SEARCH · Search NASA

Results for “Remote Supervisory Operations”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 37 records · Page 2

All sources NASA NTRS DOE OSTI

DOE OSTI2026

Cybersecurity Center for Offshore Wind Energy (Final Project Report)

This project establishes a Cybersecurity Center for Offshore Wind Energy with the objective of designing and operating a cyber-physical testbed for wind energy farms (WEFs) that enables comprehensive cybersecurity research. The testbed incorporates a Supervisory Control and Data Acquisition (SCADA) system connected to turbine models via industrial-grade programmable logic controllers (PLCs) and remote terminal units (RTUs). It supports side-channel data acquisition, implementation and analysis of various cyberattack scenarios, and development of attack detection, mitigation, and best-practice guidance tailored to wind energy systems. During the project, the team expanded the number and fidelity of mathematical turbine models (MTMs), integrated these models with SCADA infrastructure, and deployed a scaled physical turbine and associated sensors. High-resolution operational and side-channel data streams were collected and used to refine machine-learning (ML)-based attack detection systems and to extend the WindCRAFT framework to multi-turbine threat scenarios. The project demonstrated a realistic, scalable environment for evaluating cyber threats, validated attack detection approaches using enriched datasets, and identified new multi-turbine and inter-turbine communication attack vectors. The resulting testbed, models, and security mechanisms provide a foundation for ongoing R&D and deployment of cyber-resilient offshore wind energy systems.

17 WIND ENERGY↗

NASA NTRS1977

Orbital servicing and remotely manned systems

The potential of the concepts and techniques of remotely manned aerospace systems to fully exploit the utility and benefits of orbital servicing is discussed. Orbital servicing has been shown to benefit the Space Transportation System by helping to satisfy spacecraft program objectives of long operating times on-orbit while reducing program costs. The wide range of servicer mechanisms postulated in the literature is reduced to two concepts which are used to generate a set of control system requirements. Three control mode alternatives - automatic, supervisory control, and remotely manned control - are introduced, defined, evaluated and each found wanting in certain areas. A combination of supervisory and remotely manned control is shown to overcome most problems.

Smith, G. W.↗

NASA NTRS1980

Computer aided manipulator control

This paper describes the hardware and software system of a dedicated mini- and microcomputer network developed at the JPL teleoperator project to aid the operator in real-time control of remote manipulators. The operator can be in series or in parallel with the control computer during operation. The purpose of the project is to develop, demonstrate and evaluate advanced supervisory control concepts and techniques for space applications. The paper concludes with a brief outline of future development plans and issues.

Bejczy, A. K.↗

NASA NTRS1987

Issues in human/computer control of dexterous remote hands

Much research on dexterous robot hands has been aimed at the design and control problems associated with their autonomous operation, while relatively little research has addressed the problem of direct human control. It is likely that these two modes can be combined in a complementary manner yielding more capability than either alone could provide. While many of the issues in mixed computer/human control of dexterous hands parallel those found in supervisory control of traditional remote manipulators, the unique geometry and capabilities of dexterous hands pose many new problems. Among these are the control of redundant degrees of freedom, grasp stabilization and specification of non-anthropomorphic behavior. An overview is given of progress made at the MIT AI Laboratory in control of the Salisbury 3 finger hand, including experiments in grasp planning and manipulation via controlled slip. It is also suggested how we might introduce human control into the process at a variety of functional levels.

Salisbury, K.↗

NASA NTRS2022

A Framework for Dynamic Architecture and Functional Allocations for Increasing Airspace Autonomy

To enable scalability of air travel for use cases such as cargo delivery, it is anticipated that future air traffic operations will involve unmanned aircraft operated by remote pilots. Of particular interest are schemes where a small number of pilots operate a large number of vehicles, mitigating high cost and pilot shortage issues. Such architectures require increased levels of automation and supervisory control modes. They also require ensuring safe operations when the command and control link to the vehicle is degraded or lost completely, rendering the vehicle autonomous. To evaluate these variable and dynamic architectures, this paper will present a framework for decomposing the functions necessary to ensure safe, orderly, and expeditious air travel, assessing the agents in the system, and classifying the levels of autonomy. Then, an example allocation to agents of roles for the function of separation assurance is presented, highlighting the dependency of the allocation on three main factors: time criticality of a potential separation violation, the ratio of pilots to vehicles, and the loss of the command and control link.

air traffic management, function allocation, auton↗

NASA NTRS2022

A Framework for Dynamic Architecture and Functional Allocations for Increasing Airspace Autonomy

To enable scalability of air travel for use cases such as cargo delivery, it is anticipated that future air traffic operations will involve unmanned aircraft operated by remote pilots. Of particular interest are schemes where a small number of pilots operate a large number of vehicles, mitigating high cost and pilot shortage issues. Such architectures require increased levels of automation and supervisory control modes. They also require ensuring safe operations when the command and control link to the vehicle is degraded or lost completely, rendering the vehicle autonomous. To evaluate these variable and dynamic architectures, this paper will present a framework for decomposing the functions necessary to ensure safe, orderly, and expeditious air travel, assessing the agents in the system, and classifying the levels of autonomy. Then, an example allocation to agents of roles for the function of separation assurance is presented, highlighting the dependency of the allocation on three main factors; time criticality of a potential separation violation, the ratio of pilots to vehicles, and the loss of the command and control link.

air traffic management↗

NASA NTRS1993

Supervisory autonomous local-remote control system design: Near-term and far-term applications

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

Zimmerman, Wayne↗

DOE OSTI2025

Employing MACS/ViBRANT as a Surrogate MARVEL Reactor for Startup Reactivity Tuning and Supervisory Control Processes

Advanced nuclear reactors are a key part of the future of nuclear energy both in the United States and globally. They offer unique benefits for various energy-demanding applications, including use in remote locations, compact size, modular manufacturing, remote monitoring, low and/or variable power rating operation, and reliance on novel technologies to enhance operational safety. To achieve economic feasibility, advanced reactors must significantly reduce their workforces in comparison with the current fleet. Achieving this reduction will occur through reducing staff workloads using technology to achieve autonomous or semi-autonomous operations, demonstrated by comprehensive testing and validation activities. These operations will require both software and hardware platforms during the design and testing phases. While simulations are useful during the design phase, their performance can significantly deviate during actual deployment on hardware. This report presents the outcomes of a collaborative technical initiative between the U.S. Department of Energy (DOE) Microreactor Program (MRP) and Advanced Sensors and Instrumentation (ASI) Program. The collaboration utilized the Microreactor Automated Control System (MACS) hardware platform to bridge the gap between theoretical reactor design and actual startup and control operations. Two key use cases were investigated: facilitating the startup testing period and demonstrating supervisory control. The first use case details the key Microreactor Applications Research Validation and Evaluation (MARVEL) reactor startup physics testing activities conducted using the MACS platform. These activities included drum worth measurements, shutdown margin assessment, temperature feedback analysis, and scram time evaluation, as well as unique testing that would apply to the MARVEL reactor to demonstrate the testing methodologies in a low-risk environment. The MACS platform, serving as a surrogate representation of the MARVEL reactor, proved instrumental in performing these tests. The exercise revealed aspects that led to optimized processes, refined hardware design, and enhanced base software capabilities. By maturing methods and technologies in this manner, the initiative promises to reduce wasted time in the actual on-site reactor deployment effort, thereby saving significant time and resources. The second use case focuses on the development and implementation of supervisory control methods aimed at managing core tilt, which can result from asymmetrical operations or manufacturing imperfections in fuel rods or reactivity control devices. A key objective was to assess and compare the use of artificial intelligence (AI) for supervisory control. The effort aimed to define the role of supervisory control to enhance performance without risking control instability. This effort explored three distinct approaches: rules-based (RB) methods, optimization techniques, and reinforcement learning (RL) algorithms. Each approach was evaluated for its ease of implementation, its usability, and its effectiveness in responding to asymmetries in neutron flux. Comparative analysis of these approaches provided valuable insights into their applicability and effectiveness, offering a robust framework for advanced reactor operations. Together, these two use cases highlight the potential of hardware test beds to help streamline the design, operation, and control of advanced nuclear reactors. This collaborative effort underscores the importance of continued innovation and experimentation in achieving the next generation of safe, reliable, and economically viable nuclear energy solutions.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA NTRS1993

Telerobot local-remote control architecture for space flight program applications

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Zimmerman, Wayne↗

NASA NTRS2014

Results from Testing Crew-Controlled Surface Telerobotics on the International Space Station

During Summer 2013, the Intelligent Robotics Group at NASA Ames Research Center conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed lunar mission, in which an astronaut in lunar orbit would remotely operate a planetary rover to deploy a radio telescope on the lunar far side. Over the course of Expedition 36, three ISS astronauts remotely operated the NASA "K10" planetary rover in an analogue lunar terrain located at the NASA Ames Research Center in California. The astronauts used a "Space Station Computer" (crew laptop), a combination of supervisory control (command sequencing) and manual control (discrete commanding), and Ku-band data communications to command and monitor K10 for 11 hours. In this paper, we present and analyze test results, summarize user feedback, and describe directions for future research.

robotics↗

DOE OSTI2022

Precursor Analysis Report: Remote Access Attack on Oldsmar Water Treatment Facility 2021

The Remote Access Attack on Oldsmar Water Treatment Facility 2021 Precursor Analysis Report leverages publicly available information about the Oldsmar cyber attack and catalogs anomalous observables for each technique employed in the attack. This analysis is based upon the methodology of the Cybersecurity for the Operational Technology Environment (CyOTE) program. On 5 February 2021, an adversary gained unauthorized remote access to Bruce T. Haddock Water Treatment Plant in Oldsmar, Florida, which provides treated water to 15,000 customers. The adversary accessed the facility’s Supervisory Control and Data Acquisition (SCADA) workstation and human machine interface (HMI) to change the chemical concentration of sodium hydroxide, commonly referred to as lye and used to regulate acidity levels, from 100 parts per million (PPM) to 11,100 PPM. The chemical was raised to lethal levels that if ingested could lead to serious soft tissue damage, burns, or even death. The facility, however, had redundancies and alarms in place to alert personnel of dangerous chemical levels, and facility officials stated it would have taken 24 to 36 hours for the chemical changes to affect the water supply. Researchers and analysts identified six unique techniques utilized during the attack with a total of 23 observables using MITRE ATT&CK® for Industrial Control Systems. The CyOTE program assesses observables accompanying techniques used prior to the triggering event to identify opportunities to detect malicious activity. If observables accompanying the attack techniques are perceived and investigated prior to the triggering event, earlier comprehension of malicious activity can take place. Four of the identified techniques used during the Oldsmar cyber attack were precursors to the triggering event. Analysis identified 21 observables associated with these precursor techniques, 20 of which were assessed to have an increased likelihood of being perceived in the minutes preceding the triggering event. The response and comprehension time could have been reduced if the observables had been identified earlier. The information gathered in this report contributes to a library of observables tied to a repository of artifacts, data sources, and technique detection references for practitioners and developers to support the comprehension of indicators of attack. Asset owners and operators can use these products if they experience similar observables or to prepare for comparable scenarios.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

NASA NTRS1983

Man's role in a remote orbital servicing system

The Remote Orbital Servicing System (ROSS), a focal point for NASA research in automation and robotics, is discussed in terms of the role of man in such a system. In the supervisory control mode, the ROSS operator inputs high-level goals to a strategic (nonreal-time) planner which then passes the plan or series of actions to a tactical (real-time) planner which executes the plan. Using directed control, man makes more specific commands to perform strategic planning with or without the use of the automated strategic planner. Shared computer/manual control will require a multifunction interactive display. At the teleoperator control level, a hand controller is used to command the ROSS manipulator and end effectors.

Pennington, J. E.↗

NASA NTRS1973

Unmanned surface traverses of Mars and Moon: Science objectives, payloads, operations

Science objectives and properties to be measured are outlined for long surface traverse missions on Mars and the Moon, with remotely-controlled roving vehicles. A series of candidate rover payloads is proposed for each planet, varying in weight, cost, purpose, and development needed. The smallest weighs 35 kg; the largest almost 300 kg. A high degree of internal control will be needed on the Mars rover, including the ability to carry out complex science sequences. Decision-making by humans in the Mars mission includes supervisory control of rover operations and selection of features and samples of geological and biological interest. For the lunar mission, less control on the rover and more on earth is appropriate. Science portions of the rover mission profile are outlined, with timelines and mileage breakdowns. Operational problem areas for Mars include control, communications, data storage, night operations, and the mission operations system. For the moon, science data storage on the rover would be unnecessary and control much simpler.

Jaffe, L. D.↗

NASA NTRS1978

Computer interface for mechanical arm

Man/machine interface commands computer-controlled mechanical arm. Remotely-controlled arm has six degrees of freedom and is controlled through "supervisory-control" mode, in which all motions of arm follow set of preprogramed sequences. For simplicity, few prescribed commands are required to accomplish entire operation. Applications include operating computer-controlled arm to handle radioactive of explosive materials or commanding arm to perform functions in hostile environments. Modified version using displays may be applied in medicine.

Derocher, W. L.↗

DOE OSTI2021

Companion Assisted Software Based Remote Attestation in SCADA Networks

Critical infrastructure such as power generation and water distribution systems have become a priority target in cyber warfare because of their recent computerization and introduction to the internet. As a result, Supervisory Control and Data Acquisition (SCADA) system security has become a hot topic in academic and industrial research. Among these topics, Remote Attestation is a security method intended to detect the presence of fileless malware in remote devices as they continue to operate. This allows for the detection of malware in the absence of long-term storage artifacts before symptoms of compromise begin to appear. In general, a trusted device (the verifier) makes a request for evidence of innocence from the untrusted device (the prover). In software-based schemes, the verifier can then measure the delay between its request and the prover’s response. If this delay is greater than the known computational time of the evidence gathering algorithm performed by the prover, then evidence may have been forged. Multi-hop networks often introduce too much network jitter to allow accurate measurement of prover response time, which limits the effectiveness of software based Remote Attestation in a real-world setting. In this work, we introduce a companion device that the verifier can trust to perform a subset of attestation, thereby removing any network jitter. This device is a Field Programmable Gate Array (FPGA) that is physically connected to the prover. We provide a communication protocol between the verifier, prover, and companion. To evaluate our scheme, we simulate it in a common SCADA network environment under normal and heavy traffic loads. Our simulations are performed in the discrete event network simulator NS-3, and we perform statistical analysis over our results to show that our scheme allows for tight timing constraints to be placed on the prover such that the verifier can more easily determine the validity of the evidence that it receives.

Johnson, William A.↗

NASA NTRS2023

Ch. 12. A Theoretical Approach to Management of Limited Attentional Resources to Support the m:N Operation in Advanced Air Mobility Ecosystem

Advanced air mobility (AAM) technologies incorporate increasingly autonomous systems that allow fully remote, independent, and intelligent operation of air vehicles to support the transportation of goods and passengers within and across urban and rural areas. With a myriad of automated technologies enabling the AAM ecosystem, the human operator’s role will likely be a passive supervisory monitor of the air vehicles, involving increasingly fewer humans (m) that manage many more autonomous systems (N), or m:N operations. Unfortunately, the human performance literature suggests that human operators will exhibit poor supervision of numerous autonomous agents due to the limits of attentional resources in the operators. In the general human information-processing model, a human operator exercises a limited pool of attentional resources to engage various information-processing stages including detecting, perceiving, comprehending, and predicting objects around them. Yamani and Horrey (2018) expanded the human information-processing model to characterize a tradeoff between information-processing demand and resource relief that automation brings in the context of automated driving. In their model, a driver interacting with an automated driving system is assumed to reallocate resources “freed” by automation to support other information-processing stages required for successful task performance. A future AAM ecosystem enabled by an orchestration of advanced automated systems, however, requires a single operator to interact with more than one air vehicle with varying levels and degrees of automated systems, making the traditional framework of human-automation interaction insufficient. To address this gap, we provide a review of the literature on situation assessment and trust, two constructs identified as critical for a fuller understanding of intimate and intricate interactions between a human operator and multiple air vehicles equipped with increasingly autonomous systems. Then, we propose an expansion of Yamani and Horrey’s (2018) model to motivate systematic research on the human operator’s role, identify factors that influence resource allocation and guide human-centered design of an interface supporting the m:N operation in the AAM environment.

Advanced Air Mobility↗

NASA NTRS1993

System architecture for asynchronous multi-processor robotic control system

The architecture for the Modular Telerobot Task Execution System (MOTES) as implemented in the Supervisory Telerobotics (STELER) Laboratory is described. MOTES is the software component of the remote site of a local-remote telerobotic system which is being developed for NASA for space applications, in particular Space Station Freedom applications. The system is being developed to provide control and supervised autonomous control to support both space based operation and ground-remote control with time delay. The local-remote architecture places task planning responsibilities at the local site and task execution responsibilities at the remote site. This separation allows the remote site to be designed to optimize task execution capability within a limited computational environment such as is expected in flight systems. The local site task planning system could be placed on the ground where few computational limitations are expected. MOTES is written in the Ada programming language for a multiprocessor environment.

Steele, Robert D.↗

NASA NTRS1973

Touch sensors and control.

Description of the equipment employed and results obtained in experiments with tactile feedback and different levels of automatic control. In the experiments described tactile feedback was investigated by incorporating a touch sensing and touch display system into a teleoperator, while the levels of automatic control were investigated by incorporating supervisory control features in the teleoperator control system. In particular, a hand contact system which senses and reproduces to the operator the contact between the end-effector and the object being touched or manipulated is described, as well as a jaw contact system which senses and reproduces to the operator the shape and location of the object held in the remote jaws, and an arm control system consisting of a control station where the operator controls the motion of the arm by transmitting commands, a remote station that accepts the commands and uses them, and a communications link that limits information flow. In addition, an algorithmic language for remote manipulation is described, and the desired features that an automatic arm controller should possess are reviewed.

Hill, J. W.↗