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At least 271 records · Page 15

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NASA NTRS1993

Task planning with uncertainty for robotic systems

In a practical robotic system, it is important to represent and plan sequences of operations and to be able to choose an efficient sequence from them for a specific task. During the generation and execution of task plans, different kinds of uncertainty may occur and erroneous states need to be handled to ensure the efficiency and reliability of the system. An approach to task representation, planning, and error recovery for robotic systems is demonstrated. Our approach to task planning is based on an AND/OR net representation, which is then mapped to a Petri net representation of all feasible geometric states and associated feasibility criteria for net transitions. Task decomposition of robotic assembly plans based on this representation is performed on the Petri net for robotic assembly tasks, and the inheritance of properties of liveness, safeness, and reversibility at all levels of decomposition are explored. This approach provides a framework for robust execution of tasks through the properties of traceability and viability. Uncertainty in robotic systems are modeled by local fuzzy variables, fuzzy marking variables, and global fuzzy variables which are incorporated in fuzzy Petri nets. Analysis of properties and reasoning about uncertainty are investigated using fuzzy reasoning structures built into the net. Two applications of fuzzy Petri nets, robot task sequence planning and sensor-based error recovery, are explored. In the first application, the search space for feasible and complete task sequences with correct precedence relationships is reduced via the use of global fuzzy variables in reasoning about subgoals. In the second application, sensory verification operations are modeled by mutually exclusive transitions to reason about local and global fuzzy variables on-line and automatically select a retry or an alternative error recovery sequence when errors occur. Task sequencing and task execution with error recovery capability for one and multiple soft components in robotic systems are investigated.

Cao, Tiehua↗

NASA NTRS1993

PC4CAST: A tool for DSN load forecasting and capacity planning

Effectively planning the use and evolution of the Deep Space Network (DSN) is a complex problem involving many parameters. The tool that models many of these complexities, yet requires simple structured inputs and provides concise easy-to-understand metrics to aid in the planning process is discussed. The tool, PC4CAST, is used for both load forecasting (predicting how well planned that DSN resources meet expected demand) and as a decision support tool in the capacity-planning process (determining the relative benefits of capacity expansion options). It is now in use in the TDA Planning Office, has been used in numerous studies, and is also being used by the JPL Multimission Operations System Office (MOSO) as an integral part of Resource Allocation Team activities. Experience using the tool has helped to identify additional requirements that will further improve the planning process, which can be met by future PC4CAST versions.

Loyola, S. J.↗

NASA NTRS1993

Strategic planning for aircraft noise route impact analysis: A three dimensional approach

The strategic routing of aircraft through navigable and controlled airspace to minimize adverse noise impact over sensitive areas is critical in the proper management and planning of the U.S. based airport system. A major objective of this phase of research is to identify, inventory, characterize, and analyze the various environmental, land planning, and regulatory data bases, along with potential three dimensional software and hardware systems that can be potentially applied for an impact assessment of any existing or planned air route. There are eight data bases that have to be assembled and developed in order to develop three dimensional aircraft route impact methodology. These data bases which cover geographical information systems, sound metrics, land use, airspace operational control measures, federal regulations and advisories, census data, and environmental attributes have been examined and aggregated. A three dimensional format is necessary for planning, analyzing space and possible noise impact, and formulating potential resolutions. The need to develop this three dimensional approach is essential due to the finite capacity of airspace for managing and planning a route system, including airport facilities. It appears that these data bases can be integrated effectively into a strategic aircraft noise routing system which should be developed as soon as possible, as part of a proactive plan applied to our FAA controlled navigable airspace for the United States.

Bragdon, C. R.↗

NASA NTRS1993

An intelligent planning and scheduling system for the HST servicing missions

A new, intelligent planning and scheduling system has been delivered to NASA-Goddard Space Flight Center (GSFC) to provide support for the up-coming Hubble Space Telescope (HST) Servicing Missions. This new system is the Servicing Mission Planning and Replanning Tool (SM/PART). SM/PART is written in C and runs on a UNlX-based workstation (IBM RS/6000) under Motif. SM/PART effectively automates the complex task of building or rebuilding integrated timelines and command plans which are required by HST Servicing Mission personnel at their consoles during the missions. SM/PART is able to quickly build or rebuild timelines based on information stored in a Knowledge Base (KB) by using an Artificial Intelligence (AI) tool called the Planning And Resource Reasoning (PARR) shell. After a timeline has been built in the batch mode, it can be displayed and edited in an interactive mode with help from the PARR shell. Finally a detailed command plan is generated. The capability to quickly build or rebuild timelines and command plans provides an additional safety factor for the HST, Shuttle and Crew.

Johnson, Jay↗

NASA NTRS1994

Panel to review EOSDIS plans

Formed in Jan. 1992, the Panel to Review EOSDIS Plans was charged with advising NASA on its plans for developing the Earth Observing System (EOS) Data and Information System (EOSDIS). Specifically, the panel was asked to do the following: assess the validity of the engineering and technical underpinnings of the EOSDIS; assess its potential value to scientific users; suggest how technical risk can be minimized; and assess whether current plans are sufficiently resilient to be adaptable to changing technology and requirements such as budget environments, data volumes, new users, and new databases. The panel completed an interim report (Addendum A) and transmitted it to NASA and other interested parties in the government on 9 Apr. 1992. Because of a delay in NASA's plans to select the contractor for EOSDIS, the panel was not able to complete its review of the program according to the original government request. With the issuance of a letter report (Addendum B) on 28 Sep. 1992, the panel became inactive until such time as NASA could release the details of the contractor's proposed architecture, schedule, and costs for developing EOSDIS. In early 1993, NASA awarded the contract for the EOSDIS Core System (ECS). On 20 Apr. 1993, NASA asked the panel to reconvene to do the following: ( 1) complete its review of NASA's approach to the EOSDIS architecture and implementation; (2) appraise NASA's responses to the panel's previous recommendations; and (3) review the planning for EOSDIS in the context of NASA's role in the Global Change Data and Information System (GCDIS) implementation plan. To respond to the NASA charge, the panel met three times in 1993 including sessions with NASA officials and the EOSDIS contractor. In addition, several of the panel members visited individual Distributed Active Archive Centers (DAAC's) to obtain additional views of EOSDIS. The panel has now obtained substantial information on the EOSDIS budget, contractor work program, and current baseline architecture that was not previously available, due to procurement restrictions. This report presents the panel's findings and recommendations based on this additional information.

Source record↗

NASA NTRS1994

Development and implementation of a scrub habitat compensation plan for Kennedy Space Center

Kennedy Space Center (KSC), located on Merritt Island on the east coast of central Florida, is one of three remaining major populations of the Florida Scrub Jay (Aphelocoma coerulescens coerulescens), listed as threatened by the U.S. Fish and Wildlife Service (USFWS) since 1987. Construction of new facilities by the National Aeronautics and Space Administration (NASA) on KSC over the next five years has the potential to impact up to 193 ac (78.1 ha) of Scrub Jay habitat. Under an early consultation process with the Endangered Species Office of the USFWS, NASA agreed to a compensation plan for loss of Scrub Jay habitat. The compensation plan required NASA to restore or create scrub on KSC at a 2:1 ratio for that lost. The compensation plan emphasized restoration of scrub habitat that is of marginal or declining suitability to Scrub Jays because it has remained unburned. Although prescribed burning has been conducted by the USFWS Merritt Island National Wildlife Refuge (MINWR) for more than ten years, significant areas of scrub remain unburned because they have been excluded from fire management units or because landscape fragmentation and a period of fire suppression allowed scrub to reach heights and diameters that are fire resistant. For such areas, mechanical cutting followed by prescribed burning was recommended for restoration. A second part of the restoration plan is an experimental study of scrub reestablishment (i.e., creation) on abandoned, well drained agricultural sites by planting scrub oaks and other scrub plants. The compensation plan identified 260 ac (105 ha) of scrub restoration in four areas and a 40 ac (16 ha) scrub creation site. Monitoring of restoration sites required under the plan included: establishing permanent vegetation sample transects before treatment and resampling annually for ten years after treatment, and color banding Scrub Jays to determine territories prior to treatment followed by monitoring reproductive success and survival for ten years after treatment. Monitoring scrub creation sites included determining survival of planted material for five years and establishing permanent transects to follow vegetation development for ten years after planting. Scrub Jay monitoring of creation sites is incorporated with that of adjacent restoration sites.

Schmalzer, Paul A.↗

NASA NTRS1994

Knowledge-based commodity distribution planning

This paper presents an overview of a Decision Support System (DSS) that incorporates Knowledge-Based (KB) and commercial off the shelf (COTS) technology components. The Knowledge-Based Logistics Planning Shell (KBLPS) is a state-of-the-art DSS with an interactive map-oriented graphics user interface and powerful underlying planning algorithms. KBLPS was designed and implemented to support skilled Army logisticians to prepare and evaluate logistics plans rapidly, in order to support corps-level battle scenarios. KBLPS represents a substantial advance in graphical interactive planning tools, with the inclusion of intelligent planning algorithms that provide a powerful adjunct to the planning skills of commodity distribution planners.

Saks, Victor↗

NASA NTRS1994

Integrating planning and reactive control

Our research is developing persistent agents that can achieve complex tasks in dynamic and uncertain environments. We refer to such agents as taskable, reactive agents. An agent of this type requires a number of capabilities. The ability to execute complex tasks necessitates the use of strategic plans for accomplishing tasks; hence, the agent must be able to synthesize new plans at run time. The dynamic nature of the environment requires that the agent be able to deal with unpredictable changes in its world. As such, agents must be able to react to unanticipated events by taking appropriate actions in a timely manner, while continuing activities that support current goals. The unpredictability of the world could lead to failure of plans generated for individual tasks. Agents must have the ability to recover from failures by adapting their activities to the new situation, or replanning if the world changes sufficiently. Finally, the agent should be able to perform in the face of uncertainty. The Cypress system, described here, provides a framework for creating taskable, reactive agents. Several features distinguish our approach: (1) the generation and execution of complex plans with parallel actions; (2) the integration of goal-driven and event driven activities during execution; (3) the use of evidential reasoning for dealing with uncertainty; and (4) the use of replanning to handle run-time execution problems. Our model for a taskable, reactive agent has two main intelligent components, an executor and a planner. The two components share a library of possible actions that the system can take. The library encompasses a full range of action representations, including plans, planning operators, and executable procedures such as predefined standard operating procedures (SOP's). These three classes of actions span multiple levels of abstraction.

Wilkins, David E.↗

NASA NTRS1995

SEDAC information gateway plan V(1)

This annual update of the Information Gateway Plan incorporates changes recommended by the Socioeconomic Data and Applications Center (SEDAC) User Working Group (UWG) and reflects comments and suggestions from users, collaborators, and the Contracting Officer Technical Representative (COTR). The Information Gateway Plan is a concise and specific plan that outlines SEDAC activities and services in support of the earth and social sciences and other user communities. The SEDAC Information Gateway effort is a primary means by which the Earth Observing System Data and Information System (EOSDIS) can link meaningfully with a broad range of social science data sources and users in ways that lead to tangible benefits to the American people. The SEDAC Information Gateway provides interdisciplinary access to socioeconomic and physical science data and information resources held by SEDAC and numerous other institutions and networks around the world. The Plan describes the areas of research of earth scientists and socioeconomic scientists where interchange of data and information is most needed. It sets guidelines for the continued development of SEDAC's directory of social science datasets and establishes priorities for efforts to make data held by SEDAC or accessible through SEDAC available to the user community. The Plan also describes the means by which the SEDAC user community can access information products specified by the SEDAC Data and Applications Development Plan (DADP). Among other major activities, SEDAC will continue to enhance and operate a directory capability, interoperable with the Global Change Master Directory, that provides the socioeconomic community with information about earth science products and the earth science research community with information about socioeconomic data. The Information Gateway also serves as a unique and powerful access pathway for a wide range of users and potential users of socioeconomic and earth science data, including especially remote sensing data.

Chen, Robert S.↗

NASA NTRS1996

An Intelligent Crop Planning Tool for Controlled Ecological Life Support Systems

This paper describes a crop planning tool developed for the Controlled Ecological Life Support Systems (CELSS) project which is in the research phases at various NASA facilities. The Crop Planning Tool was developed to assist in the understanding of the long term applications of a CELSS environment. The tool consists of a crop schedule generator as well as a crop schedule simulator. The importance of crop planning tools such as the one developed is discussed. The simulator is outlined in detail while the schedule generator is touched upon briefly. The simulator consists of data inputs, plant and human models, and various other CELSS activity models such as food consumption and waste regeneration. The program inputs such as crew data and crop states are discussed. References are included for all nominal parameters used. Activities including harvesting, planting, plant respiration, and human respiration are discussed using mathematical models. Plans provided to the simulator by the plan generator are evaluated for their 'fitness' to the CELSS environment with an objective function based upon daily reservoir levels. Sample runs of the Crop Planning Tool and future needs for the tool are detailed.

Whitaker, Laura O.↗

NASA NTRS1997

A Technology Plan for Enabling Commercial Space Business

The National Aeronautics and Space Administration's (NASA) Advanced Space Transportation Program is a customer driven, focused technology program that supports the NASA Strategic Plan and considers future commercial space business projections. The initial cycle of the Advanced Space Transportation Program implementation planning was conducted from December 1995 through February 1996 and represented increased NASA emphasis on broad base technology development with the goal of dramatic reductions in the cost of space transportation. The second planning cycle, conducted in January and February 1997, updated the program implementation plan based on changes in the external environment, increased maturity of advanced concept studies, and current technology assessments. The program has taken a business-like approach to technology development with a balanced portfolio of near, medium, and long-term strategic targets. Strategic targets are influenced by Earth science, space science, and exploration objectives as well as commercial space markets. Commercial space markets include those that would be enhanced by lower cost transportation as well as potential markets resulting in major increases in space business induced by reductions in transportation cost. The program plan addresses earth-to-orbit space launch, earth orbit operations and deep space systems. It also addresses all critical transportation system elements; including structures, thermal protection systems, propulsion, avionics, and operations. As these technologies are matured, integrated technology flight experiments such as the X-33 and X-34 flight demonstrator programs support near-term (one to five years) development or operational decisions. The Advanced Space Transportation Program and the flight demonstrator programs combine business planning, ground-based technology demonstrations and flight demonstrations that will permit industry and NASA to commit to revolutionary new space transportation systems beginning at the turn of the century and continuing far into the future.

Lyles, Garry M.↗

NASA NTRS1994

Practical Planning in COLLAGE

COLLAGE is a domain-independent planner that differs from traditional planners in two key ways: (1) it uses a diverse and extendible set of (it action-based) plan constructions methods; and (2) it utilizes a technique called (it localization) to partition the planning problem into smaller (and potentially interacting) sub problems. In this paper, we describe these features and how they are exploited in two different real-world planning domains. The first domain, building construction planning, has served as a framework for us to investigate how localization can improve scalability. The second domain, data analysis planning, benefits from COLLAGE's unique plan construction and representation methods. In addition, we describe extensions that were necessary to tackle these real-world problems.

Lansky, Amy L.↗

NASA NTRS1995

TRACON Aircraft Arrival Planning and Optimization Through Spatial Constraint Satisfaction

A new aircraft arrival planning and optimization algorithm has been incorporated into the Final Approach Spacing Tool (FAST) in the Center-TRACON Automation System (CTAS) developed at NASA-Ames Research Center. FAST simulations have been conducted over three years involving full-proficiency, level five air traffic controllers from around the United States. From these simulations an algorithm, called Spatial Constraint Satisfaction, has been designed, coded, undergone testing, and soon will begin field evaluation at the Dallas-Fort Worth and Denver International airport facilities. The purpose of this new design is an attempt to show that the generation of efficient and conflict free aircraft arrival plans at the runway does not guarantee an operationally acceptable arrival plan upstream from the runway -information encompassing the entire arrival airspace must be used in order to create an acceptable aircraft arrival plan. This new design includes functions available previously but additionally includes necessary representations of controller preferences and workload, operationally required amounts of extra separation, and integrates aircraft conflict resolution. As a result, the Spatial Constraint Satisfaction algorithm produces an optimized aircraft arrival plan that is more acceptable in terms of arrival procedures and air traffic controller workload. This paper discusses the current Air Traffic Control arrival planning procedures, previous work in this field, the design of the Spatial Constraint Satisfaction algorithm, and the results of recent evaluations of the algorithm.

Bergh, Christopher P.↗

NASA NTRS2002

Planning Under Continuous Time and Resource Uncertainty: A Challenge for AI

There has been considerable work in Al on decision-theoretic planning and planning under uncertainty. Unfortunately, all of this work suffers from one or more of the following limitations: 1) it relies on very simple models of actions and time, 2) it assumes that uncertainty is manifested in discrete action outcomes, and 3) it is only practical for very small problems. For many real world problems, these assumptions fail to hold. A case in point is planning the activities for a Mars rover. For this domain none of the above assumptions are valid: 1) actions can be concurrent and have differing durations, 2) there is uncertainty concerning action durations and consumption of continuous resources like power, and 3) typical daily plans involve on the order of a hundred actions. We describe the rover problem, discuss previous work on planning under uncertainty, and present a detailed. but very small, example illustrating some of the difficulties of finding good plans.

Bresina, John↗

NASA NTRS2002

Contingency Planning for Planetary Rovers

There has been considerable work in AI on planning under uncertainty. But this work generally assumes an extremely simple model of action that does not consider continuous time and resources. These assumptions are not reasonable for a Mars rover, which must cope with uncertainty about the duration of tasks, the power required, the data storage necessary, along with its position and orientation. In this paper, we outline an approach to generating contingency plans when the sources of uncertainty involve continuous quantities such as time and resources. The approach involves first constructing a "seed" plan, and then incrementally adding contingent branches to this plan in order to improve utility. The challenge is to figure out the best places to insert contingency branches. This requires an estimate of how much utility could be gained by building a contingent branch at any given place in the seed plan. Computing this utility exactly is intractable, but we outline an approximation method that back propagates utility distributions through a graph structure similar to that of a plan graph.

Dearden, Richard↗

NASA NTRS2002

Strategic Plan

The purpose of this document is to present the strategic plan and associated organizational structure that the National Space Biomedical Research Institute (NSBRI) will utilize to achieve the defined mission and objectives provided by NASA. Much of the information regarding the background and establishment of the NSBRI by NASA has been provided in other documentation and will not be repeated in this Strategic Plan. This Strategic Plan is presented in two volumes. Volume I (this volume) begins with an Introduction (Section 2) that provides the Institute's NASA-defined mission and objectives, and the organizational structure adopted to implement these through three Strategic Programs: Countermeasure Research; Education, Training and Outreach; and Cooperative Research and Development. These programs are described in Sections 3 to 5. Each program is presented in a similar way, using four subsections: Goals and Objectives; Current Strategies; Gaps and Modifications; and Resource Requirements. Section 6 provides the administrative infrastructure and total budget required to implement the Strategic Programs and assures that they form a single cohesive plan. This plan will ensure continued success of the Institute for the next five years. Volume II of the Strategic Plan provides an in-depth analysis of the current and future strategic programs of the 12 current NSBRI teams, including their goals, objectives, mutual interactions and schedules.

Source record↗

NASA NTRS2001

A Constraint-based Attribute and Interval Planning

In this paper we introduce Constraint-based Attribute and Interval Planning (CAIP), a new paradigm for representing and reasoning about plans. The paradigm enables the description of planning domains with time, resources, concurrent activities, mutual exclusions among sets of activities, disjunctive preconditions and conditional effects. We provide a theoretical foundation for the paradigm using a mapping to first order logic. We also show that CAIP plans are naturally expressed by networks of constraints, and that planning maps directly to dynamic constraint reasoning. In addition, we show how constraint templates are used to provide a compact mechanism for describing planning domains.

Frank, Jeremy↗

NASA NTRS2002

Planning Systems for Distributed Operations

This viewgraph representation presents an overview of the mission planning process involving distributed operations (such as the International Space Station (ISS)) and the computer hardware and software systems needed to support such an effort. Topics considered include: evolution of distributed planning systems, ISS distributed planning, the Payload Planning System (PPS), future developments in distributed planning systems, Request Oriented Scheduling Engine (ROSE) and Next Generation distributed planning systems.

Maxwell, Theresa G.↗