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NASA NTRS2006

Mission Control Technologies: A New Way of Designing and Evolving Mission Systems

Current mission operations systems are built as a collection of monolithic software applications. Each application serves the needs of a specific user base associated with a discipline or functional role. Built to accomplish specific tasks, each application embodies specialized functional knowledge and has its own data storage, data models, programmatic interfaces, user interfaces, and customized business logic. In effect, each application creates its own walled-off environment. While individual applications are sometimes reused across multiple missions, it is expensive and time consuming to maintain these systems, and both costly and risky to upgrade them in the light of new requirements or modify them for new purposes. It is even more expensive to achieve new integrated activities across a set of monolithic applications. These problems impact the lifecycle cost (especially design, development, testing, training, maintenance, and integration) of each new mission operations system. They also inhibit system innovation and evolution. This in turn hinders NASA's ability to adopt new operations paradigms, including increasingly automated space systems, such as autonomous rovers, autonomous onboard crew systems, and integrated control of human and robotic missions. Hence, in order to achieve NASA's vision affordably and reliably, we need to consider and mature new ways to build mission control systems that overcome the problems inherent in systems of monolithic applications. The keys to the solution are modularity and interoperability. Modularity will increase extensibility (evolution), reusability, and maintainability. Interoperability will enable composition of larger systems out of smaller parts, and enable the construction of new integrated activities that tie together, at a deep level, the capabilities of many of the components. Modularity and interoperability together contribute to flexibility. The Mission Control Technologies (MCT) Project, a collaboration of multiple NASA Centers, led by NASA Ames Research Center, is building a framework to enable software to be assembled from flexible collections of components and services.

Trimble, Jay↗
NASA NTRS2021

Ground and Onboard Automated Scheduling for the Mars 2020 Rover Mission

The Mars 2020 Rover mission is using automated scheduling in two capacities. As of March 2021 a ground-based scheduler automatically schedules rover wake/sleep and preheats to support Mars 2020 daily operations. Included in the ground system is an explainable scheduling tool that allows users in-sight into the schedule developed by the automated scheduler. An onboard scheduler that will allow the rover autonomously better account for variations in execution is in development for use later in the mission.

Towey, Shannon↗
NASA NTRSDate not supplied

Repurposing Drilling Control Diagnostics for Subsurface Edge Detection and Boundary Advisement During Planetary Drilling

Informed decision-making during lunar drilling and sampling missions will require data monitoring tools and specialized ground data systems. Accurate and updated situational awareness, with ongoing data monitoring, is critical for timely responses by to incoming science data. Traverse plans and scheduled activities may need to be flexibly changed in order to react to unexpected data or situations. Unlike (for example) Mars missions, the relative lightspeed closeness of the Moon allows for near-real-time ground processing of incoming mission and instrument data. An Apollo-class lunar regolith drill will in a sense “travel” a meter or two vertically at a given subsurface characterization site. As the drill penetrates into lunar regolith, it is likely to encounter a range of material densities, orientations, fracture toughness, and (perhaps) ice percentages. Lunar drill telemetry can provide science teams with a valuable first look into the subsurface structure, the regolith bulk properties, and constituents at each drilled site. Real-time AI-based recognition and reaction to downhole situations has been developed for automated deeper drilling on Mars and beyond. We can leverage the same knowledge bases and pattern-matching as areal-time interpreter of the subsurface, a situational awareness tool during drilling operations. We recently (Sept. 2019) demonstrated this AI drilling monitoring and analysis capability, in control of in-situ drilling and sampling operations, mounted on a KREX-2 rover in Chile’s Atacama Desert. Terrestrial automated drilling log analyses in oil exploration have used similar machine learning techniques in classifying and identifying features in drilling logs –but these typically are designed assuming a drilling fluid influencing downhole measurements and data (permeability, resistivity). Drilling models and existing AI software designed to detect and respond to drilling faults and hard materials can be repurposed, for near-real-time (ground-based) interpretation of drilling telemetry –a potentially valuable advisory tool for strata boundaries and changes in drilling parameters. On the Moon, this approach could be used to study the structure and to some extent the composition of lunar regolith vs. borehole depth, based on recognizable variations in fracture hardness, drilling energy and penetration rates while actively drilling. Since the early 2000s, a series of increasingly-capable real-time drilling telemetry interpretation and characterization software tools have been developed. These subsurface models and software tools have monitored the real-time drilling data received, and automatically identified changes in drill behavior (e.g., encountering a harder target layer, bit inclusions, drill choking due to infall downhole, and others) correlating these with subsurface structures and features. We discuss the mappings between drill borehole parameters, faults or events detected, and modeled changes in rock layer boundaries, in examples drawn from field testing at analog sites in an Arctic impact crater, Rio Tinto, and Chile’s Atacama Desert. These demonstrate how subsurface structural boundaries led to fault detections and responses by the software.

drilling advisor↗
NASA NTRS1986

Planetary exploration through year 2000: An augmented program. Part two of a report by the Solar System Exploration Committee of the NASA Advisory Council

In 1982, the NASA Solar System Exploration Committee (SSEC) published a report on a Core Program of planetary missions, representing the minimum-level program that could be carried out in a cost effective manner, and would yield a continuing return of basic scientific results. This is the second part of the SSEC report, describing missions of the highest scientific merit that lie outside the scope of the previously recommended Core Program because of their cost and technical challenge. These missions include the autonomous operation of a mobile scientific rover on the surface of Mars, the automated collection and return of samples from that planet, the return to Earth of samples from asteroids and comets, projects needed to lay the groundwork for the eventual utilization of near-Earth resources, outer planet missions, observation programs for extra-solar planets, and technological developments essential to make these missions possible.

Source record↗
NASA NTRS2004

MAPGEN: Mixed-Initiative Activity Planning for the Mars Exploration Rover Mission

This document describes the Mixed initiative Activity Plan Generation system MAPGEN. This system is one of the critical tools in the Mars Exploration Rover mission surface operations, where it is used to build activity plans for each of the rovers, each Martian day. The MAPGEN system combines an existing tool for activity plan editing and resource modeling, with an advanced constraint-based reasoning and planning framework. The constraint-based planning component provides active constraint and rule enforcement, automated planning capabilities, and a variety of tools and functions that are useful for building activity plans in an interactive fashion. In this demonstration, we will show the capabilities of the system and demonstrate how the system has been used in actual Mars rover operations. In contrast to the demonstration given at ICAPS 03, significant improvement have been made to the system. These include various additional capabilities that are based on automated reasoning and planning techniques, as well as a new Constraint Editor support tool. The Constraint Editor (CE) as part of the process for generating these command loads, the MAPGEN tool provides engineers and scientists an intelligent activity planning tool that allows them to more effectively generate complex plans that maximize the science return each day. The key to the effectiveness of the MAPGEN tool is an underlying constraint-based planning and reasoning engine.

Ai-Chang, Mitchell↗
NASA NTRS2019

Supporting automation in spacecraft activity planning with simulation and visualization

Automation is gaining momentum in spacecraft operations, however, at a much slower pace than comparable application domains. The reasons behind slow adoption is (1) the need for high reliability and (2) the limited interaction between human operators and the automated systems. For automated systems to be adopted and trusted by humans, humans need to gain intuition about the decision making process of the automated system and trust in its execution [1]. In this paper, we present how simulation and visualization can enhance adoption of an automated on-board activity scheduling system, specifically in the context of Mars2020 rover mission[2]. The visualization aims to communicate to the users degree of variance and uncertainty in possible schedule execution. Our preliminary validation results suggest that the proposed visualization increases operators’ confidence in—and likelihood of adopting—the automated scheduling system.

Chien, Steve↗
NASA NTRS2005

Mixed-Initiative Planning in MAPGEN: Capabilities and Shortcomings

MAPGEN (Mixed-initiative Activity Plan GENerator) is a mixed-initiative system that employs automated constraint-based planning, scheduling, and temporal reasoning to assist the Mars Exploration Rover mission operations staff in generating the daily activity plans. This paper describes the mixed-initiative capabilities of MAPGEN, identifies shortcomings with the deployed system, and discusses ongoing work to address some of these shortcomings.

Bresina, John L.↗
NASA NTRS1990

Automation and Robotics for space operation and planetary exploration

This paper presents a perspective of Automation and Robotics (A&R) research and developments at NASA in terms of its history, its current status, and its future. It covers artificial intelligence, telerobotics and planetary rovers, and it encompasses ground operations, operations in earth orbit, and planetary exploration.

Montemerlo, Melvin D.↗
NASA NTRS2020

Overview and Initial Results of SAND-E: Semi-Autonomous Navigation for Detrital Environments

Unmanned aerial systems (UAS) and automated terrain analysis for science and navigation are new technologies for planetary exploration. The Mars Helicopter will fly with the Mars2020 rover, the Dragonfly quadcopter will explore Titan, and Soil Properties and Object Classification (SPOC) software will be used for path planning and navigation on the Mars2020 rover. Using an Argo J5 rover instrumented with stereo cameras and Autonomous Soil Assessment System (ASAS) software, and an off the shelf quadcopter, SAND-E tested the use of automated terrain analysis and UAS data for science operations in a Mars-analog environment in Iceland during July of 2019. Scientifically, we sought to determine changes in the physical and chemical properties of sediments along a glacial-fluvial-aeolian transport pathway. Operationally, we tested rover mission-like scenarios that included UAS images and classified terrain images. Here, we present the initial results for both the operations and science elements of the study. Site Selection: A goal of SAND-E is examine sorting and alteration of sediments in fluvial and aeolian environments in both mineral-dominated and glass-dominated basaltic settings. During the first year of the project we focused on a mineral-dominated environment. Selection of the location was based on prior publications that indicated our selected region had a greater abundance of crystalline sediments than other areas fluvial-aeolian settings in Iceland. Other criteria included the presence of both fluvial and aeolian landforms along a transport pathway such that the sediments in transport could be linked to their source rocks. We chose the Skjaldbreidauhraun glacial outwash plain, which sits at the base of Thórisjökull glacier. The site is 30 km north of Thingvellir National Park and ~2 hours from Reykjavik. The outwash plain is fed by two small catchments that drain from the base of the glacier and cut through hyaloclastite and shield volcano bedrock. The drainage progresses from steep alluvial fans near the glacier into a low-sloping fluvial braidplain that becomes confined by the Skjaldbreidur shield volcano and creates a shallow canyon cut into lava bedrock. The fluvial system was a typical braided alluvial environment composed pebble- and cobble-bedded longitudinal bars and sandy channel beds. The river remained active and fluctuated in response to diurnal runoff cycles near the glacier before disappearing into the sandy substrate downstream. The high concentration of suspended sediment in the river was evident by the cloudy water and the silt and clay-sized sediments that draped the channel beds after abandonment and created playas in the lowest sloping areas of the catchment. The entire fluvial system was affected by the winds generated by frontal systems and katabatic flows descending the glacier. This resulted in the formation of aeolian lag deposits and a wind-deflation plain where the fluvial system was not active. Wind ripples and drifts formed in abandoned fluvial channels from aeolian reworking of the sand-sized fluvial sediments. The silt- and clay-sized sediments found in fluvial channels, bar tops, and playas generated dust plumes during high wind events. Our operation sought to capture the variability in this system by sampling from the range of fluvial and aeolian features 6.3 km (proximal), 11.3 km (medial), and 14.4 km (distal) along the river from its origin at the base of glacier.

Ewing, R. C.↗
NASA NTRS1993

Past US studies and developments for planetary rovers

The history of planetary rovers in the U.S. space program is outlined in the context of the goals, mission and spacecraft designs, and operations designs. The American lunar rover work has had three main stages. In the early sixties, the capacity of Surveyor lunar landers to deliver rovers with a mass of about 50 kg to the Moon was exploited. Several such machines were built and tested beginning in 1964 but none went to the Moon. A manned 400 kg short range rover was then developed. Three of these operated on the Moon in 1971 and 1972 as part of the Apollo 15, 16 and 17 missions. Following these Apollo successes, attempts were made to provide two kinds of follow on models: automated or dual mode (human carrying or not) rovers in the few hundred kg size class, and multi-ton mobile habitats that could carry humans on extended traverses. With the closing of both Soviet and American lunar exploration in the seventies, neither of these proposals succeeded. In parallel with these lunar developments, a lengthy technology program on Martian roving has gone on in the U.S., sometimes coming close to preproject status and sometimes fading away, but never quite being abandoned. As a result it is possible today to contemplate a wide range of lunar and Martian roving missions that could be made practical within a few years. However, with today's funding constraints none of the well studied, larger mission concepts appear to fit. Therefore new efforts are being made toward developing much smaller rovers taking advantage of new miniature techniques, not only in mobility systems but also in the scientific instruments that a small rover can carry. Illustrations are included.

Burke, James D.↗
NASA NTRS1992

An in Situ Technique for Elemental Analysis of Lunar Surfaces

An in situ analytical technique that can remotely determine the elemental constituents of solids has been demonstrated. Laser-Induced Breakdown Spectroscopy (LIBS) is a form of atomic emission spectroscopy in which a powerful laser pulse is focused on a solid to generate a laser spark, or microplasma. Material in the plasma is vaporized, and the resulting atoms are excited to emit light. The light is spectrally resolved to identify the emitting species. LIBS is a simple technique that can be automated for inclusion aboard a remotely operated vehicle. Since only optical access to a sample is required, areas inaccessible to a rover can be analyzed remotely. A single laser spark both vaporizes and excites the sample so that near real-time analysis (a few minutes) is possible. This technique provides simultaneous multielement detection and has good sensitivity for many elements. LIBS also eliminates the need for sample retrieval and preparation preventing possible sample contamination. These qualities make the LIBS technique uniquely suited for use in the lunar environment.

Kane, K. Y.↗
NASA NTRS2018

Human-Automation Allocations for Current Robotic Space Operations

Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To gather existing lessons learned and best practices in these role assignments, from spaceflight operational experience of crew and ground teams that may be used to guide development for future systems. NASA and other space agencies have operational spaceflight experience with two key Human-Automation-Robotic (HAR) systems: heavy lift robotic arms and planetary robotic explorers. Additionally, NASA has invested in high-fidelity rover systems that can carry crew, building beyond Apollo's lunar rover. The heavy lift robotic arms reviewed are: Space Station Remote Manipulator System (SSRMS), Japanese Remote Manipulator System (JEMRMS), and the European Robotic Arm (ERA, designed but not deployed in space). The robotic rover systems reviewed are: Mars Exploration Rovers, Mars Science Laboratory rover, and the high-fidelity K10 rovers. Much of the design and operational feedback for these systems have been communicated to flight controllers and robotic design teams. As part of the mitigating the HARI risk for future human spaceflight operations, we must document function allocations between robots and humans that have worked well in practice.

robotic allocation↗
NASA NTRS2011

Automatic Tie Pointer for In-Situ Pointing Correction

The MARSAUTOTIE program generates tie points for use with the Mars pointing correction software "In-Situ Pointing Correction and Rover Microlocalization," (NPO-46696) Soft ware Tech Briefs, Vol. 34, No. 9 (September 2010), page 18, in a completely automated manner, with no operator intervention. It takes the place of MARSTIE, although MARSTIE can be used to interactively edit the tie points afterwards. These tie points are used to create a mosaic whose seams (boundaries of input images) have been geometrically corrected to reduce or eliminate errors and mis-registrations. The methods used to find appropriate tie points for use in creating a mosaic are unique, having been designed to work in concert with the "MARSNAV" program to be most effective in reducing or eliminating geometric seams in a mosaic. The program takes the input images and finds overlaps according to the nominal pointing. It then finds the most interesting areas using a scene activity metric. Points with higher scene activity are more likely to correlate successfully in the next step. It then uses correlation techniques to find matching points in the overlapped image. Finally, it performs a series of steps to reduce the number of tie points to a manageable level. These steps incorporate a number of heuristics that have been devised using experience gathered by tie pointing mosaics manually during MER operations. The software makes use of the PIG library as described in "Planetary Image Geometry Library" (NPO-46658), NASA Tech Briefs, Vol. 34, No. 12 (December 2010), page 30, so it is multi-mission, applicable without change to any in-situ mission supported by PIG. The MARSAUTOTIE algorithm is automated, so it requires no user intervention. Although at the time of this reporting it has not been done, this program should be suitable for integration into a fully automated mosaic production pipeline.

Deen, Robert G/↗
NASA NTRS2018

Playbook for UAS: UX of Goal-Oriented Planning & Execution

We are evaluating Playbook for CASAS (Connected Autonomous Smart Aerospace Systems), a tool designed to aid first responders in disaster relief efforts. We are adapting an existing tool, Playbook, to support a future unmanned aircraft system (UAS) swarm demonstration. Playbook for CASAS will be used to plan, edit, and monitor simulated UAS swarms, and we are interested in evaluating the user experience of this prototype as well as developing recommendations for future UAS interfaces. Allocation of roles and responsibilities between human-automation systems is key to promoting productive cooperation between users and automation. Future interfaces, however, must allow for adaptive management of the swarm not a constant split in human-automation control. Our early research indicates that when a single pilot is controlling swarms of robotic agents, such as UAS or ground rovers, operators require a higher level, goal-based interface with usability at its core. Along with that high-level control, users can leverage sensors within the swarm to be notified when lower level actions must be taken by the pilot. First responders working in disaster relief efforts require a high level of situational awareness (SA) and precise control at key moments within a mission. This balance in operator workload paired with SA can lead to improved safety and mission outcomes. Our research below outlines leverage points as well as the balance between human involvement and autonomy in UAS interfaces.

UAS↗
NASA NTRS2004

Robotic Subsurface Analyzer and Sample Handler for Resource Reconnaissance and Preliminary Site Assessment for ISRU Activities at the Lunar Cold Traps

Since the 1960s, claims have been made that water ice deposits should exist in permanently shadowed craters near both lunar poles. Recent interpretations of data from the Lunar Prospector-Neutron Spectrometer (LP- NS) confirm that significant concentrations of hydrogen exist, probably in the form of water ice, in the permanently shadowed polar cold traps. Yet, due to the large spatial resolution (45-60 Ian) of the LP-NS measurements relative to these shadowed craters (approx.5-25 km), these data offer little certainty regarding the precise location, form or distribution of these deposits. Even less is known about how such deposits of water ice might effect lunar regolith physical properties relevant to mining, excavation, water extraction and construction. These uncertainties will need to be addressed in order to validate fundamental lunar In Situ Resource Utilization (ISRU) precepts by 2011. Given the importance of the in situ utilization of water and other resources to the future of space exploration a need arises for the advanced deployment of a robotic and reconfigurable system for physical properties and resource reconnaissance. Based on a collection of high-TRL. designs, the Subsurface Analyzer and Sample Handler (SASH) addresses these needs, particularly determining the location and form of water ice and the physical properties of regolith. SASH would be capable of: (1) subsurface access via drilling, on the order of 3-10 meters into both competent targets (ice, rock) and regolith, (2) down-hole analysis through drill string embedded instrumentation and sensors (Neutron Spectrometer and Microscopic Imager), enabling water ice identification and physical properties measurements; (3) core and unconsolidated sample acquisition from rock and regolith; (4) sample handling and processing, with minimized contamination, sample containerization and delivery to a modular instrument payload. This system would be designed with three mission enabling goals, including: (1) a self-contained, low power, low mass, "black box'' configuration for operations from a lander, various classes of rovers or a surface-based platform with human assistance or robotic anchoring mechanisms; (2) reconfigurable and scalable sample handling for delivery to various types of instrumentation, depending on mission requirements; and (3) the use of advanced automation control and diagnostic techniques that will afford local human deployed, remote teleoperation and fully autonomous intelligent operations. Though a great deal of technology has been advanced toward these objectives, the SASH system faces significant design challenges, including the low gravity environment, various levels of autonomy in operations, radiation exposure, dust contamination, and temperature extremes and deltas. Significant input from the scientific and engineering communities, as well as a significant environmental testing program, will be required to guide the design process.

Gorevan, S. P.↗
NASA NTRS1989

CIS-lunar space infrastructure lunar technologies: Executive summary

Technologies necessary for the creation of a cis-Lunar infrastructure, namely: (1) automation and robotics; (2) life support systems; (3) fluid management; (4) propulsion; and (5) rotating technologies, are explored. The technological focal point is on the development of automated and robotic systems for the implementation of a Lunar Oasis produced by Automation and Robotics (LOAR). Under direction from the NASA Office of Exploration, automation and robotics were extensively utilized as an initiating stage in the return to the Moon. A pair of autonomous rovers, modular in design and built from interchangeable and specialized components, is proposed. Utilizing a buddy system, these rovers will be able to support each other and to enhance their individual capabilities. One rover primarily explores and maps while the second rover tests the feasibility of various materials-processing techniques. The automated missions emphasize availability and potential uses of Lunar resources, and the deployment and operations of the LOAR program. An experimental bio-volume is put into place as the precursor to a Lunar environmentally controlled life support system. The bio-volume will determine the reproduction, growth and production characteristics of various life forms housed on the Lunar surface. Physicochemical regenerative technologies and stored resources will be used to buffer biological disturbances of the bio-volume environment. The in situ Lunar resources will be both tested and used within this bio-volume. Second phase development on the Lunar surface calls for manned operations. Repairs and re-configuration of the initial framework will ensue. An autonomously-initiated manned Lunar oasis can become an essential component of the United States space program.

Faller, W.↗
NASA NTRS1989

Cislunar space infrastructure: Lunar technologies

Continuing its emphasis on the creation of a cisluar infrastructure as an appropriate and cost-effective method of space exploration and development, the University of Colorado explores the technologies necessary for the creation of such an infrastructure, namely (1) automation and robotics; (2) life support systems; (3) fluid management; (4) propulsion; and (5) rotating technologes. The technological focal point is on the development of automated and robotic systems for the implementation of a Lunar Oasis produced by automation and robotics (LOARS). Under direction from the NASA Office of Exploration, automation and robotics have been extensively utilized as an initiating stage in the return to the Moon. A pair of autonomous rovers, modular in design and built from interchangeable and specialized components, is proposed. Utilizing a 'buddy system', these rovers will be able to support each other and to enhance their individual capabilities. One rover primarily explores and maps while the second rover tests the feasibility of various materials-processing techniques. The automated missions emphasize availability and potential uses of lunar resources and the deployment and operations of the LOAR program. An experimental bio-volume is put into place as the precursor to a Lunar Environmentally Controlled Life Support System. The bio-volume will determine the reproduction, growth and production characteristics of various life forms housed on the lunar surface. Physiochemical regenerative technologies and stored resources will be used to buffer biological disturbances of the bio-volume environment. The in situ lunar resources will be both tested and used within this bio-volume. Second phase development on the lunar surface calls for manned operations. Repairs and reconfiguration of the initial framework will ensue. An autonomously initiated, manned Lunar Oasis can become an essential component of the United States space program. The Lunar Oasis will provide support to science, technology, and commerce. It will enable more cost-effective space exploration to the planets and beyond.

W. Faller↗
NASA NTRS1996

Space-Related Applications of Intelligent Control: Which Algorithm to Choose? (Theoretical Analysis of the Problem)

For a space mission to be successful it is vitally important to have a good control strategy. For example, with the Space Shuttle it is necessary to guarantee the success and smoothness of docking, the smoothness and fuel efficiency of trajectory control, etc. For an automated planetary mission it is important to control the spacecraft's trajectory, and after that, to control the planetary rover so that it would be operable for the longest possible period of time. In many complicated control situations, traditional methods of control theory are difficult or even impossible to apply. In general, in uncertain situations, where no routine methods are directly applicable, we must rely on the creativity and skill of the human operators. In order to simulate these experts, an intelligent control methodology must be developed. The research objectives of this project were: to analyze existing control techniques; to find out which of these techniques is the best with respect to the basic optimality criteria (stability, smoothness, robustness); and, if for some problems, none of the existing techniques is satisfactory, to design new, better intelligent control techniques.

Kreinovich, Vladik↗