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At least 271 records · Page 15

The blackboard model - A framework for integrating multiple cooperating expert systems

The use of an artificial intelligence (AI) architecture known as the blackboard model is examined as a framework for designing and building distributed systems requiring the integration of multiple cooperating expert systems (MCXS). Aerospace vehicles provide many examples of potential systems, ranging from commercial and military aircraft to spacecraft such as satellites, the Space Shuttle, and the Space Station. One such system, free-flying, spaceborne telerobots to be used in construction, servicing, inspection, and repair tasks around NASA's Space Station, is examined. The major difficulties found in designing and integrating the individual expert system components necessary to implement such a robot are outlined. The blackboard model, a general expert system architecture which seems to address many of the problems found in designing and building such a system, is discussed. A progress report on a prototype system under development called DBB (Distributed BlackBoard model) is given. The prototype will act as a testbed for investigating the feasibility, utility, and efficiency of MCXS-based designs developed under the blackboard model.

Erickson, W. K.↗

Orbiting Rainbows: Optical Manipulation of Aerosols and the Beginnings of Future Space Construction

Our objective is to investigate the conditions to manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an ultra-lightweight surface with useful and adaptable electromagnetic characteristics, for instance, in the optical, RF, or microwave bands. Inspired by the light scattering and focusing properties of distributed optical assemblies in Nature, such as rainbows and aerosols, and by recent laboratory successes in optical trapping and manipulation, we propose a unique combination of space optics and autonomous robotic system technology, to enable a new vision of space system architecture with applications to ultra-lightweight space optics and, ultimately, in-situ space system fabrication. Typically, the cost of an optical system is driven by the size and mass of the primary aperture. The ideal system is a cloud of spatially disordered dust-like objects that can be optically manipulated: it is highly reconfigurable, fault-tolerant, and allows very large aperture sizes at low cost. See Figure 1 for a scenario of application of this concept. The solution that we propose is to construct an optical system in space in which the nonlinear optical properties of a cloud of micron-sized particles are shaped into a specific surface by light pressure, allowing it to form a very large and lightweight aperture of an optical system, hence reducing overall mass and cost. Other potential advantages offered by the cloud properties as optical system involve possible combination of properties (combined transmit/receive), variable focal length, combined refractive and reflective lens designs, and hyper-spectral imaging. A cloud of highly reflective particles of micron-size acting coherently in a specific electromagnetic band, just like an aerosol in suspension in the atmosphere, would reflect the Sun's light much like a rainbow. The only difference with an atmospheric or industrial aerosol is the absence of the supporting fluid medium. This new concept is based on recent understandings in the physics of optical manipulation of small particles in the laboratory and the engineering of distributed ensembles of spacecraft clouds to shape an orbiting cloud of micron-sized objects. In the same way that optical tweezers have revolutionized micro- and nano-manipulation of objects, our breakthrough concept will enable new large scale NASA mission applications and develop new technology in the areas of Astrophysical Imaging Systems and Remote Sensing because the cloud can operate as an adaptive optical imaging sensor. While achieving the feasibility of constructing one single aperture out of the cloud is the main topic of this work, it is clear that multiple orbiting aerosol lenses could also combine their power to synthesize a much larger aperture in space to enable challenging goals such as exoplanet detection. Furthermore, this effort could establish feasibility of key issues related to material properties, remote manipulation, and autonomy characteristics of cloud in orbit. There are several types of endeavors (science missions) that could be enabled by this type of approach, i.e. it can enable new astrophysical imaging systems, exoplanet search, large apertures allow for unprecedented high resolution to discern continents and important features of other planets, hyperspectral imaging, adaptive systems, spectroscopy imaging through limb, and stable optical systems from Lagrange-points. Future micro-miniaturization might hold promise of a further extension of our dust aperture concept to other more exciting smart dust concepts with other associated capabilities.

Space Construction↗

A task control architecture for autonomous robots

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Simmons, Reid↗

NASA Laboratory telerobotic manipulator control system architecture

In support of the National Aeronautics and Space Administration (NASA) goals to increase the utilization of dexterous robotic systems in space, the Oak Ridge National Laboratory (ORNL) has developed the Laboratory Telerobotic Manipulator (LTM) system. It is a dexterous, dual-arm, force reflecting teleoperator system with robotic features for NASA ground-based research. This paper describes the overall control system architecture, including both the hardware and software. The control system is a distributed, modular, and hierarchical design with flexible expansion capabilities for future enhancements of both the hardware and software.

Rowe, J. C.↗

NASA Laboratory Telerobotic Manipulator control system architecture

In support of the National Aeronautics and Space Administration (NASA) goals to increase the utilization of dexterous robotic systems in space, the Oak Ridge National Laboratory (ORNL) has developed the Laboratory Telerobotic Manipulator (LTM) system. It is a dexterous, dual-arm, force reflecting teleoperator system with robotic features for NASA ground-based research. This paper describes the overall control system architecture, including both the hardware and software. The control system is a distributed, modular, and hierarchical design with flexible expansion capabilities for future enhancements of both the hardware and software.

Rowe, J. C.↗

Forecasting the Northern African Dust Outbreak Towards Europe in April 2011: A Model Intercomparison

In the framework of the World Meteorological Organisation's Sand and Dust Storm Warning Advisory and Assessment System, we evaluated the predictions of five state-of-the-art dust forecast models during an intense Saharan dust outbreak affecting western and northern Europe in April 2011. We assessed the capacity of the models to predict the evolution of the dust cloud with lead times of up to 72 hours using observations of aerosol optical depth (AOD) from the AErosol RObotic NETwork (AERONET) and the Moderate Resolution Imaging Spectroradiometer (MODIS) and dust surface concentrations from a ground-based measurement network. In addition, the predicted vertical dust distribution was evaluated with vertical extinction profiles from the Cloud and Aerosol Lidar with Orthogonal Polarization (CALIOP). To assess the diversity in forecast capability among the models, the analysis was extended to wind field (both surface and profile), synoptic conditions, emissions and deposition fluxes. Models predict the onset and evolution of the AOD for all analysed lead times. On average, differences among the models are larger than differences among lead times for each individual model. In spite of large differences in emission and deposition, the models present comparable skill for AOD. In general, models are better in predicting AOD than near-surface dust concentration over the Iberian Peninsula. Models tend to underestimate the long-range transport towards northern Europe. Our analysis suggests that this is partly due to difficulties in simulating the vertical distribution dust and horizontal wind. Differences in the size distribution and wet scavenging efficiency may also account for model diversity in long-range transport.

dust storms↗

NASA’s Lunar Trailblazer Mission: A Pioneering Small Satellite for Lunar Water and Lunar Geology

Selected in 2019 as a NASA SIMPLEx mission, Lunar Trailblazer is in implementation for flight system delivery at the end of 2022. The mission’s goal is to understand the form, abundance, and distribution of water on the Moon and the lunar water cycle. Lunar Trailblazer also collects data of candidate landing sites to inform planning for future human and robotic exploration of the Moon and evaluate the potential for in situ resource utilization. Lunar Trailblazer’s two science instruments, the High-resolution Volatiles and Minerals Moon Mapper (HVM3) and the Lunar Thermal Mapper (LTM) provide simultaneous high-resolution spectral imaging data to map OH/water, crustal composition, and thermophysical properties from a 100±30 km lunar polar orbit. The ~210-kg flight system deploys from an ESPA Grande and utilizes a ~1000 m/s ΔV hydrazine chemical propulsion system, similar to that employed by GRAIL. Trailblazing elements include the novel state-of-the-art dataset collected at substantially reduced price point, fully geographically co-registered data products delivered to the Planetary Data System, planetary mission team demographics, Caltech campus mission operations, and student staffing of select mission ops roles. Lunar Trailblazer’s pioneering development is providing key lessons learned for future planetary small spacecraft.

Zareh, Shannon↗

Assessment of Dust Size Retrievals Based on AERONET: A Case Study of Radiative Closure From Visible-Near-Infrared to Thermal Infrared

Super-coarse dust particles (diameters >10 μm) are evidenced to be more abundant in the atmosphere than model estimates and contribute significantly to the dust climate impacts. Since super-coarse dust accounts for less dust extinction in the visible-to-near-infrared (VIS-NIR) than in the thermal infrared (TIR) spectral regime, they are suspected to be underestimated by remote sensing instruments operates only in VIS-NIR, including Aerosol Robotic Networks (AERONET), a widely used data set for dust model validation. In this study, we perform a radiative closure assessment using the AERONET-retrieved size distribution in comparison with the collocated Atmospheric Infrared Sounder (AIRS) TIR observations with comprehensive uncertainty analysis. The consistently warm bias in the comparisons suggests a potential underestimation of super-coarse dust in the AERONET retrievals due to the limited VIS-NIR sensitivity. An extra super-coarse mode included in the AERONET-retrieved size distribution helps improve the TIR closure without deteriorating the retrieval accuracy in the VIS-NIR.

thermal infrared (TIR)↗

Remote Science at Sea With Remotely Operated Vehicles

Conducting sea-going ocean science no longer needs to be limited to the number of berths on a ship given that telecommunications, computing, and networking technologies onboard ships have become familiar mechanisms for expanding scientists’ reach from onshore. The oceanographic community routinely works with remotely operated vehicles (ROVs) and pilots to access real-time video and data from the deep sea, while onboard a ship. The extension of using an ROV and its host vessel’s live-streaming capabilities has been popularized for almost 3 decades as a telepresence technology. Telepresence-enabled vessels with ROVs have been employed for science, education, and outreach, giving a greater number of communities viewing access to ocean science. However, the slower development of technologies and social processes enabling sustained real-time involvement between scientists on-ship and onshore undermines the potential for broader access, which limits the possibility of increasing inclusivity and discoveries through a diversity of knowledge and capabilities. This article reviews ocean scientists’ use of telepresence for ROV-based deep-sea research and funded studies of telepresence capabilities. The authors summarize these studies findings and conditions that lead to defining the use of telepresence-enabled vessels for “remote science at sea.” Authors define remote science at sea as a type of ocean expedition, an additional capability, not a replacement for all practices by which scientists conduct ocean research. Remote science for ocean research is an expedition at-sea directed by a distributed science team working together from at least two locations (on-ship and onshore) to complete their science objectives for which primary data is acquired by robotic technologies, with connectivity supported by a high-bandwidth satellite and the telepresence-enabled ship’s technologies to support the science team actively engaged before, during, and after dives across worksites. The growth of productive ocean expeditions with remote science is met with social, technical, and logistical challenges that impede the ability of remote scientists to succeed. In this article, authors review telepresence-enabled ocean science, define and situate the adjoined model of remote science at sea, and some infrastructural, technological and social considerations for conducting and further developing remote science at sea.

marine technology↗

Controls for space structures

Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control. A theory for disturbance accommodating controllers based on reduced order models of structures was developed, and stability results for these controllers in closed-loop with large-scale finite element models of structures were obtained.

Balas, Mark↗

Aerosol Models for the CALIPSO Lidar Inversion Algorithms

We use measurements and models to develop aerosol models for use in the inversion algorithms for the Cloud Aerosol Lidar and Imager Pathfinder Spaceborne Observations (CALIPSO). Radiance measurements and inversions of the AErosol RObotic NETwork (AERONET1, 2) are used to group global atmospheric aerosols using optical and microphysical parameters. This study uses more than 105 records of radiance measurements, aerosol size distributions, and complex refractive indices to generate the optical properties of the aerosol at more 200 sites worldwide. These properties together with the radiance measurements are then classified using classical clustering methods to group the sites according to the type of aerosol with the greatest frequency of occurrence at each site. Six significant clusters are identified: desert dust, biomass burning, urban industrial pollution, rural background, marine, and dirty pollution. Three of these are used in the CALIPSO aerosol models to characterize desert dust, biomass burning, and polluted continental aerosols. The CALIPSO aerosol model also uses the coarse mode of desert dust and the fine mode of biomass burning to build a polluted dust model. For marine aerosol, the CALIPSO aerosol model uses measurements from the SEAS experiment 3. In addition to categorizing the aerosol types, the cluster analysis provides all the column optical and microphysical properties for each cluster.

Omar, Ali H.↗

Proceedings from the 2nd International Symposium on Formation Flying Missions and Technologies

Topics discussed include: The Stellar Imager (SI) "Vision Mission"; First Formation Flying Demonstration Mission Including on Flight Nulling; Formation Flying X-ray Telescope in L2 Orbit; SPECS: The Kilometer-baseline Far-IR Interferometer in NASA's Space Science Roadmap Presentation; A Tight Formation for Along-track SAR Interferometry; Realization of the Solar Power Satellite using the Formation Flying Solar Reflector; SIMBOL-X : Formation Flying for High-Energy Astrophysics; High Precision Optical Metrology for DARWIN; Close Formation Flight of Micro-Satellites for SAR Interferometry; Station-Keeping Requirements for Astronomical Imaging with Constellations of Free-Flying Collectors; Closed-Loop Control of Formation Flying Satellites; Formation Control for the MAXIM Mission; Precision Formation Keeping at L2 Using the Autonomous Formation Flying Sensor; Robust Control of Multiple Spacecraft Formation Flying; Virtual Rigid Body (VRB) Satellite Formation Control: Stable Mode-Switching and Cross-Coupling; Electromagnetic Formation Flight (EMFF) System Design, Mission Capabilities, and Testbed Development; Navigation Algorithms for Formation Flying Missions; Use of Formation Flying Small Satellites Incorporating OISL's in a Tandem Cluster Mission; Semimajor Axis Estimation Strategies; Relative Attitude Determination of Earth Orbiting Formations Using GPS Receivers; Analysis of Formation Flying in Eccentric Orbits Using Linearized Equations of Relative Motion; Conservative Analytical Collision Probabilities for Orbital Formation Flying; Equations of Motion and Stability of Two Spacecraft in Formation at the Earth/Moon Triangular Libration Points; Formations Near the Libration Points: Design Strategies Using Natural and Non-Natural Ares; An Overview of the Formation and Attitude Control System for the Terrestrial Planet Finder Formation Flying Interferometer; GVE-Based Dynamics and Control for Formation Flying Spacecraft; GNC System Design for a New Concept of X-Ray Distributed Telescope; GNC System for the Deployment and Fine Control of the DARWIN Free-Flying Interferometer; Formation Algorithm and Simulation Testbed; and PLATFORM: A Formation Flying, RvD and Robotic Validation Test-bench.

Source record↗

Towards an Open, Distributed Software Architecture for UxS Operations

To address the growing need to evaluate, test, and certify an ever expanding ecosystem of UxS platforms in preparation of cultural integration, NASA Langley Research Center's Autonomy Incubator (AI) has taken on the challenge of developing a software framework in which UxS platforms developed by third parties can be integrated into a single system which provides evaluation and testing, mission planning and operation, and out-of-the-box autonomy and data fusion capabilities. This software framework, named AEON (Autonomous Entity Operations Network), has two main goals. The first goal is the development of a cross-platform, extensible, onboard software system that provides autonomy at the mission execution and course-planning level, a highly configurable data fusion framework sensitive to the platform's available sensor hardware, and plug-and-play compatibility with a wide array of computer systems, sensors, software, and controls hardware. The second goal is the development of a ground control system that acts as a test-bed for integration of the proposed heterogeneous fleet, and allows for complex mission planning, tracking, and debugging capabilities. The ground control system should also be highly extensible and allow plug-and-play interoperability with third party software systems. In order to achieve these goals, this paper proposes an open, distributed software architecture which utilizes at its core the Data Distribution Service (DDS) standards, established by the Object Management Group (OMG), for inter-process communication and data flow. The design decisions proposed herein leverage the advantages of existing robotics software architectures and the DDS standards to develop software that is scalable, high-performance, fault tolerant, modular, and readily interoperable with external platforms and software.

Cross, Charles D.↗

Abstract - Belbas, Nicholas (EC2)

Originally, I was brought into the Design and Analysis Branch in the Crew and Thermal Systems to work on administrative tasks like archiving and scheduling. However, I ended up splitting my time between secretarial tasks and a technical project. My technical project was originally meant to be a wireless sensor package for the 20ft Spacecraft Thermal Vacuum Chamber in the B7 High Bay. I would be using a miniature wifi development board and a temperature/humidity sensor along with custom 3D modeling to accomplish this. However, after some discussion with my technical mentor, the plan was changed to a mobile autonomous self-charging sensor platform. A mobile platform will allow the sensors to be moved around without depressurizing the chamber. Also, the self-charging aspect of the package allows for almost unlimited time in the chamber. If the on-board battery runs low, the robot can easily be driven to its charging dock and continue to transmit while charging. The driving base is based around a Raspberry Pi 3 board with a 12C PMW DC Motor controller and a PWM controller driving two small gear motors. The sensor transmitter itself is a RHT03 temperature and humidity sensor and Cozir CO2 sensor connected to an ESP8266 Huzzah board. The power distribution system utilizes a pair of 3.7v 3600mah lipo batteries wired to Powerboost 500 boards. Also, the self-charging mechanism utilizes two 12v-max inductive charging coils wired into the same Powerboost boards as the battery. The Raspberry pi is running Python 3.3 for the driving base and Javascript MJPEG library for transmitting live video from the onboard camera. The sensor package is running Arduino-based C++ and the program capturing the data is running PyqtGraph Python and HTML. The shell of the robot itself is a 3D printed case that will (work in progress) snap together. The photo to the left shows the two halves separated from each other. The black shell contains the power distribution boards and connectors while the white shell contains the driving base and data systems.

Belbas, Nicholas↗

Mars Volatiles and Climate Surveyor (MVACS) Integrated Payload for the Mars Polar Lander Mission

The Mars Volatiles and Climate Surveyor (MVACS) integrated payload for the Mars Polar Lander will be launched in January 1999, with a scheduled landing on Mars' south-polar layered deposits in December 1999. Over the course of its 90-day nominal mission during the martian southern spring and summer seasons, it will make in situ measurements that will provide new insights into the behavior and distribution of martian volatiles, MVACS consists of four major instrument systems: a surface stereo imager (SSI), which will acquire multispectral stereo images of the surface and atmosphere; a 2-m robotic arm (RA), which will dig a O.5-m deep trench and acquire surface and subsurface samples that will be imaged by a focusable robotic arm camera (RAC), which will take close-up images of surface and subsurface samples at a spatial resolution of 21 micron; a meteorology package (MET), which will make the first measurements of surface pressure, temperature, and winds in Mars' southern hemisphere and employ a tunable diode laser (TDL) spectrometer to measure the water-vapor concentration and isotopic composition of CO2 in the martian atmosphere; and a thermal and evolved gas analyzer (TEGA), which will use differential scanning calorimetry and TDL-evolved gas analysis to determine the concentrations of ices, adsorbed volatiles, and volatile-bearing minerals in surface and subsurface soil samples. The unique in situ measurements made by MVACS at its high-latitude landing site will define a number of important aspects of the physical, isotopic, and chemical nature of the martian near-surface and subsurface environment that will be valuable in better understanding Mars meteorites and returned samples, as well as in the search for martian resources that could be utilized by humans.

Paige, D. A.↗

Distributed Spacecraft Autonomy - Development of Swarm Autonomy Capability and Scalability for Spacecraft

The Distributed Spacecraft Autonomy project is developing a suite of software tools that enable an operator to command and receive data from a swarm as a single entity, enable a swarm to autonomously coordinate its actions via distributed decision making and reactive closed-loop control, and model swarm behavior in the presence of anomalies or failures. Our use case is the mapping of the electron density of the ionosphere using radio tomography by coordinating the selection of appropriate GPS channels, and by recording Total Electron Count (TEC) measurements. DSA will be demonstrated onboard the NASA Ames Starling mission – a swarm of four small, LEO spacecraft, scheduled to launch in 2021. We will also perform a ground demonstration with simulated and hardware-in-the-loop elements, to validate the tools for controlling swarms of up to 100 assets. The capability to communicate autonomously between the swarm satellites is demonstrated via a sophisticated simulation architecture. Historical Plasmasphere TEC data obtained via dual-band Novatel GPS Receivers are utilized as a representative input dataset for the swarm. The representative TEC data and GPS satellite observability information is fed to the autonomous software package in place of a true real-time ground data collection process. The swarm satellites actively share status updates amongst one another and utilize multi-agent decision making to optimally identify regions of interest in the TEC distribution. The software, aware of the bandwidth limitations of the swarm satellites, prioritizes explorative measurements, which define the range of observability for the satellites, as well as exploitative measurements, which focus on maximizing the observance potential of regions with prolonged, elevated TEC density. The science of this study can ultimately be used to determine the dynamics and coupling of Earth’s magnetosphere, ionosphere, and atmosphere and their response to solar and terrestrial inputs. The findings can be applied to the imaging of critical, transient phenomena in the magnetosphere in later missions. Meanwhile, the swarm autonomy capabilities have far reaching potential in future satellite missions. As an experimental demonstration of the autonomous capabilities of the network, a message is first printed within a core Flight Executive (cFE) application. Two cFE applications that communicate with one another within the same core Flight System (cFS) are shown. Communication between mission applications on the internal cFE bus is extended to utilize Data Distribution Service (DDS) for vehicle-to-vehicle networking. The DDS middleware provides reliable delivery, routing, and topic subscription features over User Datagram Protocol (UDP). Leveraging Linux containerization, a networked set of satellite instances are generated by script to simulate swarm behavior. Swarm commanding and synchronization through the network is demonstrated under various topologies and data-loss conditions. Finally, autonomous swarm scalability from 2 satellites to 100 satellites is shown.

Distributed Autonomy↗