Bruce Damer's presentation of Digital Spaces, an open source 3D simulation platform for space applications (NASA Ames, May 5, 2009)

1. Bruce Damer, CEO DigitalSpace Corporation 343 Soquel Ave, Suite 70 Santa Cruz, CA 95062 Ph: 831 338 9400 Email: [email_address] Digital Spaces (DSS) An open source 3D simulation platform for space applications

2. Digital Spaces Open Source Real-time 3D Modeling and Simulation I. Overview II. Beginnnings III. Early Work IV. Surface Mobility V. Demo – ESS STS-125 VI. Architectural Overview Acknowledgements

4. II. Beginnings - In 1999-99, designing immersion through story in the Virtual Walk on the Moon with Apollo astronaut Rusty Schweickart Rusty Schweickart in Cyber Space - 1999 Rusty Schweickart in Outer Space - 1969

5. On July 20, 1999 Rusty Schweickart entered an avatar space as our narrator to commemorate the 30 th anniversary of the Apollo XI moon landing

9. This work was presented to NASA leading to the funding of DigitalSpace and Digital Spaces (DSS) and the following Portfolio of Projects

10. III. Early work (2000-2003) - Modeling human/machine activities in Mars Analogs, BrahmsVE utilizing Adobe Atmosphere, Clancey, Sierhuis, NASA ARC

12. - Planning meeting, water tank filling, EVA prep BrahmsVE/SimHab

13. BrahmsVE/SimHab

14. PSA Robot aboard a Virtual Space Station

15. PSA Robot aboard a Virtual Space Station

16. Shuttle Operations and ISS Construction - Training environment for STS-114 (NBL) 2004

17. Educational Spacewalk Simulation - STS-125 Hubble Servicing Mission (May 2009)

18. IV. Surface Mobility - Mars surface modeling from orbital height data and DriveOnMars MER simulation (2003-04)

19. DriveOnMars DigitalSpace training environment for NBL “ Drive On Mars” lighting for night-day transition, basic modeling of vehicle systems, RAT instrument deployment

20. Lunar Surface Robotics - NASA ARC, Colorado School of Mines (2004-2006) Colorado School of Mines Prototype Lunar Bucket Wheel Excavator

21. Lunar Bucket Wheel Excavator DigitalSpace Lunar analog simulation of BWE

22. Lunar Bucket Wheel Excavator

23. Raytheon CE&R studies - Telerobotically build a Lunar base (2004-2005)

24. Raytheon CE&R studies - Telerobotically build a Lunar base (2004-2005)

25. Telerobotic Lunar Outpost Construction – mission concept (animation)

26. Telerobotic Lunar Outpost Construction

27. Microsat Lander & LSAM Landing Dynamics - NASA Ames Research Center, JSC (2006)

28. Microsat Lander & LSAM Landing Dynamics

29. Microsat Lander & LSAM Landing Dynamics

31. Model: Dawes Crater As imaged by Apollo XV Design challenge: traverse steep crater wall on the Lunar south pole RLEP2 Lunar Rover Polar Ice Mission - NASA MSFC, ARC, JPL/TeamX

32. RLEP2 Lunar Rover Polar Ice Mission - NASA MSFC, ARC, JPL/TeamX

33. RLEP2 Lunar Rover Polar Ice Mission - Virtual Lunar Hazard Yard

34. RLEP2 Lunar Rover Polar Ice Mission - Preliminary Design

35. RLEP2 Lunar Rover Polar Ice Mission - Final vehicle in hazard yard

36. 2007 Project: Lunar Regolith Dig -Balovnev model, Matlab output

37. 2007 Project: Lunar Regolith Dig Surface mesh deformation – Nader, University of Toronto

38. Constellation to NEO trade study - modeling, visualization

39. Constellation to NEO trade study - modeling, visualization

40. Constellation to NEO trade study - modeling, visualization

41. Constellation to NEO trade study - modeling, visualization

42. Constellation to NEO trade study - modeling, visualization

43. Constellation to NEO trade study - publicity

44. Constellation to NEO trade study - modeling, visualization

45. Educational Spacewalk Simulation - STS-125 Hubble Servicing Mission (May 2009) V. Demo

46. Digital Spaces Open Source Real-time 3D Modeling and Simulation VI. Architectural Overview with Peter Newman

52. Module description Script_Python Embeds a Python interpreter in Digital Spaces to provide a Rapid Application Development layer for Space specific logic. AgentManager Implements the control logic for a range of predefined Agent types (semi autonomous conceptual entities). SGManager Provides a higher level coordination between other Components that involve a 3D scene graph. Responsible for parsing Scene files, and for connecting physics to graphics. Physics_ODE Provides rigid body physics simulation. 3DVisuals_OGRE Provides 3D rendering, including model, texture and particle system loading (and others).

53. Module description UserInput_DirectInput Provides user input to the system. This includes keyboard, mouse and joystick, or any other DirectX supported device. VehicleAgent_Control Connects user input to control of a specific type of Agent. GUI_CEGUI Provides a 2D overlay UI over 3DVisuals_OGRE. Core Performs component loading, initial inter-component communication, and work scheduling. Not shown: All file resources are loaded through DataResource module. Allows abstraction of resource locations and types. Integrated with Core to allow initial resource loading.

54. Visual Content Work Flow How visual content is processed in Digital Spaces

55. Space file is parsed by Core Configuration data is passed to appropriate components.

56. Scene file is parsed by SGManager Based on the configuration data, the SGManager uses the DataResource Manager to load the Scene file, and parses it.

57. Heirachal objects are created As the scene file is processed, heirachal objects are created in the SGManager, their representations are created in any component implementing DISGRepresentative, and configured with any type specific information.

58. Leaf objects are created When the end of a heirachal branch is reached, "leaf" objects are created in the SGManager, their representations are created in anything inmplementing DISGRepresentative, and configured with any type specific information.

59. Visual object creation Visual objects (such as meshes) are created as part of creating the SGManager leaf objects. The DataResource Manager is used to load any required model resources, and are parsed and instanced in OGRE.

60. Positional information is applied Information that is common to the SGManager objects, specifically positional, orientation and scale information, is applied to the SGObjects, and thus their representations.

61. Summary: DigitalSpace DSS modular plug-in architecture (roadmap)

62. This work was funded by NASA Ames Research Center and other NASA Centers through various federal and subcontractor contracts. Special thanks to Pete Worden for supporting the public outreach direction of this work. For further information and use please contact: Bruce Damer, CEO DigitalSpace Corporation 343 Soquel Ave, Suite 70 Santa Cruz CA 95062 Ph: 831 338 9400 Email: [email_address] Acknowledgements