover 7
51. attery B has BatteryStatus BS AND BaitteryStatus DG has Levelln Watt y AND Task T has TaskParameter Distance AND TaskParameter Distance has ParValue d AND d x1 x2 x3 x4 gt y THEN Task T has TaskStatus insuffResources PR3 Identify task performer stress IF TaskPerformer T has Emotion Arousal A AND TaskPerformer T has Emotion Valence V ANDA gt 3 AND V lt 3 THEN TaskPerformer T has PerformerStatus stressed 6 3 DIRECTABILITY RULES Allocating tasks DR1 Allocate task plan mission IF Task plan mission has TaskRunState busy AND Task oan mission is allocated to Role PHI THEN Task plan mission is allocated to Role Mission commander DR2 Allocate task clear area IF Task clear area has TaskRunState busy AND Task clear area is allocated to Role R THEN Task clear area is allocated to Role astronaut EVA DR3 Allocate task change battery IF Task change battery has TaskRunState busy MECA HEART WP3 D2b Draft Mission Simulation Specification Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 81 of 97 AND Task change battery is allocated to Role R THEN Task change battery is allocated to Role astronaut EVA DR4 Allocate task drill holes IF Task d
52. aut in the habitat are aware of and understand the environment around them and to predict potential consequences e g potential dangerous situations Safety Safety plays an important role in the scenario For example walking back to the habitat without the robot is regarded as an unsafe course of action Satisfaction In the scenario both the astronaut on EVA and the astronaut in the habitat interact extensively with the prototype This allows the opportunity to assess user satisfaction The data that is collected to assess these measures are described in Section 5 3 Wherever possible standard practices for space operations and the NASA Human Exploration of Mars Design Reference Architecture 5 0 have been taken into account to ensure that the scenario is reasonably realistic This was for example the reason for changing the EVA task from setting up a greenhouse to setting up a cache for exploratory traverses However in some cases operational realism has been sacrificed in order to limit the effort for the simulation runs In particular single astronaut EVAs have been assumed to reduce the required number of experiment subjects 2 1 SCENARIO DESCRIPTION The scenario description is intended to provide overview information at a relatively high level of abstraction for identifying the tasks that need to be performed for achieving the outlined objectives 2 1 1 CONTEXT Six astronauts and four Rovers of varying types and sizes hav
53. based evaluation The participant conducted the evaluation as Albert who had to go on EVA with the Rover to set up a shelter for the cache The other team member was played by a MECA HEART member and conducted the evaluation as Hannah who stayed in the habitat to monitor the mission The participants performed the scenario with and without ePartner these conditions were alternated and assigned beforehand Duration Activity minutes 5 e Welcome amp explanation of purpose e Introduction questionnaire 25 e Introduction to Albert s role e Training with tablet e Demonstration of simulated space suit handling e Introduction to Eurobot to the degree required for scenario execution 25 Condition 1 with or without ePartner e Training with tablet e Scenario execution observer questionnaire e Questionnaire after condition 1 25 Condition 2 with or without ePartner e Training with tablet e Scenario execution observer questionnaire e Questionnaire after condition 2 5 Questionnaire after both conditions 10 Opportunity for participants to provide general feedback about MECA HEART Total 100 Time Table 10 Simulation Session Schedule 3 2 MATERIAL The device used in the experiment by the participants was a Samsung Galaxy Tab S with Android operating system The participant conducting the role of Albert had to perform the EVA with a Rover in this case this was the Eurobo
54. ces actions described in Chapter 2 1 4 section for Albert SO 00 07 20 MO 00 07 20 Initiate transition to Report mission Announce on voice loop to 6 cache location planning as completed Hannah Albert is now on see Step 02010 and drive to location as his way to the planned active cache location see Step 02010 SO 00 07 25 MO 00 07 25 Begin monitoring Display information to 7 processes relevant for enable monitoring EVA processes relevant for see Step 02020 EVA see Step 02020 SO 00 09 00 MO 00 45 00 No particular actions No particular actions Announce on voice loop to _ 8 9 Note time warp Hannah Almost three quarters of an hour have passed Albert has now made approximately half the way to the cache location SO 00 09 05 MO 00 45 05 No particular actions Indicate wheel status 9 and implications of wheel problem on tasks to accomplish see Step 02030 SO 00 09 10 MO 00 45 10 No particular actions Provide solution options 10 abort mission change cache location exchange battery with MECA HEART WP3 D2b Draft Mission Simulation Specification 70 of 97 Filename Project MECA Mission Execution Crew Assistant Status Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx mission impact information to Hannah see Step 02040 SO 00 09 15 MO 00 45 15 No particular actions Update task list and reso
55. clicking Yes S _ habitat is highlighted Proposal to move on without communication system is confirmed i Details of the task return to habitat are shown in particular the fact that it does not use any resource for the communication i heightened arousal and becomes high and Valence becomes IOW mn PerformerStatus of Albert is derived to be stressed A question You seem to feel anxious JS that correct The resources tab is shown in which the resource Albert is highlighted Details of Albert are shown in particular his arousal and valence i ePartner provides eedback on the emotional state i eeling anxious clicking confirm p to let t ePartner perform task return to habitat is proposed y agree with this option appears 99 ake control of Roveri operation and navigation Albert confirms this suggestion i ePartner perform task return to habitat is proposed Proposal to let the OR4 ePartner perform task return to habitat is confirmed i ep Roveri operation and navigation is done by R023 EFS SAT in which the task return to habitat is highlighted to habitat are shown in particular the fact that it is performed by the ePartner
56. corrections MECA HEART WP3 D2b Draft Mission Simulation Specification 2 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 TABLE OF CONTENTS 1 DOCUMENT OVER VIEW viisscdrdscseicuscctsccedadsecenandsencucedtuudcaucteiaxdudeunccdudsundnsadvanacanen 6 2 REVISED MISSION EE eege 7 2 1 SCENARIO DESCRIPTION s sssssssoesnnrennrnnnernsrnrnnnentrintrintrintri trennten nrinn nanana nnarn na 7 A E NET EE 7 21 2 mial later eege ee eege EE ee 8 2 1 3 Problem Scenario Outline without ePartner support 9 2 1 4 Design Scenario Outline with ePartner support 12 2 2 STEPWISE DECOMPOSITION cccccccecsceeeseeeeceeuuceeeeueeeeueeeueueeueusesuaueeneueanaeeenaues 14 2 2 1 Problem Scenario cccceeeseceeececsesesaeceeecececeeseeaeceeeeseseseseeaeceseesesesesseaeseeeeseeeseaaees 14 2 2 2 Design Scenario 0 ceceeececeeeeeceneeeeeeeeeeee seas eecaaeeeeaeeseeeesaaeeeeaaeseeeeeseeeeeiaeeeeaeeseeeeess 19 sr METHOD eclectic ieee EE 33 3 1 DESIGN AND TASK ccrta E aa ENEE 33 3 2 MATERA ege 33 3 3 PARTICIPANTS ccccccceesseeeceeueeeeeeeeeueeeeeeneas ERROR BOOKMARK NOT DEFINED 34 WARIABINES eler 35 3 5 DATA COLLECTION wiviccusvcnosessenersvasvcwssussinicnscesuncrtentuusadeereacsenaavesavnatenenteanwieevnenets 35 d MISSION SIMULATION SCRIPTS ccssscccssseccnssecccseeecseeeneeeeneseees
57. ctional IF Process P has Task T1 AND Process P has Task Tn AND Task T1 has TaskStatus functional AND Task Tn has TaskStatus functional THEN Process P has ProcesStatus functional OR9 Set process status to dysfunctional IF Process P has Task T AND Task T has TaskStatus dysfunctional THEN Process P has ProcessStatus dysfunctional OR10 Set process and task status to finished IF Process P has ProcessStatus deployea AND Process P has Task T AND Task T is followed by Task nil AND task T has ended THEN Task T has TaskRunState finished AND Process P has ProcessStatus finished OR11 Set task status to functional IF Task T has TaskRunState busy AND Task T has TaskStatus insuffResources THEN Task T has TaskStatus functional OR12 Set task status to functional 2 IF Task T uses Resource bi AND Task T uses Resource Rn AND Resource R1 has Status functional AND Resource Rn has Status functional THEN Task T has TaskStatus functional OR13 Set task status to dysfunctional IF Task T uses Resource R AND Resource R has Status dysfunctional THEN Task T has TaskStatus dysfunctional OR14 Set task run state to busy first task IF Process P has ProcessStatus deployea AND Process P
58. docx Status Final SRR Input Date 03 June 2015 battery level to traveled distance and given rover condition depending on nominal resp off nominal journey to cache location Phase 2 resp 2a SO 00 25 05 MO 03 15 05 No particular action Report task return to see Step 04070 habitat as completed and provide corresponding detailed information see Step 04070 SO 00 25 10 MO 03 15 10 No particular action Report process cache Use human mediated see Step 04080 construction as interface to make Eurobot completed stop see Step 04080 Announce on voice loop to Albert You have now returned to the habitat Your mission is completed Table 27 Mission Simulation Script for Albert Phase 4 MECA HEART WP3 D2b Draft Mission Simulation Specification 63 of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 4a Return to habitat off nominal condition Wall clock Time Simulated Mission Actions Albert see Actions ePartner Actions WOZ Design Scenario Reference Time Reference Chapter 2 2 2 for Albert see Chapter Outline Step assuming Phase 2a assuming Phase 2a step references 2 2 2 for step Reference references Chapter 2 1 4 SO 00 21 00 MO 01 43 10 No particular action No particular action Announce
59. e 37 Stepwise Decomposition of Design Scenario with ePartner Phase 2 MECA HEART WP3 D2b Draft Mission Simulation Specification 93 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Action Effect left tab ECA Effect knowledge base Rules required Effect middle tab overv Effect right tab details Outline Step return to habitat task in which the cache construction process is highlighted process screen that Albert is in the next step return to habitat cache construction pro cess are shown The task return to habitat is highlighted Depends on the tab that is selected he BatteryStatus of Bat tery decreases gradually i eceives information from the robot and sees that all processes are he task status of tas to habitat are shown in return to habitat is particular the ETA and functional the task status which is functionar i The my tasks tab is shown in which the task return to habitat is highlighted arrival time in process SAT screen and that the R027 EFS Rover has enough R031 CTL battery level left EFS here for explanation on task status appears Show in resource RO1
60. e arm in right location He goes to control of rover screen and pushes button Albert enters drill depth and instructs the robot to create The status of Roveri and the holes He goes to control of rover screen and inputs i LargeDrill have changed information i to operational i Albert looks at progress of Rover1 in real world and f The status of Roveri and resource screen When Rover1 has drilled al the holes i LargeDrill have changed he takes out cache construction kit out of the Rover and i to finished i folds i MECA HEART WP3 D2b Draft Mission Simulation Specification 16 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Albert looks in documentation PDF what poles go in which hole Table 3 Stepwise Decomposition of Problem Scenario without ePartner Phase 3 Albert communicates that task is completed and he is going back to habitat Hannah keeps track of camera feeds provided by Rover looks out for alarms and requests sensor data i There is a huge setback the wheel orientation Alarm is given that battery The BatteryStatus of Bat problem of the Rover created an extra drag load on level is below lower warning tery decreases gradu the motor draining the battery more quickly than limit ally expected The remaining battery level t
61. e landed on Mars Basic infrastructure like a habitat electricity and wireless network communication is available The rovers are ready for deployment and are currently in the habitat Part of the crew consisting of two persons and one rover is dedicated to the task of setting up a cache for exploratory traverses at a remote location The shelter for the cache is currently stored in the habitat and can be carried by the Rover to the planned location At the location the shelter can be set up as a self construction kit by unfolding it and by fixing it on the ground by drilling holes in the surface and by placing the poles of the shelter in these holes The robot is equipped with a drill to do the drilling The shelter is planned to be placed on a relatively flat location around 12 km from the habitat The exact location of the shelter has not been decided yet as it depends on the presence of medium sized stones that may make the area unsuitable as an exploratory cache location but are too small to be detected on imagery made available to the crew Communication with ground control on Earth is possible MECA HEART WP3 D2b Draft Mission Simulation Specification 7 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 from the habitat but is delayed 8 minutes one way for the distance between Mars and Earth at the time shortly after landing
62. ee Step 01040 Use utility tool to adjust MECA HEART WP3 D2b Draft Mission Simulation Specification 54 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 displayed battery level to reflect traveled distance and being gradually decreased further Use human mediated interface to make Eurobot stop Announce on voice loop to Albert Almost one anda half hours have passed You have now reached the cache location SO 00 10 05 MO 01 30 05 No actions yet Report clear area as 9 see Step 01050 active point it out as a new task and ask Albert for confirmation to initiate it see Step 01050 SO 00 10 10 MO 01 30 10 Initiate clear area Show details related to Use human mediated 9 see Step 01050 clear area interface to make Eurobot see Step 01050 move to rocks SO 00 10 15 MO 01 30 15 No particular actions No particular actions Use human mediated 9 see Step 01060 see Step 01060 interface to make Eurobot remove rocks Inject clear area completion information SO 00 12 00 MO 01 32 00 No particular actions Report clear area as 10 11 see Step 01070 completed drill hole as active see Step 01070 Table 24 Mission Simulation Script for Albert Phase 2 MECA HEART WP3 D2b Draft Mission Simulation Specification 55
63. elter 3 Construction Albert and robot set up the shelter on the surface 4 Return to the habitat Albert and robot return back to the habitat We will describe a problem scenario a sequence of events without ePartner support and a design scenario a sequence of events with ePartner support The scenario is summarized in the two figures below Green lines show the nominal situation blue lines show an off nominal situation and red lines show a failed mission Figure 1 shows the problem scenario in which only one branch results in a successful mission the design scenario in figure 2 shows the actors having ePartner support indicated by its logo which should result in a successful mission in each branch MECA HEART WP3 D2b Draft Mission Simulation Specification 8 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Battery failure Wheel failure ii A E CHO Phase 2a Habitat Figure 1 Problem Scenario with Nominal and Off Nominal Branches Phase 4 4a Planned location area ae Phase 2a Phase 2a Habitat Figure 2 Design Scenario with Nominal and Off Nominal Branches 2 1 3 PROBLEM SCENARIO OUTLINE WITHOUT EPARTNER SUPPORT Phase 1 Preliminary preparation Hannah and Albert work together in the habitat to plan the mission 1 Hannah and Albert mark a location on a map on a tablet d
64. er device with a username and password thereby gaining access to the up to date knowledge base with all information relevant to the cache set up selected plan mission has been completed ap pears particular function pro cess task or resource depends on user choice plan mission becomes finished and that of the task drive to location becomes busy planned location lonitor processes relevant for EVA rover R003 AUT status Albert status EFY SAF planning schedule for EMO SAT task on resource R010 EFS screen map view table SAT view and process R004 screen SAW i R002 EFF 013 EFS Depends on the tab that is epends on the tab that is selected selected Problem with Roveri R005 EFS one of the wheels is SAF SAT eP ep turned in a different R010 EFS i angle compared to the SAT other three off by a R027 EFS slight angle of a few RO15 HME degrees R016 HME SA The wheel status of Wheel 1 has changed The status of the tasks PR2 drive to location and return to habitat becomes i insufficientResources A warning The tasks The my tasks tab is shown drive to location and where the tasks drive to to location and
65. ert i eP eP The task clear area is A start button is shown i i i highlighted in the my tasks tab i A question You have a new task do you want to start it appears Details of the task clear area are shown Confirm start of task Depends on the tab th selected remove rocks from the location Eurobot autonomously removes the rocks is selected R002 EFF i SAW Notify that location has R025 EFS A message Tasi been cleared of rocks R027 EFS clear area has been by showing that the completed appears EVA is in the next step of the process in ocess screen The task drill holes highlighted in the my tasks tab clear area becomes fini shed and that of the task drill holes becomes busy i Table 7 Stepwise Decomposition of Design Scenario with ePartner Phase 2a MECA HEART WP3 D2b Draft Mission Simulation Specification 26 of 97 Phase 3 Construction with ePartner Filename Project MECA Mission Execution Crew Assistant Status Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx tically activates the next task in the process namely the construction ek The ePartner receives R023 EFS the task drilling SAT R025 EFS
66. ery level to traveled distance and given rover condition depending on nominal resp off nominal journey to cache location Phase 2 resp 2a SO 00 29 05 MO 03 15 05 No particular action Report task return to 25 see Step 05170 habitat as completed and provide corresponding detailed information see Step 05170 Report process cache construction as completed see Step 05180 SO 00 29 10 MO 03 15 10 No particular action No particular action Use human mediated 25 see Step 05180 see Step 05180 interface to make Eurobot stop Announce on voice loop to Albert You have now returned to the habitat Your mission is completed Table 28 Mission Simulation Script for Albert Phase 4a MECA HEART WP3 D2b Draft Mission Simulation Specification 67 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 4 2 2 MISSION SIMULATION SCRIPT FOR HANNAH Mission Phase 1 Preliminary preparation Wall clock Time Simulated Mission Actions Hannah see Actions ePartner Actions WOZ limited to Design Scenario Reference Time Reference Chapter 2 2 2 for Hannah see Chapter voice loop Hannah data Outline Step step references 2 2 2 for step injection amp rover control Reference references actions described in Chapter 2 1 4 section for Albert SO Mo Sit down with Albert Hannah s ePartner is not
67. evice 12km from the habitat which they believe is a good location 2 Albert marks a route to the planned location and derives travel time Albert schedules the different phases in the agenda on the tablet device 4 Albert makes a list of the required inventory tools energy etc This is done by manually looking up the required inventory from an existing table That table contains a description of needed equipment per action in each possibly selectable phase step MECA HEART WP3 D2b Draft Mission Simulation Specification 9 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Phase 2 Clearing the surface nominal situation Albert and Rover travel to the planned location and clear the surface Hannah remains in the habitat and monitors the mission 5 Albert controls the Rover and drives it to the planned location 6 Hannah keeps track of camera feeds provided by the Rover keeps a sharp eye on any incoming alarms and occasionally requests sensor data like heart rate internal compressed air pressure levels 7 Albert confirms to Hannah that they reached the spot using their headset 8 Albert instructs Rover to move unwanted rocks out of the selected area 9 Hannah is still monitoring but does not notice any abnormalities 10 Rover successfully finished moving the rocks Phase 2a Clearing the surface off nominal
68. g the assigned rover and place poles e fix the cache e and return to the habitat using the assigned rover 5 2 1 TOOLS AND S W UI FOR ALBERT DESIGN SCENARIO The rover looks as follows MECA HEART WP3 D2b Draft Mission Simulation Specification 76 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Figure 3 Eurobot Use of Eurobot simulated spacesuit cache drill etc will be briefly explained interactively to the participant The Software UI for Albert consists of an Android application running on a tablet with large screen The use of this Software UI is described in RD1 It will be briefly explained interactively to the participant with focus on Albert s part of the mission The following figure gives a first impression of this UI MECA HEART WP3 D2b Draft Mission Simulation Specification 77 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date O3 June 2013 Albert Welcome to MECA Heart The process Monitor mission from habitat has A The process Cache Construction has been deployed You have a new active task What do you want to do Welcome to MECA HEART What do active task Do functional analysis O You have a new active task active ask a The task Plan 10
69. g the entire mission The Rover successfully finished moving the rocks Phase 2a Clearing the surface off nominal situation 6 7 8 10 11 12 Albert s ePartner controls the Rover and drives it to the planned location Hannah monitors the processes on her ePartner Halfway to the desired location the Rover experiences an error one of the wheels is turned in a different angle compared to the other three off by a slight angle of a few degrees The Rover stops driving and starts its recovery procedure FDIR try turning the incorrectly oriented wheel back to its desired location This process and the implication on battery usage are presented to Albert Since the malfunctioning wheel is expected to cause a higher load on the battery several alternatives are valued by the ePartner and presented in a team huddle to both Albert and Hannah This can be alternatives like continuing to the intended location risk on early battery depletion aborting mission and directly returning to the habitat failed mission allocating a second best spot closer to the habitat to deploy the exploratory cache reduced utility of cache or exchanging the drained battery with one initially intended to be stored in the cache slightly reduced utility of cache see figure 2 Albert and Hannah agree on the changed mission with battery exchange Albert s ePartner confirms to Hannah s ePartner that they reached the intended spot
70. has Task T AND T is the first task in P with state planned THEN Task T has TaskRunState busy OR15 Set task run state to busy next task IF Process P has ProcessStatus deployea MECA HEART WP3 D2b Draft Mission Simulation Specification Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 80 of 97 AND Process P has Task T1 AND Process P has Task T2 AND Task T1 is followed by Task T2 AND task T1 has ended THEN Task T1 has TaskRunState finished AND Task T2 has TaskRunState busy 6 2 PREDICTABILITY RULES Identifying compromised entities PR1 Identify compromised functions IF user accepted mission M AND Mission M has Purpose PI AND Purpose P has Value V AND Value V has Function E AND Function F requires Guard G AND Process Pr enacts Guard G AND Process Dr has ProcessStatus idle THEN Function F has FuncStatus compromised PR2 Identify tasks with insufficient battery IF Task T uses Robot R AND Robot R contains Wheel Wi AND Robot R contains Wheel W4 AND Wheel W1 has WheelStatus WS7 AND Wheel W4 has Whee Status WS4 AND WheelStatus WS1 uses Wperkm x7 AND WheelStatus WS4 uses Wperkm x4 AND Robot R contains Battery B AND B
71. he cache process EFS construction process A question Validate the allocation of resources to the tasks appears ePartner does a proposal Albert and Rover will go on EVA he cache and 2 large drills will be taken as nventory five batteries and five oxygen containers as cache Optimal values for eP A i resources are shown See next step Proposed values for MECA HEART WP3 D2b Draft Mission Simulation Specification 21 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 mission time are allocated to the cache set up mission phases Validate proposed resource allocation by schedule and inventory mission parameters overview by clicking i appears d Yes i i Confirm saving of mission parameters by clicking Yes parameters is shown The syste R045 HME that the function maintain SAW safety is compromised R038 EFS because no process is i HME deployed that fulfils it i R036 EFS f i ePartner shows the i A warning The func The functions tab is shown Details of the function NR1 unctional screen and tion maintain safety which contains two maintain safety are i notifies Albert thatthe is compromised
72. he stepwise decomposition of the design scenario is shown by a set of tables according to the following format 1 2 3 e ee OO lO The first column contains a number identifying each step The second column identifies the actor s that performs the action described in the step The third column identifies the target i e the actor s affected by the action receiving a message or being changed in some way as result of the action The fourth column describes the action The fifth column includes additional details about the way how the action will be performed and links to the requirements and claims in brackets The sixth column indicates the effect that the action will have on the left tab the ECA view on the target ePartner s The seventh column indicates the effect that the action will have on the middle tab the overview on the target ePartner s The eighth column indicates the effect that the action will have on the right tab the detailed view on the target ePartner s The ninth column indicates the effect that the action will have on the underlying knowledge base The tenth column indicates the rules required to generate the effect on the knowledge base described in the ninth column in pseudo code The eleventh column indicates the corresponding step in the relevant scenario outline from chapter 2 1 MECA HEART WP3 D2b Draft Mission Simulation Specification 19 of 97 Project MECA Mission Execu
73. his arousal and valence The resources tab is shown in which the resource Albert is and that Albert was eeling quite stressed Depends on the tab that is selected Depends on the tab that R023 EFS screen that the EVA SAT eam has arrived at R002 EFF habitat SAW The position of Albert and Roveri have changed i The status of the task OR10 return to habitat becomes finished S Details of the task return to habitat are shown in particular the taskrunstate which is finished The my tasks tab is shown in which the task return to habitat is highlighted A message Task return to habitat has been completed e status of the process cache construction becomes finished R025 EFS cache construction process has been completed appears Table 9 Stepwise Decomposition of Design Scenario with ePartner Phase 4a N MECA HEART WP3 D2b Draft Mission Simulation Specification 32 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 3 1 DESIGN AND TASK A within subjects design with two conditions was adopted the condition without ePartner and with ePartner In both conditions there was one participant who played a role as part of ateam ina scenario
74. ication is shown in red selected is selected in which the task return to habitat is highlighted The option of moving on without communication system is proposed i with this Effect right tab details tasks of the proces cache construction pro cess are shown The task Depends on the tab that to habitat are shown in particular the estimated current location i without system is proposed 30 of 97 Effect knowledge base The BatteryStatus of Bat tery1 decreases gradually i The communication sta tus of Communication System becomes dysfunctional i The status of the task return to habitat becomes dysfunctional i The status of the cache construction process becomes dysfunctional The status of the function communication becomes compromised Details of the function communication i shown indicating process that communication Rules required Outline Step OR13 ORO OR7 NRI Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Agree to continue R023 EFS The my tasks tab is shown ravelling to habitat by SAT in which the task return to
75. in the relevant scenario outline from chapter 2 1 MECA HEART WP3 D2b Draft Mission Simulation Specification 14 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 password Tablet Albert looks up the procedures in documentation PDF and requirements for setting up a shelter for the cache Albert opens digital map on tablet to look for suitable location with given constraints of building up a shelter Albert marks a good location Hannah agrees Tablet Albert marks a route to planned location on digital map and calculates travel time by means of utility tool on tablet Albert schedules different phases of mission and enters them into utility tool on tablet Albert looks through documentation Albert clicks tab resources Detailed information of PDF for the required inventory and makes a list and sees resources resources is shown Table 1 Stepwise Decomposition of Problem Scenario without ePartner Phase 1 password to obtain access to the mission data Albert gives Roveri command to drive to planned location He goes to control of rover screen and pushes button Tablet2 Hannah keeps track of camera feeds provided by Rover looks out for alarms and requests sensor data Problem with Roveri and it stops driving one of the wheels is turned in a different angle c
76. isplayed battery level to MECA HEART WP3 D2b Draft Mission Simulation Specification 56 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 reflect traveled distance and being gradually decreased further Announce on voice loop to Albert Almost three quarters of an hour have passed You have now made approximately half the way to the cache location Inject simulated wheel angle deviation to generate corresponding sensor readings Use human mediated interface to make rover stop SO 00 09 05 MO 00 45 05 No particular actions Indicate wheel status 9 and implications of wheel problem on tasks to accomplish see Step 02030 SO 00 09 10 MO 00 45 10 No particular actions Provide solution options 10 abort mission change cache location exchange battery with mission impact information to Albert see Step 02040 SO 00 09 15 MO 00 45 15 Select battery Update task list and 11 exchange option resource allocation see Step 02045 according to selected option see Steps 2045 amp MECA HEART WP3 D2b Draft Mission Simulation Specification 57 of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx 02050 SO 00 09 20 MO 00 45
77. issionSimulationSpecs docx Mission Phase 4 Return to habitat nominal condition Wall clock Time Reference assuming Phase 2a Simulated Mission Time Reference assuming Phase 2a Actions Hannah see Chapter 2 2 2 for step references Actions ePartner Hannah see Chapter 2 2 2 for step Actions WOZ limited to voice loop Hannah data injection amp rover control Design Scenario Outline Step Reference references actions described in Chapter 2 1 4 section for Albert SO 00 21 00 MO 01 43 10 No particular action No particular action Announce on voice loop to 20 see Step 04010 see Step 04010 Hannah Albert is now on his way back to the habitat SO 00 23 00 MO 02 30 00 No particular action No particular action Announce on voice loop to 20 Note time warp see Step 04030 see Step 04030 Hannah Slightly more than three quarters of an hour have passed Albert has made good progress on the way to the habitat SO 00 23 05 MO 02 30 05 No particular action Provide information on 21 see Step 04040 estimated arrival time and sufficient remaining battery level for safe return offer explanation on tasks status see Step 04040 SO 00 25 05 MO 03 15 05 No particular action Report task return to 22 Note time warp see Step 04070 habitat as completed and provide corresponding detailed information see Step 04070 SO 00 25 10 MO 03 15 10 No particular action
78. k 18 see Step 05030 SO 00 21 00 MO 01 42 00 Mount rover and command it to drive Use human mediated interface to 18 back to habitat make Eurobot move see Step 05040 Use human mediated interface to specify power consumption according to wheel offset Phase 2a Announce on voice loop to Albert You are now on your way back to the habitat SO 00 23 00 MO 02 45 00 No particular action Inject position corresponding to travel 19 Note time warp see Step 05050 time Use utility tool to adjust battery level to traveled distance and power consumption according to wheel offset Phase 2a Use human mediated interface to make rover stop Announce on voice loop to Albert About one hour has passed You are about 4 kilometers away from the habitat MECA HEART WP3 D2b Draft Mission Simulation Specification 43 of 97 Project Filename Status Date 03 June 2015 MECA Mission Execution Crew Assistant Final SRR Input MECA HEART WP3 D2b MissionSimulationSpecs docx SO 00 23 30 MO 02 45 30 Notify Hannah on voice loop about 20 beginning of walk back to habitat dismount rover and start walking see Step 05100 SO 00 25 00 MO 03 45 00 Arrive at habitat and notify Hannah on Announce on voice loop to Albert 20 voice loop about arrival see Step 05170 About one hour has passed You are now back at the habitat Table 14 Mission Simulation Script for Albert
79. l to adjust displayed battery level to reflect traveled distance with increased power consumption Use human mediated interface to MECA HEART WP3 D2b Draft Mission Simulation Specification 40 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 make Eurobot stop Announce on voice loop to Albert About one and a half hours have passed You have now reached the cache location SO 00 14 30 MO 01 35 30 Notify Hannah on voice loop that 11 cache location has been reached see Step 02090 SO 00 15 00 MO 01 36 00 Look up next activity in agenda 13 documentation see Step 0200 and instruct rover to remove rocks from cache site see Step 02120 Table 12 Mission Simulation Script for Albert Phase 2a Problem Scenario MECA HEART WP3 D2b Draft Mission Simulation Specification 41 of 97 Project Filename Status MECA Mission Execution Crew Assistant Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 3 Construction Wall clock Time Simulated Mission Actions Albert see Chapter 2 2 1 for Actions WOZ Problem Scenario Reference Time Reference step references Outline Step assuming Phase 2a assuming Phase 2a Reference for Phase 2 subtract for Phase 2 subtract Chapter 2 1 3 3
80. lem Scenario Reference Time Reference for step references Outline Step Reference Chapter 2 1 3 SO 00 08 30 MO 00 08 30 Begin keeping track of camera feeds Use human mediated interface inject 6 and monitoring rover data for trip to corresponding video and telemetry cache location data see Step 01070 SO 00 11 00 MO 00 46 00 Discuss failed complete wheel 9 Note time warp recovery problem with Albert Look up documentation and confirm Albert suggestion to continue mission see Step 02040 MECA HEART WP3 D2b Draft Mission Simulation Specification 47 of 97 Project Filename Status MECA Mission Execution Crew Assistant Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx SO 00 15 00 MO 01 36 00 Note time warp Begin keeping track of camera feeds and monitoring rover data for rock removal see Step 02115 Use human mediated interface inject corresponding video and telemetry data 11 Table 18 Mission Simulation Script for Hannah Phase 2a Problem Scenario Mission Phase 3 Construction Wall clock Time Simulated Mission Actions Hannah see Chapter 2 2 1 Actions WOZ Problem Scenario Reference Time Reference for step references Outline Step assuming Phase 2a assuming Phase 2a Reference for Phase 2 subtract for Phase 2 subtract Chapter 2 1 3 3 minutes 3 minutes SO 00 16 30
81. ly than originally anticipated for battery capacity of old battery would not have been sufficient Albert returns to habitat safely and the mission is completed Phase 4a Return to habitat off nominal situation 20 21 22 23 24 Hannah s ePartner is receiving information from the robot and sees that all processes are OK Suddenly the transmission signal is interrupted and she loses all communication with the Rover Both Albert and Hannah get a warning from their ePartners that the communication signal is lost Alberts ePartner records data to be sent to the habitat when communication is re established Hannah s ePartner supports Hannah with predicted values of Alberts location and helps preparing a rescue plan in case the communication is not restored within a certain period of time Albert s ePartner supports Albert by informing him about the possibility to keep waiting at the current location or continue the mission without communication to the habitat Since the cache has been erected successfully the ePartner indicates an autonomous journey back to the habitat with backup navigation equipment is the safest option Rover operation and navigation by means of backup navigation system is done by the ePartner giving Albert time to try reestablishing the connection to the habitat MECA HEART WP3 D2b Draft Mission Simulation Specification 13 of 97 Project MECA Mission Execution Crew Assistant Filename MEC
82. more quickly than expected The remaining battery level turns out to be not enough to cover the trip back to the habitat The battery level falls below the lower warning limit is reached and a warning message is generated Finally the Rover stops moving halfway with a depleted battery Albert still needs to get back to the habitat This requires a walk without aid from the Rover which adds risk to the mission Furthermore recovery of the Rover requires additional resources and time and therefore adversely affects the mission schedule potentially reducing the achievable results of exploratory activities Phase 4b Return to habitat off nominal following Phase 2 18 19 20 Hannah is still receiving all sensory data information from the robot e g on battery level Suddenly the transmission signal is interrupted and she loses all communication with the Rover Albert also receives the warning about the communication signal being lost He has to decide himself what to do now wait until communication is restored if this will ever happen wait for Hannah to pick him in a rescue mission continue the mission or abort and directly try to find the habitat without having a possibility to keep Hannah informed about his status Albert decides it is too risky to stay where he is with a limited amount of oxygen and battery so he decides to try and find the habitat manually Operating the Rover without communications channel is possible bu
83. ne 2015 7 APPENDIX A REFERENCES RD1 MECA HEART WP2 R3A User Manual Antonio Olmedo Soler 18 Feb 2015 MECA HEART WP3 D2b Draft Mission Simulation Specification 84 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 8 APPENDIX B REQUIREMENTS Requirement Agent version step in use case Non agent version nominal steps in brackets MECA shall visually represent the current location of actors and resources HEART In map the current location of Electronic map is R002 actors and resources is available with location represented of actors and 02020 02070 02080 02130 resources 05170 01020 01030 01060 04070 MECA shall support crew to decide a location based on given goals and 00060 constraints HEART R006 MECA shall monitor the current status of all actors and resources HEART R003 00050 02020 02070 Devices monitor own questionnaire 01020 health MECA shall monitor the location of a robot while it follows a planned route Is MECA monitoring the location HEART R009 Or only representing Not on Thursday but there will be a rule for this When the location or status of a resource changes MECA shall update the 02020 02030 02070 02080 information in the inventory HEART R010 02130 03030 05030 01020 01030 01060 04030 04060 MECA shall re
84. neseneeeseneeesenes 36 4 1 PROBLEM SGCENARIO trennten trit na ananena nanana nanan nenn 37 4 1 1 Mission Simulation Script for Albert 37 4 1 2 Mission simulation script for Hannah 46 4 2 DESIGN GCENARIO nrnna nnen trana aranana nanana nnen nnenn 50 4 2 1 Mission Simulation Script for Albert 51 4 2 2 Mission Simulation Script for Hannah 68 5 EXPERIMENT TEST SUBJECT INSTRUCTIONS FOR SIMULATIONS c0ssesenssesenes 76 5 1 SIMULATION SCENARIO OVERVIEW uu cccccceecsceeceseeeceeuecesuuuseeeuseeueueeeeeeeeaeeeneues 76 5 2 INTRODUCTION TO ROLE ALBERT 76 5 2 1 Tools and S W UI for Albert Design Gcenatol erreen 76 5 2 2 S W Ul for Albert Problem Scenario c ccceeceeceeeeeeeeeeeeeeseeeeeseaeeeseaeeeeeeeeeeeeess 78 5 3 INTRODUCTION TO ROLE HANNAH 78 5 3 1 S W Ul for Hannah Design Scenario ccccceceeeeeeeeeeeeneeeeeeeeeeeeeseaeeeeeeeeeeeeess 78 5 3 2 S W Ul for Hannah Problem Scenario ssessesseesseessesnesresrissrissrrssrinsrrnsrnsrnee 78 EE 79 6 1 OBSERVABILITY RULES ccccccccccceecceeceseueceeeuceseeueeeuueeeuuueeueuseeuuueenueeaeaeeeneues 79 6 2 PREDICTABILITY RULES c cccccccccccsceececeeeceeueeeeeeeseueueeeueueeeeuseeaaueeuegeeeaeeenaags 81 6 3 DupECTrApIUTvRuULES ttin aninaniraninaniennnen nrn n rnn nnne 81 6 4 NOomEIGATIONHULES aran a eE E a N E Ea 83 7 APPENDIX A REFERENCES csccccsssecccssecensseecnseeeenseeeeneeeeeneseeeeeeeneeesenseesenas 84 8 APPENDIX B RE
85. of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 2a Approaching site and clearing the surface off nominal condition Wall clock Time Simulated Mission Actions Albert see Actions ePartner Actions WOZ Design Scenario Reference Time Reference Chapter 2 2 2 for Albert see Chapter Outline Step step references 2 2 2 for step Reference references Chapter 2 1 4 SO 00 06 00 MO 00 06 00 Put on spacesuit and load cache payload onto rover see Step 02000 SO 00 07 00 MO 00 07 00 Take seat stand on rover see Step 02000 SO 00 07 15 MO 00 07 15 Log into ePartner Obtain up to date cache 6 see Step 02005 set up mission plan from central knowledge base see Step 02005 SO 00 07 20 MO 00 07 20 Initiate transition to Report mission Use human mediated 6 cache location planning as completed interface to make Eurobot see Step 02010 and drive to location as move active Initiate utility tool to cause see Step 02010 gradually decreasing battery level to be displayed Announce on voice loop to Albert You are now on your way to the planned cache location SO 00 09 00 MO 00 45 00 No particular actions No particular actions Inject midcourse location as 8 9 Note time warp rover position Use utility tool to adjust d
86. of columns landscape page layout has been selected in some sections for the convenience of readers MECA HEART WP3 D2b Draft Mission Simulation Specification 6 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 2 REVISED MISSION SCENARIO The outlined mission scenario is intended to set the frame for the simulation of combined crew and robotic activities for achieving mission objectives of a future Mars exploration mission in order to evaluate the MECA HEART prototype of an advanced ePartner based mission support system The Hypotheses of the MECA Heart prototype have been described in Section 5 of document MECA HEART WP1 Dia HEART Requirements The scenario is designed in such a way that each hypothesis can be tested The most prominent measures of performance against which MECA Heart will be assessed are Effectiveness In the scenario this means the ability to complete the mission objective setting up the cache despite of unfortunate events i e resilience Efficiency In the scenario this means that the workload of the human actors will be reduced by the MECA Heart prototype This aspect applies to every phase of the scenario preparation mission execution and returning to the habitat Situation awareness In the scenario this means that the involved actors both the astronaut on EVA and the astron
87. oject MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 5 EXPERIMENT TEST SUBJECT INSTRUCTIONS FOR SIMULATIONS The experiment test subject instructions are intended to guide the familiarization of the test participants with the overall scenario and the roles they will play during the simulation runs as well as the hardware and software that they will use for playing their roles 5 1 SIMULATION SCENARIO OVERVIEW Albert and Hannah are part of a team of six astronauts that have landed on Mars Their mission is to erect an exploratory cache for supporting future exploratory traverses For fulfilling this mission they have one of four rovers and the material and tools for building the cache at their disposal At the beginning of the mission Albert and Hannah are in the habitat The habitat will be erected at a distance of 12 km from the habitat Fulfilling the mission from planning to completion will take about three to three and a half hours This mission is simulated within approximately half an hour so several time warps occur The rover is simulated using Eurobot a robotic technology demonstrator at ESTEC 5 2 INTRODUCTION TO ROLE ALBERT Albert is responsible for erecting the cache In order to do this he has to e traverse to the cache location using the assigned rover e prepare the site as required e unfold the cache e drill holes usin
88. ompared to the other three off by a slight angle of a few degrees Rover gives alarm that there is a problem and FDIR A warning There is a has started problem with the Rover MECA HEART WP3 D2b Draft Mission Simulation Specification 15 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 recovery procedure has been started Rover is able to turn wheel back partly The wheel status of Wheel 1 has changed to deviation of 1 i Rover1 gives alarm that FDIR failed to turn back wheel completely A warning FDIR has failed wheel 1 has a deviation of 1 Albert and Hannah discuss problem look in documentation and decide to continue mission Albert commands rover to continue trip to cache site By voice Albert confirms to Hannah that he has reached the planned location i 02120 A Pi Albert instructs Rover to move unwanted rocks outof 1 i i f the selected area Albert goes to control of rover screen i i i and gives the command annah keeps track of camera feeds p Rover looks out for alarms and requests sensor data ve been removed from ar Status in resource screen process screen Table 2 Stepwise Decomposition of Problem Scenario without ePartner Phase 2a Phase 3 Construction without ePartner th
89. on voice loop to 20 see Step 05010 see Step 05010 Albert You are now on your way back to the habitat SO 00 23 00 MO 02 30 00 No particular action No particular action Announce on voice loop to 20 Note time warp see Step 05030 see Step 05030 Albert Slightly more than three quarters of an hour have passed You have made good progress on the way to the habitat Inject position info corresponding to travelled distance Use utility tool to adjust battery level to traveled distance and given rover condition depending on nominal resp off nominal journey to cache location Phase 2 resp 2a Inject communication interruption SO 00 23 05 MO 02 30 05 No particular action Report failure of 21 see Step 05040 communication function and provide corresponding detailed information SO 00 23 10 MO 02 30 10 Show options wait or MECA HEART WP3 D2b Draft Mission Simulation Specification 64 of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx continue journey back to habitat with explanations and suggest to continue journey back to habitat See Step 5100 SO 00 23 15 MO 02 30 15 Confirm continuing Confirm continuation of 24 journey back to habitat task return to habitat without showing detailed communication information related to
90. ose resource reallocations HEART R018 Does the user propose resource reallocations Task interaction with resources user can add resources User can reallocate resources MECA HEART WP3 D2b Draft Mission Simulation Specification 87 of 97 Status Final SRR Input Date 03 June 2015 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx to forms MECA shall update current schedule based on decisions made by the user HEART R033 02050 05120 MECA shall be able to commit proposed resource reallocations by collecting acceptance of all stakeholders HEART R019 Same question as for R018 Not applicable MECA shall monitor the status of each function HEART R036 00100 05040 HEART R045 MECA shall monitor the status of communications and detect possible problems 00100 05040 MECA shall alert the user of any functional inadequacy HEART R038 00100 05040 to establish direct contact with others HEART R046 MECA shall warn the user when a communication process fails and is not possible 05040 MECA shall propose alternative processes plans to solve any functional problems HEART R039 00105 05100 When communication is interrupted MECA shall store messages preparing to deliver them when the communication is restored HEART R047 05050 messages HEART R048 When communication is
91. ototype ePartner see Step 0010 SO 00 00 05 MO 00 00 05 Request to work on Offer available options 1 processes including adding of new see Step 0020 process and initially empty list of processes see Step 0020 SO 00 00 10 MO 00 00 10 Request to add new Provide list of available 1 process processes and request see Step 0020 for selection see Step 0025 SO 00 00 15 MO 00 00 15 Select cache Highlight cache 1 construction process construction process see Step 0030 and provide process related details see Step 0030 SO 00 00 20 MO 00 00 20 Request deployment Display cache 1 of cache construction process construction process as deployed and highlight MECA HEART WP3 D2b Draft Mission Simulation Specification 51 of 97 Filename Project MECA Mission Execution Crew Assistant Status Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx see Step 0040 initial task plan mission see Step 0040 SO 00 00 25 MO 00 00 25 No particular action Allocate plan mission 1 yet task to mission commander Hannah and ask for confirmation see Step 0050 SO 00 00 30 MO 00 00 30 Confirm task allocation Show task related 1 2 see Step 0050 details including optimal cache location with supporting information and ask for confirmation of cache location see S
92. present the current status of all actors and resources HEART R004 02020 02070 Current status of 01020 actors and resources is presented as a list MECA shall produce a list of resources necessary for a sequence of tasks based 00080 on the predefined needs and constraints of each task and the availability and status of the resources HEART R007 questionnaire MECA shall report on the assignment of resources to scheduled task blocking 00050 MECA HEART WP3 D2b Draft Mission Simulation Specification 85 of 97 Project MECA Mission Execution Crew Assistant Filename Status Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b MissionSimulationSpecs docx them for the selected period HEART R008 MECA shall raise an alarm when the status of some resource matches a certain condition HEART R005 02030 05040 Resources give their own alarms when out of bounds MECA shall visually represent all planned processes including task ordering parallelism resource allocation and communications HEART R012 MECA shall propose a schedule assigning time and duration for each task to be performed by each team member and assignment of resources HEART R021 00080 MECA shall provide a global overview of the current situation of each actor and the status of the planned activities HEART R022 MECA shall let the user select a task in the schedule and see details about it HEART R023 Tasks a
93. re shown in the right tab flow chart and details and status is available 00060 02090 02120 03020 03060 03090 03100 05060 05110 05125 05170 01050 04040 04070 Tasks are shown in the right tab flow chart No support as to whether tasks are active or details are not available MECA shall guide the user following a sequence of actions to be executed in the right order and providing detailed instructions when the user needs them HEART R024 00040 00060 02050 02090 01050 MECA shall monitor the current status of all processes HEART R013 0220 02070 0120 Current status of processes is not monitored MECA shall update status of scheduled tasks when user finishes or starts them HEART R025 00050 02045 02080 02110 02140 03020 03040 03057 03080 03085 05180 01010 01040 01070 04070 MECA shall log information of executed actions WEART R026 MECA shall represent the current status of all processes HEART R014 00030 00110 02050 05020 04020 Current status of processes is not shown MECA HEART WP3 D2b Draft Mission Simulation Specification 86 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 MECA shall report significant change of a task status HEART R027 00040 00110 02010 02030 02045 02080 02110 0
94. ress any alarms that are subsumed by a higher level alarm HEART R053 MECA shall adapt the level of detail in the resource process and functional presentations to its user and the user context HEART R054 MECA shall explain any proposed solutions to the user HEART R055 MECA shall support traversing the part whole relationship HEART R056 MECA HEART WP3 D2b Draft Mission Simulation Specification 89 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 9 APPENDIX B NOMINAL SCENARIO 9 1 STEPWISE DECOMPOSITION PROBLEM SCENARIO IN NOMINAL CONDITIONS resources are selected Tablet Albert logs in on his device with a username and password Albert gives Roveri command to drive to planned f Status of Rover changes location He goes to control of rover screen and pushes to driving annah keeps track of camera feeds pr Rover looks out for alarms and requests sensor data Roveri have changed in sources screen By voice Albert confirms to Hannah that he has reached the planned location Albert instructs Rover to move unwanted rocks out of Status of Rover changes the selected area Albert goes to control of rover screen i to clearing surface and gives the command i Hannah keeps track of camera feeds provided by Rover looks out for alarms and reque
95. restored after an interruption MECA shall send the stored Cannot find this see step 05150 When direct communication with a monitored actor is lost MECA shall calculate the possible location HEART R049 05060 MECA shall allow the user to select alternative processes for achieving mission goals HEART R040 MECA shall accept delegation from user to control a robot HEART R041 MECA shall control a robot sending commands to ensure that it follows the planned route HEART R042 When the user gets isolated MECA shall adapt planned actions to be performed without support from others based on the goals and the status of resources HEART R043 MECA shall support decision making process evaluating possible impact of actions on status of resources and probability to fulfill goals HEART R044 MECA shall support crew in decision making process based on given goals and constraints HEART R059 MECA HEART WP3 D2b Draft Mission Simulation Specification 88 of 97 Project MECA Mission Execution Crew Assistant Status Final SRR Input Date 03 June 2015 Filename MECA HEART WP3 D2b MissionSimulationSpecs docx MECA shall communicate at the appropriate level of abstraction HEART R052 MECA shall send commands to the robot to change its configuration HEART R057 MECA shall send commands to robot asking to perform planned tasks HEART R058 MECA shall supp
96. rill holes has TaskRunState busy AND Task drill holes is allocated to Role R THEN Task drill holes is allocated to Role ePartnerA DR5 Allocate task unfold cache IF Task unfold cache has TaskRunState busy AND Task unfold cache is allocated to Role R THEN Task unfold cache is allocated to Role astronaut EVA DR6 Allocate task return to habitat IF Task return to habitat has TaskRunState busy AND Task return to habitat is allocated to Role PHI THEN Task return to habitat is allocated to Role astronaut EVA DR7 Place task in task list IF Task T has TaskRunState busy AND Task T is allocated to Role R AND TaskPerformer TP enacts Role R THEN Task T is in task list of TaskPerformer TP Making suggestions to user DR8 Propose aborting mission IF Mission M has Purpose P AND Purpose P has Value V AND Value V has Function E AND Function F requires Guard G AND Process Pr enacts Guard G AND Process Pr has Task T AND Task T has TaskStatus insuffResources THEN Action abort is proposed for Mission M DR9 Propose process for compromised function IF Function F has FuncStatus compromised AND Function F requires Guard G AND Process Pr enacts Guard G THEN Process Pr is proposed for Guard CG DR10 Propose task parameter IF Process P has Ta
97. rocess Pr is proposed for Guard G AND user accepts proposed process Pr THEN Process Pr has ProcessStatus deployed OR3 Confirm task parameter IF ParValue V is proposed for TaskParameter TP AND user accepts proposed parameter value V THEN TaskParameter TP has ParValue V OR4 Confirm resource for task IF Resource R is proposed for Task T AND user accepts proposed resource R THEN Task T uses Resource R ORS Confirm battery replacement IF Task T uses Battery B1 AND Battery B2 is proposed for Task T AND Process P has Task T AND user accepts proposed battery B2 MECA HEART WP3 D2b Draft Mission Simulation Specification 79 of 97 THEN Task T uses Battery B2 AND Process P has Task replace battery AND add battery replace task before Task T Setting status of functions processes and tasks OR6 Set function status to functional IF Function F has Process P17 AND Function F has Process Pn AND Process P1 has ProcessStatus functional AND Process Pn has ProcessStatus functional THEN Function F has FuncStatus functional OR7 Set function status to compromised IF Function F has Process P AND Process P has ProcessStatus dysfunctional THEN Function F has FuncStatus compromised OR8 Set process status to fun
98. s WOZ limited to Design Scenario Reference Time Reference Chapter 2 2 2 for Hannah see Chapter voice loop Hannah data Outline Step assuming Phase 2a assuming Phase 2a step references 2 2 2 for step injection amp rover control Reference for Phase 2 subtract for Phase 2 subtract references actions described in Chapter 2 1 4 2 minutes 2 minutes section for Albert SO 00 18 00 MO 01 41 00 No particular actions Report completion of 17 see Step 03040 drilling see Step 03040 SO 00 18 05 MO 01 41 05 No particular actions Report task unfold 18 see Step 03050 cache as active see Step 03050 SO 00 18 10 MO 01 41 10 No particular actions Report task unfold 19 see Step 03055 cache as completed Report successful task cache fixing as unfolding active see Step 3057 see Step 03060 SO 00 20 00 MO 01 43 00 No particular actions Report completion of 19 all poles have finally cache fixing task been marked as see Step 03080 placed see Step 03080 SO 00 20 05 MO 01 43 05 No particular actions Report task return to 19 see Step 03090 habitat as active see Step 03090 Table 32 Mission Simulation Script for Hannah Phase 3 MECA HEART WP3 D2b Draft Mission Simulation Specification 72 of 97 Project Filename Status Date Final SRR Input 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b M
99. s added covering both simulated mission time the time to be expect for a real mission and the experiment time wall clock time considerably shorter in order to avoid wasting resources when conducting the experiments Furthermore the Wizard of Oz WOZ actions are described which act as a substitute to address limitations of the simulation environment In particular due to safety restrictions and technical constraints no S W accessible API to the Eurobot system is available Therefore the WOZ will operate a human mediated interface to the Eurobot to initiate the desired robotic operations and also provide Eurobot related data to the simulation participants Depending on the progress of the prototype software development activities WOZ actions may also be required to overcome limitations of the MECA HEART prototype Furthermore simulation within the simulation will be required at the mechanical level In order to not interfere with the Eurobot power system the battery exchange activity will have to be performed using substitute hardware Additionally some sort of space suit substitute will be required to make the EVA simulation more realistic MECA HEART WP3 D2b Draft Mission Simulation Specification 36 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 4 1 PROBLEM SCENARIO The mission simulation scripts for the problem scenario
100. s away from the habitat Inject communication failure to trigger corresponding alarm message to be raised SO 00 21 30 MO 02 45 30 Continue trip back to habitat with 20 limited communication and navigation capabilities see Step 6100 SO 00 23 00 MO 03 20 00 Inject habitat position 20 Note time warp Use utility tool to adjust battery level to traveled distance and nominal rover condition Phase 2 Announce on voice loop to Albert About half an hour has passed You have now reached the habitat Use human mediated interface to make Eurobot stop Table 15 Mission Simulation Script for Albert Phase 4b Problem Scenario MECA HEART WP3 D2b Draft Mission Simulation Specification 45 of 97 Filename Project MECA Mission Execution Crew Assistant Status Final SRR Input Date 03 June 2015 4 1 2 MISSION SIMULATION SCRIPT FOR HANNAH MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 1 Preliminary preparation Wall clock Time Simulated Mission Actions Hannah see Chapter 2 2 1 Actions WOZ Problem Scenario Reference Time Reference for step references Outline Step Reference Chapter 2 1 3 SO MO Sit down with Albert for planning No Wizard of Oz actions required 1 mission basic functionality for mission planning see Step 00010 provided by prototype SO 00 03 00 MO 00 03 00 Agree to Alber s proposal for cache 1 location see
101. sk T AND Task T has TaskParameter TP AND TaskParameter TP has ParValue nil AND V is the optimal parameter value for TP THEN ParValue V is proposed for TaskParameter TP DR11 Propose alternative task parameter IF Task T has TaskStatus insufficientResources AND Task T has TaskParameter TP AND TaskParameter TP has ParValue V1 AND V2 is an alternative value for V1 THEN ParValue V2 is proposed for TaskParameter TP DR12 Propose task parameter route IF TaskParameter LocationOfCache has Value L AND R is optimal route for location L THEN Value R is proposed for TaskParameter Route DR13 Propose resource for task IF Process P has Task T MECA HEART WP3 D2b Draft Mission Simulation Specification Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date O3 June 2013 82 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date O3 June 2013 AND Task T requires Functionality F AND Resource R provides Functionality F AND R is the best possible resource AND Task T uses Resource bi THEN Resource R is proposed for Task T DR14 Propose alternative resource for task IF Task T has TaskStatus insufficientResources AND Task
102. sts sensor data ocks have been removed from area show current status in process screen Table 35 Stepwise Decomposition of Problem Scenario without ePartner Phase 2 MECA HEART WP3 D2b Draft Mission Simulation Specification 90 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 MECA HEART WP3 D2b Draft Mission Simulation Specification 91 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Action Effect middle tab overv Effect right tab details Effect knowledge base Outline Step Albert communicates that task is completed and he is going back to habitat i annah requests sensory dai he BatteryStatus of Ba Hannah sees that the Roveri battery level should be i tery decreases gradu enough to get back to the habitat Hannah and Albert ally decide to commence journey back to habitat Albert mounts rover and commands it to drive back to the habitat ps track of camera feeds pri Rover looks out for alarms and requests sensor data Albert arrives back at habitat and mission is completed Albert communicates arrival to Hannah Table 36 Stepwise Decomposition of Problem Scenario without ePartner Phase 4 9 2 STEPWISE DECOMPOSITION DESIGN SCENARIO IN NOMINAL
103. t List of material needed during experiment e Two walkie talkies for communication between Hannah and Albert participant e Five batteries drill and oxygen tank to load onto Rover and store in cache e Pop up tent to serve as cache MECA HEART WP3 D2b Draft Mission Simulation Specification 33 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 e Two tablets with App software e WoOZ control unit Hannah during EVA Objects in room L Habitat preparation area WAS ZOM operator Objects in room Objects in room location E Te Uo MECA HEART WP3 D2b Draft Mission Simulation Specification 34 of 97 Project MECA Mission Execution Crew Assistant Filename gt MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 3 3 VARIABLES In the scenario there are important events where we expected differences between the conditions e When communication fails e Wrong positioned wheel e Albert stresses e Failure of safety function for mission is detected with ePartner 3 4 DATA COLLECTION During the experiment we will collect data from various sources i e e The low level interaction logs of the ePartner software e g which tabs are selected which buttons are clicked etc e The observed behavior and decisions made by the test subjects i e ho
104. t his navigational abilities are limited since only a backup navigation system is available and everything now is operated manually and he has to keep track of the sensory data of the Rover himself as well This adds risk to the mission MECA HEART WP3 D2b Draft Mission Simulation Specification 11 of 97 2 1 4 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 DESIGN SCENARIO OUTLINE WITH EPARTNER SUPPORT Phase 1 Preliminary preparation E E elt Hannah and Albert plan the mission together in the habitat Albert s ePartner suggests a location that is suitable for building an exploratory cache ePartner plans route to the location and derives travel time ePartner suggests a schedule with the different phases ePartner proposes required inventory oxygen supply several batteries to provide power for future exploratory traverses amp other items by deriving this from background knowledge CWA Phase 2 Clearing the surface nominal situation Sir i 10 11 Albert s ePartner controls the Rover and drives it to the planned location Hannah monitors the processes on her ePartner Albert s ePartner confirms to Hannah s ePartner that they reached the spot Albert delegates to the ePartner to instruct the Rover for moving unwanted rocks from the selected area Hannah gets process updates on her ePartner durin
105. tep 0060 SO 00 01 00 MO 00 01 00 Confirm suggested Show optimal route to 2 3 cache location cache location and ask see Step 0060 for confirmation see Step 0070 SO 00 01 30 MO 00 01 30 Confirm suggested Show proposal for 3 4 5 route allocation of process see Step 0070 resources Albert Rover1 cache and two large drills as inventory required mission time to mission phases and ask for confirmation see Step 0080 SO 00 02 00 MO 00 02 00 Confirm suggested Show mission parameter 4 5 schedule and summary and request inventory saving them see Step 0090 see Step 0090 SO 00 02 05 MO 00 02 05 Confirm saving of Indicate missing safety 4 5 mission parameters function see Step 0090 see Step 0090 MECA HEART WP3 D2b Draft Mission Simulation Specification 52 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 suggest to add process for maintaining safety by performing task of monitoring the mission from the habitat see Step 0100 and ask for confirmation see Step 0105 SO 00 03 00 MO 00 03 00 Confirm adding safety Show process overview ensuring process and with cache construction task and monitoring process see Step 0105 and details of monitoring process see Step 0110 Table 23 Mission Simulation Script for Albert Phase 1 MECA HEART WP3 D2b Draft Mission
106. ting DR14 Battery2 instead of Batte ry1 to the task return to habitat is proposed A creative solution hat minimizes the mpact could be to use one of the batteries oreseen for the cache o replace the one that may fail on the journey back due to the additional drain A question Which A list of all alternative option do you want to options appears along with execute appears additional explanation about the predicted effect of these options from which the Decide to go with option to replace the battery The process battery exchange DR A message The R027 EFS process has been becomes available deployed appears HEART 028 he plan is updated by he process tab is shown etails of the process Proposal to use Battery2 adding the battery R024 EFS in which the cache cache construction pro for the task return to exchange activity To R014 construction process is cess are shown Now habitat is confirmed and best balance time R033 EFY highlighted an additional task change and d MECA HEART WP3 D2b Draft Mission Simulation Specification 24 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015
107. tion SO 00 07 25 MO 00 07 25 Begin monitoring Display information to 7 processes relevant for enable monitoring EVA processes relevant for see Step 01020 EVA see Step 01020 SO 00 10 00 MO 01 30 00 No particular actions Report drive to location Announce on voice loop to 8 9 Note time warp see Step 01030 as completed Hannah Almost one and a see Step 01040 half hours have passed Albert has now reached the cache location SO 00 10 05 MO 01 30 05 No particular actions Report clear area as 9 see Step 01050 active see Step 01050 SO 00 12 00 MO 01 32 00 No particular actions Report clear area as 10 11 see Step 01070 completed drill hole as active see Step 01070 Table 30 Mission Simulation Script for Hannah Phase 2 MECA HEART WP3 D2b Draft Mission Simulation Specification 69 of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 2a Approaching site and clearing the surface off nominal condition Wall clock Time Simulated Mission Actions Hannah see Actions ePartner Actions WOZ limited to Design Scenario Reference Time Reference Chapter 2 2 2 for Hannah see Chapter voice loop Hannah data Outline Step step references 2 2 2 for step injection amp rover control Reference referen
108. tion Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 Effect left tab ECA Effect knowledge base Rules required Effect middle tab overv Effect right tab details Outline Step own to plan mission device with a username and password nitially only an empty list is shown A question you want to do appears with at least one button e g Add new process processes tab Albert instructs the ePartner to add a new process by clicking on he Add new process button Hannah looks at the same screen and helps Albert plan he mission o select a process to be deployed process do you want processes that exist in the to deploy appears database from which the user should select one process construction process is highlighted previously defined process from the process archive She selects the process nstance cache construction process 7 he process is added R024 EFS A message The by Albert by clicking R027 EFS process has been cache construction pro cess are shown i e a sequence of tasks The status of the process is ndicated as idle Also a deploy button is shown he deploy button is not shown anymore The
109. ttery exchange exchange task as status info battery 2 activity completed operational battery 1 no see Step 02110 see Step 02110 longer in use Report battery Use utility tool to update exchange process as battery charge level completed indication and initiate see Step 02115 gradual decrease according to still persistent error condition SO 00 14 05 MO 01 37 05 No actions yet Report clear area as 13 see Step 02120 active point it out as a new task and ask Albert for confirmation to initiate it see Step 02120 SO 00 14 10 MO 01 37 10 Initiate clear area Show details related to Use human mediated 13 see Step 02120 clear area interface to make Eurobot see Step 02120 move to rocks SO 00 16 00 MO 01 39 00 No particular actions No particular actions Use human mediated 13 see Step 02130 see Step 02130 interface to make Eurobot remove rocks Inject clear area completion information SO 00 16 05 MO 01 39 05 No particular actions Report clear area as 15 see Step 02140 completed drill hole as active see Step 02140 Table 25 Mission Simulation Script for Albert Phase 2a MECA HEART WP3 D2b Draft Mission Simulation Specification 59 of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 3 Construction Wall clock
110. tton is shown highlighted in the my tasks A question You have a new task do you want to start it appears Details of the task change Click start button battery are shown Depends on the tab th selected i changed loperationaf The status of Battery2 has changed to operational _ is selected A message as change battery has been completed ap pears successfu completion of battery exchange activity i R027 EFS change battery becomes finished and that of the task clear area becomes busy Also because of the new battery the status of PR2 MECA HEART WP3 D2b Draft Mission Simulation Specification 25 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 not insufficientResources successfu completion of the process exchange A message Process exchange battery bas been completed i e status of the process exchange battery becomes finished process screen R023 EFS delegate moving of SAT allocated to role astronaut rocks on location for EVA which is enacted by cache to ePartner Albert The task clear area is DR7 added to the my tasks list of Alb
111. urce allocation according to option selected by Albert see Steps 2045 amp 02050 11 SO 00 12 00 MO 01 35 00 Note time warp No actions see Step 02080 Report drive to location as completed see Step 02080 Announce on voice loop to Hannah About three quarters of an hour have passed Albert has now reached the cache location 11 SO 00 12 10 MO 01 35 10 No actions see Step 02090 Report task battery exchange as active see Step 02090 12 SO 00 14 00 MO 01 37 00 No action see Step 02110 Report battery exchange task as completed see Step 02110 Report battery exchange process as completed see Step 02115 12 SO 00 14 10 MO 01 37 10 No action see Step 02120 Report clear area as active see Step 02120 SO 00 16 05 MO 01 39 05 No particular actions see Step 02140 Report clear area as completed drill hole as active see Step 02140 Table 31 Mission Simulation Script for Hannah Phase 2a MECA HEART WP3 D2b Draft Mission Simulation Specification 71 of 97 Project Filename Status Final SRR Input Date 03 June 2015 MECA Mission Execution Crew Assistant MECA HEART WP3 D2b MissionSimulationSpecs docx Mission Phase 3 Construction Wall clock Time Simulated Mission Actions Hannah see Actions ePartner Action
112. urns out to be i not enough to cover the trip back to the habitat The battery level falls below the lower warning limit is reached and a warning message is generated Finally the Rover stops moving halfway with a p Albert still needs to get back to the habitat This requires a walk without aid from the Rover which adds risk to the mission Furthermore recovery of the Rover requires additional resources and time and therefore adversely affects the mission schedule potentially reducing the achievable results of exploratory activities Albert notifies Hannah on voice op and ack to the habi Assumption Albert arrives back at habitat and mission is completed Albert communicates arrival to Table 4 Stepwise Decomposition of Problem Scenario without ePariner Phase 4a MECA HEART WP3 D2b Draft Mission Simulation Specification 17 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 requests sensory data he BatteryStatus of robot Hannah sees that the Roveri battery level tery1 decreases should be enough to get back to the habitat Hannah gradually and Albert decide to commence journey back to i habitat i Hannah keeps track of camera feeds provided by Rover looks out for alarms and requests sensor data
113. w did they perform their tasks and how much time did this take For example did they change the battery did they succeed in building the cache how long did the complete mission take etc e Questionnaires which indicate the subjective experience of using the software We will collect the above types of data in the condition with MECA support and without MECA support Furthermore we will collect data from expert reviews which describe the ideal course of events from an arm chair perspective without doing any real experimentation This allows us to evaluate the MECA prototype against the 13 measures of performance effectiveness satisfaction situation awareness efficiency safety etc that have been described in Chapter 5 of D1a For each of these 13 measures a comparison will be made between the ideal performance described by the expert assessment the condition with MECA support and the condition without MECA support As hypothesized in D1a we expect the performance with MECA to be closer to the ideal performance than the condition without MECA MECA HEART WP3 D2b Draft Mission Simulation Specification 35 of 97 Project MECA Mission Execution Crew Assistant Filename MECA HEART WP3 D2b MissionSimulationSpecs docx Status Final SRR Input Date 03 June 2015 4 MISSION SIMULATION SCRIPTS The mission simulation scripts describe the actions on a per actor basis for each involved human actor Furthermore timing information i

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