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OceanWATERS Software Team Releases 8th Open Source Version of Software
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OceanWATERS Software Team Releases 8th Open Source Version of Software

The Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) software team made their eighth public release of the OceanWATERS open source software on May 21, 2021. Release 8 adds significant improvements to the previous release, including the testbed's first integrated power/prognostics model incorporating Ames' open-source Generic Software Architecture for Prognostics (GSAP); a Robot Operating System (ROS) action-based interface for controlling the lander arm, to support reactive autonomy; expanded fault-injection and modeling for the arm, antenna, and power system; a force/torque sensor added to the arm; and an enhanced set of PLan EXecution Interchange Language (PLEXIL) autonomy plans. A fuller summary of this release is found on Github.

BACKGROUND: The OceanWATERS project began in late 2018. Using the Jet Propulsion Laboratory’s (JPL) 2016 Europa Lander Study as a reference, a software testbed featuring the ROS, the robot simulator software Gazebo, and PLEXIL was developed from scratch and released open source on GitHub in summer 2020. Two external projects using this testbed began in 2020 under grants from the Autonomous Robotics Research for Ocean Worlds (ARROW) Program; and four additional projects are to begin this summer under grants from the Concepts for Ocean worlds Life Detection Technology (COLDTech) program. The goal of these programs is to support the development of spacecraft-based technology for surface and subsurface exploration of ocean worlds such as the Jovian moon Europa, and Saturnian moon Enceladus.

NASA PROGRAM FUNDING: Planetary Exploration Science Technology Office (PESTO), Science Mission Directorate (SMD)

TEAM: Anjan Chakrabarty, Michael Dalal, Chetan Kulkarni, Lanssie Ma, Ussama Naal, Thomas Stucky, and Terence Welsh; PESTO: Carolyn Mercer (Manager)

POINT OF CONTACT: Michael Dalal,

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