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Real-time reasoning - The monitoring and control of spacecraft systems

Research concerned with automating the monitoring and control of spacecraft systems is discussed. In particular, the application the Procedural Reasoning System (PRS) to the handling of malfunctions in the Reaction Control System (RCS) of NASAs space shuttle is studied. Unlike traditional monitoring and control systems, PRS is able to reason about and perform complex tasks in a very flexible and robust manner, somewhat in the manner of a human assistant. Using various RCS malfunctions as examples (including sensor faults, leaking components, multiple alarms, and regulator and jet failures), it is shown how PRS manages to combine both goal-directed reasoning and the ability to react rapidly to unanticipated changes in its environment. Some important issues in the design of PRS are reviewed, and future enhancements are indicated.

Georgeff, Michael P.↗

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗

Robonaut's Flexible Information Technology Infrastructure

Robonaut, NASA's humanoid robot, is designed to work as both an astronaut assistant and, in certain situations, an astronaut surrogate. This highly dexterous robot performs complex tasks under telepresence control that could previously only be carried out directly by humans. Currently with 47 degrees of freedom (DOF), Robonaut is a state-of-the-art human size telemanipulator system. while many of Robonaut's embedded components have been custom designed to meet packaging or environmental requirements, the primary computing systems used in Robonaut are currently commercial-off-the-shelf (COTS) products which have some correlation to flight qualified computer systems. This loose coupling of information technology (IT) resources allows Robonaut to exploit cost effective solutions while floating the technology base to take advantage of the rapid pace of IT advances. These IT systems utilize a software development environment, which is both compatible with COTS hardware as well as flight proven computing systems, preserving the majority of software development for a flight system. The ability to use highly integrated and flexible COTS software development tools improves productivity while minimizing redesign for a space flight system. Further, the flexibility of Robonaut's software and communication architecture has allowed it to become a widely used distributed development testbed for integrating new capabilities and furthering experimental research.

Askew, Scott↗

Robonaut: A Robotic Astronaut Assistant

NASA's latest anthropomorphic robot, Robonaut, has reached a milestone in its capability. This highly dexterous robot, designed to assist astronauts in space, is now performing complex tasks at the Johnson Space Center that could previously only be carried out by humans. With 43 degrees of freedom, Robonaut is the first humanoid built for space and incorporates technology advances in dexterous hands, modular manipulators, lightweight materials, and telepresence control systems. Robonaut is human size, has a three degree of freedom (DOF) articulated waist, and two, seven DOF arms, giving it an impressive work space for interacting with its environment. Its two, five fingered hands allow manipulation of a wide range of tools. A pan/tilt head with multiple stereo camera systems provides data for both teleoperators and computer vision systems.

Ambrose, Robert O.↗

Synergistic Activities of Near-Earth Object Exploration

U.S. President Obama stated on April 15, 2010 that the next goal for human spaceflight will be to send human beings to near-Earth asteroids by 2025. Missions to NEOs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. Information obtained from a human investigation of a NEO, together with ground-based observations and prior spacecraft investigations of asteroids and comets, will also provide a real measure of ground truth to data obtained from terrestrial meteorite collections. Major advances in the areas of geochemistry, impact history, thermal history, isotope analyses, mineralogy, space weathering, formation ages, thermal inertias, volatile content, source regions, solar system formation, etc. can be expected from human NEO missions. Samples directly returned from a primitive body would lead to the same kind of breakthroughs for understanding NEOs that the Apollo samples provided for understanding the Earth-Moon system and its formation history. In addition, robotic precursor and human exploration missions to NEOs would allow the NASA and its international partners to gain operational experience in performing complex tasks (e.g., sample collection, deployment of payloads, retrieval of payloads, etc.) with crew, robots, and spacecraft under microgravity conditions at or near the surface of a small body. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Abell, Paul↗

Shocking Results on the Adverse Effects of CO2 Exposures

Carbon dioxide (CO2) is released in large quantities from humans while they live and work in spacecraft or work outside the spacecraft during extravehicular activity (EVA). Removal of this anthropogenic pollutant requires major resources, and these resources increase dramatically as the levels of CO2 set to protect human health and performance are reduced. The current Spacecraft Maximum Allowable Concentration of CO2 aboard the ISS is 0.7% or 5.3 mmHg; however, according to Chits (mission action requests), NASA and its international partners have agreed to control CO2 levels to less than 4 mmHg. In the meantime, retrospective investigations attempting to associate crew symptoms with elevated CO2 levels over the life if the International Space Station (ISS) are underway to determine if this level is sufficient to protect against health and performance decrements. Anecdotal reports suggest that crewmembers are not able to perform complex tasks as readily in spaceflight as they were able during ground-based training. While physiological effects of CO2 have been studied for many decades, it is only recently that the effects of CO2 on higher reasoning capabilities have been studied. The initial results are shocking. For example, one study published in the respected journal Environmental Health Perspectives showed obvious adverse effects of CO2 exposures on higher reasoning at 1.9 mmHg. The implications and limitations of this study are paramount in determining future CO2 SMACs for human spaceflight, both aboard the ISS and in exploration-class missions. Key Words: carbon dioxide, spacecraft, air quality, toxic effects

James, John T.↗

Near-Earth Object Exploration and Marco Polo-R

A major goal for NASA's human spaceflight program is to send astronauts to near-Earth asteroids (NEAs) in the coming decades. Missions to NEAs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. However, prior to sending human explorers to NEAs, robotic investigations of these bodies would be required in order to maximize operational efficiency and reduce mission risk. These precursor missions to NEAs would fill crucial strategic knowledge gaps concerning their physical characteristics that are relevant for human exploration of these relatively unknown destinations. Therefore robotic investigations of NEAs, such as ESA's Marco Polo-R sample return mission to 2008 EV5, would allow NASA and its international partners to gain critical operational experience in performing complex tasks (e.g., close proximity operations, surface sample collection, etc.) under microgravity conditions at or near the surface of a potential human destination. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Abell, Paul↗

Exploration of Near-Earth Asteroids

A major goal for NASA's human spaceflight program is to send astronauts to near-Earth asteroids (NEAs) in the coming decades. Missions to NEAs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. However, prior to sending human explorers to NEAs, robotic investigations of these bodies would be required in order to maximize operational efficiency and reduce mission risk. These precursor missions to NEAs would fill crucial strategic knowledge gaps concerning their physical characteristics that are relevant for human exploration of these relatively unknown destinations. Information obtained from a human investigation of a NEA, together with ground-based observations and prior spacecraft investigations of asteroids and comets, will also provide a real measure of ground truth to data obtained from terrestrial meteorite collections. Major advances in the areas of geochemistry, impact history, thermal history, isotope analyses, mineralogy, space weathering, formation ages, thermal inertias, volatile content, source regions, solar system formation, etc. can be expected from human NEA missions. Samples directly returned from a primitive body would lead to the same kind of breakthroughs for understanding NEAs that the Apollo samples provided for understanding the Earth-Moon system and its formation history. In addition, robotic precursor and human exploration missions to NEAs would allow the NASA and its international partners to gain operational experience in performing complex tasks (e.g., sample collection, deployment of payloads, retrieval of payloads, etc.) with crew, robots, and spacecraft under microgravity conditions at or near the surface of a small body. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Abell, Paul↗

Human Exploration of Near-Earth Asteroids and Sample Collection Considerations

In 2009 the Augustine Commission identified near-Earth asteroids (NEAs) as high profile destinations for human exploration missions beyond the Earth-Moon system as part of the Flexible Path. Subsequently, the U.S. presidential administration directed NASA on April 15, 2010 to include NEAs as destinations for future human exploration with the goal of sending astronauts to a NEA in the mid to late 2020s. This directive became part of the official National Space Policy of the United States of America as of June 28, 2010. Human Exploration Considerations: These missions would be the first human expeditions to interplanetary bodies beyond the Earth-Moon system and would prove useful for testing technologies required for human missions to Mars, Phobos and Deimos, and other Solar System destinations. Missions to NEAs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. However, prior to sending human explorers to NEAs, robotic investigations of these bodies would be required in order to maximize operational efficiency and reduce mission risk. These precursor missions to NEAs would fill crucial strategic knowledge gaps concerning their physical characteristics that are relevant for human exploration of these relatively unknown destinations. Sample Science Benefits: Information obtained from a human investigation of a NEA, together with ground-based observations and prior spacecraft investigations of asteroids and comets, will also provide a real measure of ground truth to data obtained from terrestrial meteorite collections. Major advances in the areas of geochemistry, impact history, thermal history, isotope analyses, mineralogy, space weathering, formation ages, thermal inertias, volatile content, source regions, solar system formation, etc. can be expected from human NEA missions. Samples directly returned from a primitive body would lead to the same kind of breakthroughs for understanding NEAs that the Apollo samples provided for understanding the Earth-Moon system and its formation history. International Participation: In addition, robotic precursor and human exploration missions to NEAs would allow the NASA and its international partners to gain operational experience in performing complex tasks (e.g., sample collection, deployment of payloads, retrieval of payloads, etc.) with crew, robots, and spacecraft under microgravity conditions at or near the surface of a small body. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Abell, Paul↗

An Integrated Architecture for Cooperation Rovers

The paper presents a rover execution architecture for controlling multiple, cooperating rovers. The overall goal of this architecture is to coordinate multiple rovers in performing complex tasks for planetary science.

multi-rover↗

An empirically derived figure of merit for the quality of overall task performance

The need to develop an operationally relevant figure of merit for the quality of performance of a complex system such as an aircraft cockpit stems from a hypothesized dissociation between measures of performance and those of workload. Performance can be measured in terms of time, errors, or a combination of these. In most tasks performed by expert operators, errors are relatively rare and often corrected in time to avoid consequences. Moreover, perfect performance is seldom necessary to accomplish a particular task. Moreover, how well an expert performs a complex task consisting of a series of discrete cognitive tasks superimposed on a continuous task, such as flying an aircraft, does not depend on how well each discrete task is performed, but on their smooth sequencing. This makes the amount of time spent on each subtask of paramount importance in measuring overall performance, since smooth sequencing requires a minimum amount of time spent on each task. Quality consists in getting tasks done within a crucial time interval while maintaining acceptable continuous task performance. Thus, a figure of merit for overall quality of performance should be primarily a measure of time to perform discrete subtasks combined with a measure of basic vehicle control. Thus, the proposed figure of merit requires doing a task analysis on a series of performance, or runs, of a particular task, listing each discrete task and its associated time, and calculating the mean and standard deviation of these times, along with the mean and standard deviation of tracking error for the whole task. A set of simulator data on 30 runs of a landing task was obtained and a figure of merit will be calculated for each run. The figure of merit will be compared for voice and data link, so that the impact of this technology on total crew performance (not just communication performance) can be assessed. The effect of data link communication on other cockpit tasks will also be considered.

Lemay, Moira↗

Continuous motion using task-directed stereo vision

The performance of autonomous mobile robots performing complex navigation tasks can be dramatically improved by directing expensive sensing and planning in service of the task. The task-direction algorithms can be quite simple. In this paper we describe a simple task-directed vision system which has been implemented on a real outdoor robot which navigates using stereo vision. While the performance of this particular robot was improved by task-directed vision, the performance of task-directed vision in general is influenced in complex ways by many factors. We briefly discuss some of these, and present some initial simulated results.

Gat, Erann↗

The effects of instructional sets on reactions to and performance on an intelligent tutoring system

The effects of a contextual factor, i.e., task instructions, on performance on and reactions to an Intellegent Tutoring System (ITS) training Remote Manipulator System (RMS) tasks were examined. The results supported the first prediction that task instructions could be used to successfully induce a mastery versus an achievement orientation. Previous research suggests that a mastery orientation can result in beneficial effects on learning and performance of complex tasks. Furthermore, the results supported the second prediction that a mastery orientation would have beneficial effects on learning and performance as well as affective and cognitive reactions to the ITS tasks. Moreover, the results indicated that a mastery orientation was especially beneficial for the more complex ITS tasks and later in task practice, i.e., when a task was performed for the second time. A mastery orientation is posited to have its beneficial effects by focusing more effort and attention on task performance. Conclusions are drawn with some caution due to the small number of subjects, although the results for these subjects were consistent across multiple trials and multiple measures of performance. ITS designers are urged to consider contextual factors such as task instructions and feedback in terms of their potential to induce a mastery versus an achievement orientation.

Johnson, Debra Steele↗

Investigating the impact of a multi-module operation environment on the task performance time of human operators – An explanatory study

The worldwide demand for Small Modular Reactors (SMRs) has surged in recent years due to their enhanced safety and versatility in supporting diverse industrial sectors. A unique feature of SMR operation is that a single human operator is responsible for managing multiple modules. Therefore, securing a sufficient amount of human performance data pertaining to this new environment is essential for the safe operation of SMRs. In this explanatory study, a series of experiments were conducted using the NuScale simulator, a representative SMR design, with student operators. A total of 12 student operators were assigned two types of off-normal events and asked to cope with them using paper-based procedures. Subsequently, their task performance times were compared with those of student operators responsible for a single unit based on the Task Complexity (TACOM) measure. Results indicate that the performance of student operators under the experimental conditions of this study degraded by a factor of 2 to 3, depending on the characteristics of the off-normal events.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Effects of noise frequency on performance and annoyance

Using a complex psychomotor task performed for 50 minutes in the presence of low frequency noise, high frequency noise, or ambient noise, annoyance ratings were obtained for noises of various frequencies by the method of magnitude estimation. The results suggest that high frequency noise affects female performance to a greater extent than male performance. Contrasted to these performance effects, the sexes did not differ in their annoyance ratings. A monotonically increasing relationship between annoyance and noise frequency was found (except for a decrease in annoyance at 8,000 Hz). It is concluded that both performance and annoyance responses may need to be assessed in certain situations to adequately describe human reaction to noise.

Key, K. F.↗

Neuromapping: Inflight Evaluation of Cognition and Adaptability

In consideration of the health and performance of crewmembers during flight and postflight, we are conducting a controlled prospective longitudinal study to investigate the effects of spaceflight on the extent, longevity and neural bases of sensorimotor, cognitive, and neural changes. Previous studies investigating sensorimotor adaptation to the microgravity environment longitudinally inflight have shown reduction in the ability to perform complex dual tasks. In this study we perform a series of tests investigating the longitudinal effects of adaptation to the microgravity environment and how it affects spatial cognition, manual visuo-motor adaption and dual tasking.

Kofman, I. S.↗

Knowledge representation system for assembly using robots

Assembly robots combine the benefits of speed and accuracy with the capability of adaptation to changes in the work environment. However, an impediment to the use of robots is the complexity of the man-machine interface. This interface can be improved by providing a means of using a priori-knowledge and reasoning capabilities for controlling and monitoring the tasks performed by robots. Robots ought to be able to perform complex assembly tasks with the help of only supervisory guidance from human operators. For such supervisory quidance, it is important to express the commands in terms of the effects desired, rather than in terms of the motion the robot must undertake in order to achieve these effects. A suitable knowledge representation can facilitate the conversion of task level descriptions into explicit instructions to the robot. Such a system would use symbolic relationships describing the a priori information about the robot, its environment, and the tasks specified by the operator to generate the commands for the robot.

Jain, A.↗

The organization of perception and action in complex control skills

An attempt was made to describe the perceptual, cognitive, and action processes that account for highly skilled human performance in complex task environments. In order to study such a performance in a controlled setting, a laboratory task was constructed and three experiments were performed using human subjects. A general framework was developed for describing the organization of perceptual, cognitive, and action process.

Miller, Richard A.↗