Machine Learning for Autonomous Drones Operations
Presentation to the Machine Learning & Artificial Intelligence Symposium on October 16, 2020
46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
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Autonomous onboard crew operations: A review and developmental approach
A review of the literature generated by an intercenter mission approach and consolidation team and their contractors was performed to obtain background information on the development of autonomous operations concepts for future space shuttle and space platform missions. The Boeing 757/767 flight management system was examined to determine the relevance for transfer of the developmental approach and technology to the performance of the crew operations function. In specific, the engine indications and crew alerting system was studied to determine the relevance of this display for the performance of crew operations onboard the vehicle. It was concluded that the developmental approach and technology utilized in the aeronautics industry would be appropriate for development of an autonomous operations concept for the space platform.
Rogers, J. G.↗
Astrobee: Completed, Current, and Future Research using Free Flying Robots on the International Space Station
After four years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 130 Test Sessions logging over 1000 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team maintains three identical free-flying Astrobee robots for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Astrobee, propelled by battery-operated fans, is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be teleoperated from the ground or by astronauts. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. Guest Scientists can participate in this research opportunity following the Guest Science Lifecycle (GSL) shown in Figure 1: Guest Science Lifecycle below. The Astrobee Team and Guest Scientists have complete research including Gecko materials studies, RFID and sound sensing capabilities, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots includes Free Flyer self-toss studies, new docking capabilities, advanced mapping resolution capabilities, and high resolution panoramic imagery. Future Guest scientists and Astrobee Team research will focus on robotics applications for future NASA missions such as Gateway and Artemis and potential experiments involving human-robot interactions. This presentation will focus on four main subjects, 1) completed, current, and future planned research using the Astrobee robots, 2) how Guest Scientist get from conception to the ISS, 3) Astrobee Facility resources available for Guest Science ground testing and real-time ISS operations support, and 4) lessons learned from four years of ISS operations.
Astrobee↗
Target Trailing With Safe Navigation With Colregs for Maritime Autonomous Surface Vehicles
Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.
Kuwata, Yoshiaki↗
Astrobee: Five years of Completed, Current, and Future Research on the International Space Station using Free Flying Robots.
After five years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 160 Test Sessions logging over 1200 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team currently maintains two identical free-flying Astrobee robots and a Docking Station for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Using ambient air on the ISS, propelled by battery-operated fans, Astrobee is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing the need for astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be tele-operated from the ground. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. The Astrobee Team and Guest Scientists have completed research including Astrobatics maneuvers, RFID and sound sensing capabilities, Gecko materials studies, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots is investigating new docking capabilities through software only research as well as testing new docking hardware installed on the Astrobees. The Astrobee Team and other researchers at NASA Ames continue to explore robotics applications for future NASA missions such as Gateway and potential experiments involving human-robot interactions. Continued advanced mapping resolution capabilities, and high-resolution panoramic imagery also remains areas of research. Exciting in development research involves docking for rendezvous proximity operation (CLINGERS), multi resolution 3D scanning (MRS), space debris removal in microgravity (REACCH). This presentation will mainly focus on completed research over the past year and current science being performed on the Astrobees. This presentation will also focus on how a Guest Scientist/Researcher progresses from conception to running their science on the Astrobees on the ISS, as well as discuss the Astrobee Facility resources available for supporting ground testing and real-time ISS operations.
Astrobee↗
Autonomy Technologies for Systems of a Moon Base
The aim of the workshop is to “explore emerging autonomy technologies that could enable or enhance mission capabilities, reduce mission risk, and reduce mission cost.” Enhancing mission capabilities will depend on how capable and trustworthy the autonomy implemented is. As systems increase in complexity, and also with multiple interdependent/interacting systems, current autonomy capability and trustworthiness is very low. A paradigm and technology from NASA that addresses this shortcoming will be discussed, the NASA Platform for Autonomous Systems (NPAS). NPAS also happens to address reduction of mission risk and cost. NPAS will be discussed as a capability that is reaching readiness for space use, but also serves as a reference to develop technologies suitable for integrated autonomous operations of lunar systems; encompassing autonomous systems, situational awareness, and reasoning and acting.
Autonomous systems↗
Multi-Spacecraft Autonomous Positioning System
As the number of spacecraft in simultaneous operation continues to grow, there is an increased dependency on ground-based navigation support. The current baseline system for deep space navigation utilizes Earth-based radiometric tracking, requiring long-duration observations to perform orbit determination and generate a state update. The age, complexity, and high utilization of the ground assets pose a risk to spacecraft navigation performance. In order to perform complex operations at large distances from Earth, such as extraterrestrial landing and proximity operations, autonomous systems are required. With increasingly complex mission operations, the need for frequent and Earth-independent navigation capabilities is further reinforced. The Multi-spacecraft Autonomous Positioning System (MAPS) takes advantage of the growing interspacecraft communication network and infrastructure to allow for Earth-autonomous state measurements to enable network-based space navigation. A notional concept of operations is given in figure 1. This network is already being implemented and routinely used in Martian communications through the use of the Mars Reconnaissance Orbiter and Mars Odyssey spacecraft as relays for surface assets. The growth of this communications architecture is continued through MAVEN, and future potential commercial Mars telecom orbiters. This growing network provides an initial Marslocal capability for inter-spacecraft communication and navigation. These navigation updates are enabled by cross-communication between assets in the network, coupled with onboard navigation estimation routines to integrate packet travel time to generate ranging measurements. Inter-spacecraft communication allows for frequent state broadcasts and time updates from trusted references. The architecture is a software-based solution, enabling its implementation on a wide variety of current assets, with the operational constraints and measurement accuracy determined by onboard systems.
Anzalone, Evan↗
Towards Autonomous Airport Surface Operations: NextGen Flight Deck Implications
Surface Trajectory-based Operations (STBO) is a potential concept candidate for flight deck autonomous operations. Existing research will be reviewed and possible architectures and research issues will be presented.
autonomy↗
Autonomous power subsystem design for an Outer Planet Spacecraft.
This paper describes the overall design of the Thermoelectric Outer Planet Spacecraft (TOPS) power subsystem. It discusses the implementation of spacecraft requirements into a fault-tolerant design in which an on-board self-test and repair computer is utilized to provide autonomous operation. Development of a protected bus concept is discussed whereby electrical power supplied to essential spacecraft loads is maintained in the event of major on-board power blackouts. Particular attention is given to describing the interfaces and operation of the power subsystem with the spacecraft control computer subsystem. Autonomous power management operations are discussed where the on-board computer adjusts the spacecraft load demand to provide maximum utilization of source power for a given mission mode.
Andrews, R. E.↗
Inferential Framework for Autonomous Cryogenic Loading Operations
We address problem of autonomous cryogenic management of loading operations on the ground and in space. As a step towards solution of this problem we develop a probabilistic framework for inferring correlations parameters of two-fluid cryogenic flow. The simulation of two-phase cryogenic flow is performed using nearly-implicit scheme. A concise set of cryogenic correlations is introduced. The proposed approach is applied to an analysis of the cryogenic flow in experimental Propellant Loading System built at NASA KSC. An efficient simultaneous optimization of a large number of model parameters is demonstrated and a good agreement with the experimental data is obtained.
Luchinsky, Dmitry G.↗
Planning for long term control of Space Station
The National Aeronautics and Space Administration (NASA) is conducting conceptual studies concerning the development of a future U.S. Space Station. The Space Station navigation, guidance, and control functions must be performed over the projected long lifetime of the station. After examining the pertinent history of U.S. spacecraft, this paper examines how these long-term operations can be achieved, settling on autonomous operations as a desirable goal. The paper concludes with a recommended development approach.
Buchanan, H.↗
Rover requirements for the planet surface segment of the space exploration initiative
Annotated requirements for rovers to be used for the First Lunar Outpost (FLO) of the Space Exploration Initiative (SEI) and for Mars missions are presented. The requirements are presented in the form of functions as opposed to performance. SEI surface systems will be required to execute many roving vehicle functions ranging from transporting humans to recovery and transporting raw materials to a processing plant. Some of the roving vehicles will be highly automated. These automation functions may include the following: teleoperated site survey and certification; teleoperation for repair; autonomous operations for resource location and mining; autonomous navigation and terrain traverse; and telerobotic scientific investigations. These requirements are complex, contradictory, and will be costly if they are not carefully analyzed and properly allocated to conceptual elements. Of greatest importance will be the iterative analysis of requirements and synergistic utilization of vehicle elements.
Roberts, Barney B.↗
SLR 2000
SLR 2000 is a concept for a totally automated subcentimeter SLR system presently being studied at GSFC. If funding permits, a prototype would be installed and tested at the Goddard Geophysical and Astronomical Observatory (GCAO) in FY98 and a small number of automated stations would be fielded by the year 2000. Unlike present systems, the "SLR 2000" system is being designed to: 1) operate autonomously without the need for onsite operators; 2) present no hazards (i.e., optical, electrical, and/or chemical) to personnel in the vicinity or to overflying aircraft; and 3) have a mean time between failures (MTBF) of at least three months. It is assumed that the systems are located at "friendly" sites where some level of security is provided and where certain low level service functions (e.g. commercial power, communications, heat pump service cleaning, etc.) are available or can be contracted for locally on an as-needed basis. The main system consists of two parts - an optical head and electronics rack. The optical head contains the laser transmitter and power supply, transmit/receive switch, optical telescope, tracking angle sensor (intensified CCD camera), detector and power supply, two angular encoders, azimuth and elevation motors, and a protective dome. The optical head mounts directly to the top of a concrete pier which contains the geodetic monument and forms part of the environmental housing for the hardware and servicing personnel. It is equipped with electronic levels for leveling the mount and monitoring its stability.
Degnan, John J.↗
The MDS autonomous control architecture
We describe the autonomous control architecture for the JPL Mission Data System (MDS). MDS is a comprehensive new software infrastructure for supporting unmanned space exploration. The autonomous control architecture is one component of MDS designed to enable autonomous operations.
MDS autonomous control unmanned space exploration↗
Electrically Driven Liquid Film Boiling Experiment
This presentation presents the science background and ground based results that form the basis of the Electrically Driven Liquid Film Boiling Experiment. This is an ISS experiment that is manifested for 2021. Objective: Characterize the effects of gravity on the interaction of electric and flow fields in the presence of phase change specifically pertaining to: a) The effects of microgravity on the electrically generated two-phase flow. b) The effects of microgravity on electrically driven liquid film boiling (includes extreme heat fluxes). Electro-wetting of the boiling section will repel the bubbles away from the heated surface in microgravity environment. Relevance/Impact: Provides phenomenological foundation for the development of electric field based two-phase thermal management systems leveraging EHD, permitting optimization of heat transfer surface area to volume ratios as well as achievement of high heat transfer coefficients thus resulting in system mass and volume savings. EHD replaces buoyancy or flow driven bubble removal from heated surface. Development Approach: Conduct preliminary experiments in low gravity and ground-based facilities to refine technique and obtain preliminary data for model development. ISS environment required to characterize electro-wetting effect on nucleate boiling and CHF in the absence of gravity. Will operate in the FIR - designed for autonomous operation.
Electrohydrodynamics↗
Progress in Spacecraft Electric Power System Technologies for Deep Space Missions
Planetary missions place unique demands on spacecraft systems and operations in terms of lifetime and autonomous operation. At the same time, the new
Spacecraft↗
Concept, Design, & Implementation of a Remote Vehicle Operations Center for Autonomous Missions
The National Aeronautics and Space Administration is supporting research to develop a prototype remote vehicle operations center at Langley Research Center to explore current and future advanced air mobility operations using small unmanned aerial systems vehicles as surrogates for future, larger-scale passenger carrying vehicles. The prototype facility known as the Remote Operations for Autonomous Missions (ROAM) Unmanned Aerial Systems (UAS) Operations Center is being used to explore different roles and responsibilities of remote operators managing multiple autonomous vehicles, with the goal of exploring human-autonomy teaming concepts that enable m:N operations (i.e., m operators managing N vehicles). ROAM has developed into a world-class research, development, and technology (RD&T) environment that can support both the collection of human factors data and the command and control of remote vehicles in beyond visual line of sight conditions. ROAM provides a key capability to enable full end-to-end hardware- and human-in-the-loop simulation testing, connecting with simulated small-UAS and creating a seamless Live-Virtual-Constructive (LVC) environment. This report describes the development of the ROAM UAS Operations Center from concept through design, culminating in the current implementation at NASA’s Langley Research Center.
CERTAIN↗
An Integrated Architecture Study for Autonomous Lunar Construction
Lunar construction is an expanding field within NASA’s Moon to Mars objectives that presents many challenges and requires innovative and reliable forms of autonomous operations on the surface of the Moon to further the technologies needed for human space exploration. Marshal Space Flight Center’s (MSFC) Advanced Concepts Office (ACO) addressed Lunar Infrastructure Objective LI-4 l by developing a Pre-Phase A, integrated architecture to inform a demonstration for lunar construction operations. The ACO study traded three architectures that would survey and prepare a construction area to build a landing pad out of lunar regolith using MMPACT (Moon-to-Mars Planetary Autonomous Construction Technology) platforms, rovers, and navigation outposts. The main trades examined navigation for the system/architecture, options for rover navigation, battery vs continuous tether power for the MMPACT robotic arm, and assigning site prep functionality to the rovers vs the platforms. Results of the study determined that the best options for the scenario provided would be local navigation (more accurate and continuous), a combination of Light Detection and Ranging (LiDAR) for initial site mapping with subsequent Smart Video Guidance Sensors (SVGS) to save power for construction, and using tethered power to decrease mission duration. The team also concluded that assigning site prep functionality to either the rovers or the platforms has benefits and challenges; future studies could explore having that functionality on both the rovers and platforms. Lastly, the team provided a Concept of Operations (ConOps) timeline that can be used in real-time ground demonstrations to explore the mission timeline, construction processes, autonomous operations, and communication systems that can be tested using MSFC’s lunar regolith field and Lunar Utilization Control Area (LUCA).
Sarah Triana↗