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NASA NTRS2000

A Unified Approach to Model-Based Planning and Execution

Writing autonomous software is complex, requiring the coordination of functionally and technologically diverse software modules. System and mission engineers must rely on specialists familiar with the different software modules to translate requirements into application software. Also, each module often encodes the same requirement in different forms. The results are high costs and reduced reliability due to the difficulty of tracking discrepancies in these encodings. In this paper we describe a unified approach to planning and execution that we believe provides a unified representational and computational framework for an autonomous agent. We identify the four main components whose interplay provides the basis for the agent's autonomous behavior: the domain model, the plan database, the plan running module, and the planner modules. This representational and problem solving approach can be applied at all levels of the architecture of a complex agent, such as Remote Agent. In the rest of the paper we briefly describe the Remote Agent architecture. The new agent architecture proposed here aims at achieving the full Remote Agent functionality. We then give the fundamental ideas behind the new agent architecture and point out some implication of the structure of the architecture, mainly in the area of reactivity and interaction between reactive and deliberative decision making. We conclude with related work and current status.

Muscettola, Nicola↗

NASA NTRSDate not supplied

Autonomous In-space Construction, Maintenance, and Reconfiguration Using Programmable Meta-Material

NASA ARC's Coded Structures Laboratory (CSL) is developing autonomous construction, maintenance, and reconfiguration technologies to meet long-duration and deep space infrastructure needs, in accordance with long-term NASA goals of "in-space reliance" and "mass-less exploration." We seek to achieve these capabilities by utilizing a "programmable meta-material" approach that integrates emerging advances in materials (mechanical meta-materials), manufacturing (cooperative mobile robotics), and autonomy (multi-agent planning algorithms). Through the ARMADAS project, we have shown assembly of high-performance engineered cellular materials using multiple cooperating mobile robotic assemblers. In this paper, we describe how such a programmable meta-material architecture may shift the paradigm of how we design, build, manufacture, and operate future space infrastructure and assets. The core of a programmable meta-material architecture consists of 3 main technology sub-areas: the structure, the assembly agents, and the assembly algorithms. We co-design these systems to ensure an adaptable system that can create and reconfigure structures from a base set of building block components. From this core technology, we can branch out and expand the capability of the system through additional secondary component types and robotic agents to perform activities such as inspections, maintenance, repair, payload installation, or perform power and communications interconnect. As these technologies mature, future designers will be able to utilize the system to rapidly integrate and operate assets in space or on planetary surfaces from a set of well-tested part library, or create their own modules to integrate into the system. A core trait to the development of this system is the automation approach. Because of the modular and functional discrete (pixel-like) nature of the structural system, a diverse set of powerful algorithms for analysis, planning, and simulation can be adapted and leveraged to optimize construction, maintenance, and dynamic reorganization (as hardware with programmable form and function). With an ability to free the design space from launch vehicle constraints and fundamentally shift how a mission is designed and conducted, we discuss the influence of a programmable meta-material architecture on mission design, build, and operations. For the "design phase", we discuss project lifecycle effects, costs, time, and performance. For the "build phase", we discuss reusability, ISRU, manufacturing, material logistics, and scalability. And for "operations", we discuss autonomy, maintenance and upgrades, reliability, and reconfiguration. Autonomy and modularity are the primary enabling traits of this system. Engineering systems that utilize a modular and reconfiguration building block approach such as digital communication and computation systems, currently lead all other areas of technology in size and complexity scalability. NASA is extending the benefits and flexibility of digital systems to hardware systems, to optimize materials lifecycle management and expand our space exploration mission capabilities.

in space assembly↗

NASA NTRS1993

IMAGE: A Design Integration Framework Applied to the High Speed Civil Transport

Effective design of the High Speed Civil Transport requires the systematic application of design resources throughout a product's life-cycle. Information obtained from the use of these resources is used for the decision-making processes of Concurrent Engineering. Integrated computing environments facilitate the acquisition, organization, and use of required information. State-of-the-art computing technologies provide the basis for the Intelligent Multi-disciplinary Aircraft Generation Environment (IMAGE) described in this paper. IMAGE builds upon existing agent technologies by adding a new component called a model. With the addition of a model, the agent can provide accountable resource utilization in the presence of increasing design fidelity. The development of a zeroth-order agent is used to illustrate agent fundamentals. Using a CATIA(TM)-based agent from previous work, a High Speed Civil Transport visualization system linking CATIA, FLOPS, and ASTROS will be shown. These examples illustrate the important role of the agent technologies used to implement IMAGE, and together they demonstrate that IMAGE can provide an integrated computing environment for the design of the High Speed Civil Transport.

Hale, Mark A.↗

NASA NTRS2000

The Effect of Shared Information on Pilot/Controller and Controller/Controller Interactions

The increased ability to exchange information between Pilots, Controllers, Dispatchers, and other agents is a key component of advanced Air Traffic Management. The importance of shared information as well as current and evolving practices in information sharing are presented for a variety of interactions including: Controller/Pilot interactions, Pilot/Airline interactions, Controller/Controller interactions, and Airline/ATM interactions.

Hansman, R. John↗

NASA NTRSDate not supplied

SafeMAP: Safe Multi-Agent Planning Framework Based on Dynamic Probabilistic Risk Assessment

This paper proposes a risk-aware framework for Safe Multi-Agent Planning (SafeMAP) that unifies disparate models for multi-agent systems in a Markovian process that allows for simultaneous system health monitoring, decision making under uncertainty, and multi-agent system collaboration. As operations beyond low earth orbit mature, there is an increased need for autonomous cyber-physical systems with onboard decision making capabilities. Multi-agent cyber-physical systems in particular offer the potential of increased efficiency, resiliency, and mission capabilities for future applications such as multi-rover terrain operations, distributed satellite operations, and management of smart lunar habitats. SafeMAP utilizes physics-based models of each agent and the relevant components, probability models of the environment and component operational states, and reward models for mission-specific objectives such as scientific task completion or resource consumption. The output of SafeMAP is a set of mission plans that satisfy the mission objective under specified risk/reward constraints. A readable interpretation of each of these generated mission plans is provided as an additional output. SafeMAP has been demonstrated on a simulated case study involving a four-rover system performing surface mapping operations and science tasks. Results of this paper demonstrate SafeMAP’s ability to generate explainable mission plans that satisfy the mission objective while minimizing risk under nominal and off-nominal conditions.

Mohammad Hejase↗

NASA NTRSDate not supplied

SafeMAP: Safe Multi-Agent Planning framework based on Dynamic Probabilistic Risk Assessment

Mohammad Hejase↗

NASA NTRS2001

Adjustable Autonomy Testbed

The Adjustable Autonomy Testbed (AAT) is a simulation-based testbed located in the Intelligent Systems Laboratory in the Automation, Robotics and Simulation Division at NASA Johnson Space Center. The purpose of the testbed is to support evaluation and validation of prototypes of adjustable autonomous agent software for control and fault management for complex systems. The AA T project has developed prototype adjustable autonomous agent software and human interfaces for cooperative fault management. This software builds on current autonomous agent technology by altering the architecture, components and interfaces for effective teamwork between autonomous systems and human experts. Autonomous agents include a planner, flexible executive, low level control and deductive model-based fault isolation. Adjustable autonomy is intended to increase the flexibility and effectiveness of fault management with an autonomous system. The test domain for this work is control of advanced life support systems for habitats for planetary exploration. The CONFIG hybrid discrete event simulation environment provides flexible and dynamically reconfigurable models of the behavior of components and fluids in the life support systems. Both discrete event and continuous (discrete time) simulation are supported, and flows and pressures are computed globally. This provides fast dynamic simulations of interacting hardware systems in closed loops that can be reconfigured during operations scenarios, producing complex cascading effects of operations and failures. Current object-oriented model libraries support modeling of fluid systems, and models have been developed of physico-chemical and biological subsystems for processing advanced life support gases. In FY01, water recovery system models will be developed.

Malin, Jane T.↗

NASA NTRS2002

Reusable Autonomy

Currently, spacecraft ground systems have a well defined and somewhat standard architecture and operations concept. Based on domain analysis studies of various control centers conducted over the years it is clear that ground systems have core capabilities and functionality that are common across all ground systems. This observation alone supports the realization of reuse. Additionally, spacecraft ground systems are increasing in their ability to do things autonomously. They are being engineered using advanced expert systems technology to provide automated support for operators. A clearer understanding of the possible roles of agent technology is advancing the prospects of greater autonomy for these systems. Many of their functional and management tasks are or could be supported by applied agent technology, the dynamics of the ground system's infrastructure could be monitored by agents, there are intelligent agent-based approaches to user-interfaces, etc. The premise of this paper is that the concepts associated with software reuse, applicable in consideration of classically-engineered ground systems, can be updated to address their application in highly agent-based realizations of future ground systems. As a somewhat simplified example consider the following situation, involving human agents in a ground system context. Let Group A of controllers be working on Mission X. They are responsible for the command, control and health and safety of the Mission X spacecraft. Let us suppose that mission X successfully completes it mission and is turned off. Group A could be dispersed or perhaps move to another Mission Y. In this case there would be reuse of the human agents from Mission X to Mission Y. The Group A agents perform their well-understood functions in a somewhat but related context. There will be a learning or familiarization process that the group A agents go through to make the new context, determined by the new Mission Y, understood. This simplified scenario highlights some of the major issues that need to be addressed when considering the situation where Group A is composed of software-based agents (not their human counterparts) and they migrate from one mission support system to another. This paper will address: - definition of an agent architecture appropriate to support reuse; - identification of non-mission-specific agent capabilities required; - appropriate knowledge representation schemes for mission-specific knowledge; - agent interface with mission-specific knowledge (a type of Learning); development of a fully-operational group of cooperative software agents for ground system support; architecture and operation of a repository of reusable agents that could be the source of intelligent components for realizing an autonomous (or nearly autonomous) agent-based ground system, and an agent-based approach to repository management and operation (an intelligent interface for human use of the repository in a ground-system development activity).

Truszkowski, Walt↗

NASA NTRS1995

Machine learning for a Toolkit for Image Mining

A prototype user environment is described that enables a user with very limited computer skills to collaborate with a computer algorithm to develop search tools (agents) that can be used for image analysis, creating metadata for tagging images, searching for images in an image database on the basis of image content, or as a component of computer vision algorithms. Agents are learned in an ongoing, two-way dialogue between the user and the algorithm. The user points to mistakes made in classification. The algorithm, in response, attempts to discover which image attributes are discriminating between objects of interest and clutter. It then builds a candidate agent and applies it to an input image, producing an 'interest' image highlighting features that are consistent with the set of objects and clutter indicated by the user. The dialogue repeats until the user is satisfied. The prototype environment, called the Toolkit for Image Mining (TIM) is currently capable of learning spectral and textural patterns. Learning exhibits rapid convergence to reasonable levels of performance and, when thoroughly trained, Fo appears to be competitive in discrimination accuracy with other classification techniques.

Delanoy, Richard L.↗

NASA NTRS1985

Precision and sensitivity of the measurement of 15N enrichment in D-alanine from bacterial cell walls using positive/negative ion mass spectrometry

Sensitive detection of cellular components from specific groups of microbes can be utilized as 'signatures' in the examination of microbial consortia from soils, sediments or biofilms. Utilizing capillary gas chromatography/mass spectrometry and stereospecific derivatizing agents, D-alanine, a component localized in the prokaryotic (bacterial) cell wall, can be detected reproducibly. Enrichments of D-[15N]alanine determined in E. coli grown with [15N]ammonia can be determined with precision at 1.0 atom%. Chemical ionization with methane gas and the detection of negative ions (M - HF)- and (M - F or M + H - HF)- formed from the heptafluorobutyryl D-2 butanol ester of D-alanine allowed as little as 8 pg (90 fmol) to be detected reproducibly. This method can be utilized to define the metabolic activity in terms of 15N incorporation at the level of 10(3)-10(4) cells, as a function of the 15N-14N ratio.

Non-NASA Center↗

NASA NTRS1998

Integration of the Remote Agent for the NASA Deep Space One Autonomy Experiment

This paper describes the integration of the Remote Agent (RA), a spacecraft autonomy system which is scheduled to control the Deep Space 1 spacecraft during a flight experiment in 1999. The RA is a reusable, model-based autonomy system that is quite different from software typically used to control an aerospace system. We describe the integration challenges we faced, how we addressed them, and the lessons learned. We focus on those aspects of integrating the RA that were either easier or more difficult than integrating a more traditional large software application because the RA is a model-based autonomous system. A number of characteristics of the RA made integration process easier. One example is the model-based nature of RA. Since the RA is model-based, most of its behavior is not hard coded into procedural program code. Instead, engineers specify high level models of the spacecraft's components from which the Remote Agent automatically derives correct system-wide behavior on the fly. This high level, modular, and declarative software description allowed some interfaces between RA components and between RA and the flight software to be automatically generated and tested for completeness against the Remote Agent's models. In addition, the Remote Agent's model-based diagnosis system automatically diagnoses when the RA models are not consistent with the behavior of the spacecraft. In flight, this feature is used to diagnose failures in the spacecraft hardware. During integration, it proved valuable in finding problems in the spacecraft simulator or flight software. In addition, when modifications are made to the spacecraft hardware or flight software, the RA models are easily changed because they only capture a description of the spacecraft. one does not have to maintain procedural code that implements the correct behavior for every expected situation. On the other hand, several features of the RA made it more difficult to integrate than typical flight software. For example, the definition of correct behavior is more difficult to specify for a system that is expected to reason about and flexibly react to its environment than for a traditional flight software system. Consequently, whenever a change is made to the RA it is more time consuming to determine if the resulting behavior is correct. We conclude the paper with a discussion of future work on the Remote Agent as well as recommendations to ease integration of similar autonomy projects.

Dorais, Gregory A.↗

NASA NTRS2006

Relationships Among Intrinsic Properties of Ordinary Chondrites: Oxidation State, Bulk Chemistry, Oxygen-isotopic Composition, Petrologic Type, and Chondrule Size

The properties of ordinary chondrites (OC) reflect both nebular and asteroidal processes. OC are modeled here as having acquired nebular water, probably contained within phyllosilicates, during agglomeration. This component had high Ai70 and acted like an oxidizing agent during thermal metamorphism. The nebular origin of this component is consistent with negative correlations in H, L, and LL chondrites between oxidation state (represented by olivine Fa) and bulk concentration ratios of elements involved in the metal-silicate fractionation (e.g., NdSi, Ir/Si, Ir/Mn, Ir/Cr, Ir/Mg, Ni/Mg, As/Mg, Ga/Mg). LL chondrites acquired the greatest abundance of phyllosilicates with high (delta)O-17 among OC (and thus became the most oxidized group and the one with the heaviest O isotopes); H chondrites acquired the lowest abundance, becoming the most reduced OC group with the lightest O isotopes. Chondrule precursors may have grown larger and more ferroan with time in each OC agglomeration zone. Nebular turbulence may have controlled the sizes of chondrule precursors. H-chondrite chondrules (which are the smallest among OC) formed from the smallest precursors. In each OC region, low-FeO chondrules formed before high-FeO chondrules during repeated episodes of chondrule formation. During thermal metamorphism, phyllosilicates were dehydrated; the liberated water oxidized metallic Fe-Ni. This caused correlated changes with petrologic type including decreases in the modal abundance of metal, increases in olivine Fa and low-Ca pyroxene Fs, increases in the olivine/pyroxene ratio, and increases in the kamacite Co and Ni contents. As water (with its heavy 0 isotopes) was lost during metamorphism, inverse correlations between bulk (delta)O-18 and bulk (delta)O-17 with petrologic type were produced. The H5 chondrites that were ejected from their parent body approx.7.5 Ma ago during a major impact event probably had been within a few kilometers of each other since they accreted approx.4.5 Ga ago. There are significant differences in the olivine compositional distributions among these rocks; these reflect stochastic nebular sampling of the oxidant (Le., phyllosilicates with high (delta)O-17) on a 0.1-1 km scale during agglomeration.

Rubin, Alan E.↗

NASA NTRS1999

Next Generation Remote Agent Planner

In May 1999, as part of a unique technology validation experiment onboard the Deep Space One spacecraft, the Remote Agent became the first complete autonomous spacecraft control architecture to run as flight software onboard an active spacecraft. As one of the three components of the architecture, the Remote Agent Planner had the task of laying out the course of action to be taken, which included activities such as turning, thrusting, data gathering, and communicating. Building on the successful approach developed for the Remote Agent Planner, the Next Generation Remote Agent Planner is a completely redesigned and reimplemented version of the planner. The new system provides all the key capabilities of the original planner, while adding functionality, improving performance and providing a modular and extendible implementation. The goal of this ongoing project is to develop a system that provides both a basis for future applications and a framework for further research in the area of autonomous planning for spacecraft. In this article, we present an introductory overview of the Next Generation Remote Agent Planner. We present a new and simplified definition of the planning problem, describe the basics of the planning process, lay out the new system design and examine the functionality of the core reasoning module.

Jonsson, Ari K.↗

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 NTRS1993

Acting to gain information

This report is concerned with agents that act to gain information. In previous work, we developed agent models combining qualitative modeling with real-time control. That work, however, focused primarily on actions that affect physical states of the environment. The current study extends that work by explicitly considering problems of active information-gathering and by exploring specialized aspects of information-gathering in computational perception, learning, and language. In our theoretical investigations, we analyzed agents into their perceptual and action components and identified these with elements of a state-machine model of control. The mathematical properties of each was developed in isolation and interactions were then studied. We considered the complexity dimension and the uncertainty dimension and related these to intelligent-agent design issues. We also explored active information gathering in visual processing. Working within the active vision paradigm, we developed a concept of 'minimal meaningful measurements' suitable for demand-driven vision. We then developed and tested an architecture for ongoing recognition and interpretation of visual information. In the area of information gathering through learning, we explored techniques for coping with combinatorial complexity. We also explored information gathering through explicit linguistic action by considering the nature of conversational rules, coordination, and situated communication behavior.

Rosenchein, Stanley J.↗

NASA NTRS2014

Proto-Examples of Data Access and Visualization Components of a Potential Cloud-Based GEOSS-AI System

Once a research or application problem has been identified, one logical next step is to search for available relevant data products. Thus, an early component of a potential GEOSS-AI system, in the continuum between observations and end point research, applications, and decision making, would be one that enables transparent data discovery and access by users. Such a component might be effected via the systems data agents. Presumably, some kind of data cataloging has already been implemented, e.g., in the GEOSS Common Infrastructure (GCI). Both the agents and cataloging could also leverage existing resources external to the system. The system would have some means to accept and integrate user-contributed agents. The need or desirability for some data format internal to the system should be evaluated. Another early component would be one that facilitates browsing visualization of the data, as well as some basic analyses.Three ongoing projects at the NASA Goddard Earth Sciences Data and Information Services Center (GES DISC) provide possible proto-examples of potential data access and visualization components of a cloud-based GEOSS-AI system. 1. Reorganizing data archived as time-step arrays to point-time series (data rods), as well as leveraging the NASA Simple Subset Wizard (SSW), to significantly increase the number of data products available, at multiple NASA data centers, for production as on-the-fly (virtual) data rods. SSWs data discovery is based on OpenSearch. Both pre-generated and virtual data rods are accessible via Web services. 2. Developing Web Feature Services to publish the metadata, and expose the locations, of pre-generated and virtual data rods in the GEOSS Portal and enable direct access of the data via Web services. SSW is also leveraged to increase the availability of both NASA and non-NASA data.3.Federating NASA Giovanni (Geospatial Interactive Online Visualization and Analysis Interface), for multi-sensor data exploration, that would allow each cooperating data center, currently the NASA Distributed Active Archive Centers (DAACs), to configure its own Giovanni deployment, while also allowing all the deployments to incorporate each others data. A federated Giovanni comprises Giovanni Virtual Machines, which can be run on local servers or in the cloud.

access↗

NASA NTRS1995

Use of agents to implement an integrated computing environment

Integrated Product and Process Development (IPPD) embodies the simultaneous application to both system and quality engineering methods throughout an iterative design process. The use of IPPD results in the time-conscious, cost-saving development of engineering systems. To implement IPPD, a Decision-Based Design perspective is encapsulated in an approach that focuses on the role of the human designer in product development. The approach has two parts and is outlined in this paper. First, an architecture, called DREAMS, is being developed that facilitates design from a decision-based perspective. Second, a supporting computing infrastructure, called IMAGE, is being designed. Agents are used to implement the overall infrastructure on the computer. Successful agent utilization requires that they be made of three components: the resource, the model, and the wrap. Current work is focused on the development of generalized agent schemes and associated demonstration projects. When in place, the technology independent computing infrastructure will aid the designer in systematically generating knowledge used to facilitate decision-making.

Hale, Mark A.↗

NASA NTRS1979

Investigation of Test Methods, Material Properties, and Processes for Solar Cell Encapsulants

During this quarter the technical activities were directed toward the reformulation of ethylene/vinyl acetate copolymer for use as a compound in solar cell module fabrication. Successful formulations were devised that lowered the temperature required for cure and raised the gel content. A major volatile component was also eliminated (acrylate crosslinking agent) which should aid in the production of bubble free laminates. Adhesive strengths and primers for the bonding of ethylene/vinyl acetate to supersyrate and substrate materials was assessed with encouraging results. The incorporation of silane compounds gave high bond strengths. A survey of scrim materials was also conducted.

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