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This position paper reflects upon experiences and lessons learned from several spacecraft projects at JPL and JPL's recent collaboration with software architecture researchers from USC and CMU.
Automating and remotely controlling observations are important for future operations in a Global Geodetic Observing System (GGOS). At the Geodetic Observatory Wettzell, in cooperation with the Max-Planck-Institute for Radio Astronomy in Bonn, a software extension to the existing NASA Field System has been developed for remote control. It uses the principle of a remotely accessible, autonomous process cell as a server extension for the Field System. The communication is realized for low transfer rates using Remote Procedure Calls (RPC). It uses generative programming with the interface software generator idl2rpc.pl developed at Wettzell. The user interacts with this system over a modern graphical user interface created with wxWidgets. For security reasons the communication is automatically tunneled through a Secure Shell (SSH) session to the telescope. There are already successful test observations with the telescopes at O Higgins, Concepcion, and Wettzell. At Wettzell the software is already used routinely for weekend observations. Therefore the first public release of the software is now available, which will also be useful for other telescopes.
With the rapidly increasing performance of information technology, i.e., computer hardware and software systems, as well as networks and communication systems, a new capability is being developed that holds the clear promise of greatly increased exploration capability, along with dramatically reduced design, development, and operating costs. These new intelligent systems technologies, utilizing knowledge-based software and very high performance computer systems, will provide new design and development tools, scheduling mechanisms, and vehicle and system health monitoring capabilities. In addition, specific technologies such as neural nets will provide a degree of machine intelligence and associated autonomy which has previously been unavailable to the mission and spacecraft designer and to the system operator. One of the most promising applications of these new information technologies is to the area of in situ resource utilization. Useful resources such as oxygen, compressed carbon dioxide, water, methane, and buffer gases can be extracted and/or generated from planetary atmospheres, such as the Martian atmosphere. These products, when used for propulsion and life-support needs can provide significant savings in the launch mass and costs for both robotic and crewed missions. In the longer term the utilization of indigenous resources is an enabling technology that is vital to sustaining long duration human presence on Mars. This paper will present the concepts that are currently under investigation and development for mining the Martian atmosphere, such as temperature-swing adsorption, zirconia electrolysis etc., to create propellants and life-support materials. This description will be followed by an analysis of the information technology and control needs for the reliable and autonomous operation of such processing plants in a fault tolerant manner, as well as the approach being taken for the development of the controlling software. Finally, there will be a brief discussion of the verification and validation process so crucial to the implementation of mission-critical software.
The Standard Autonomous File Server (SAFS), which includes both off-the-shelf hardware and software, uses an improved automated file transfer process to provide a quicker, more reliable, prioritized file distribution for customers of near real-time data without interfering with the assets involved in the acquisition and processing of the data. It operates as a stand-alone solution, monitoring itself, and providing an automated fail-over process to enhance reliability. This paper will describe the unique problems and lessons learned both during the COTS selection and integration into SAFS, and the system's first year of operation in support of NASA's satellite ground network. COTS was the key factor in allowing the two-person development team to deploy systems in less than a year, meeting the required launch schedule. The SAFS system his been so successful, it is becoming a NASA standard resource, leading to its nomination for NASA's Software or the Year Award in 1999.
Technological innovation is the overall focus of NASA's Small Business Innovation Research (SBIR) program. The program invests in the development of innovative concepts and technologies to help NASA's mission directorates address critical research and development needs for agency projects. This report highlights innovative SBIR Phase II projects from 2007-2012 specifically addressing areas in Communications Technology and Development which is one of six core competencies at NASA Glenn Research Center. There are eighteen technologies featured with emphasis on a wide spectrum of applications such as with a security-enhanced autonomous network management, secure communications using on-demand single photons, cognitive software-defined radio, spacesuit audio systems, multiband photonic phased-array antenna, and much more. Each article in this booklet describes an innovation, technical objective, and highlights NASA commercial and industrial applications. This report serves as an opportunity for NASA personnel including engineers, researchers, and program managers to learn of NASA SBIR's capabilities that might be crosscutting into this technology area. As the result, it would cause collaborations and partnerships between the small companies and NASA Programs and Projects resulting in benefit to both SBIR companies and NASA.
This paper presents the development of ICAROUS-2 (Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services), the second generation of a software architecture that integrates several algorithms as distributed onboard services to enable robust autonomous UAS applications. In particular, the ICAROUS architecture defines a framework to perform detect and avoid, geofencing, path monitoring, path planning, and autonomous decision making to ensure safety and mission progress. Most of the core algorithms implemented in ICAROUS are formally verified using an interactive theorem prover. These algorithms are composed together using a plan execution engine, whose operational semantics is formally specified. A description of the integrated architecture, services currently available, and flight test results highlighting the capability of ICAROUS are presented.
This paper presents the development of ICAROUS-2 (Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services), the second generation of a software architecture that integrates several algorithms as distributed onboard services to enable robust autonomous UAS applications. In particular, the ICAROUS architecture defines a framework to perform detect and avoid, geofencing, path monitoring, path planning, and autonomous decision making to ensure safety and mission progress. Most of the core algorithms implemented in ICAROUS are formally verified using an interactive theorem prover. These algorithms are composed together using a plan execution engine, whose operational semantics is formally specified. A description of the integrated architecture, services currently available, and flight test results highlighting the capability of ICAROUS are presented.
Reliable delivery of data products is often required across space links. For example, a NASA mission will require reliable delivery of images produced by an on-board detector. Many missions have their own (unique) way of accomplishing this, requiring custom software. Many missions also require manual operations (e.g. the telemetry receiver software keeps track of what data is missing, and a person manually inputs the appropriate commands to request retransmissions). The Consultative Committee for Space Data Systems (CCSDS) developed the CCSDS File Delivery Protocol (CFDP) specifically for this situation. CFDP is an international standard communication protocol that provides reliable delivery of data products. It is designed for use across space links. It will work well if run over the widely used CCSDS Telemetry and Telecommand protocols. However, it can be run over any protocol, and will work well as long as the underlying protocol delivers a reasonable portion of the data. The CFDP receiver will autonomously determine what data is missing, and request retransmissions as needed. The CFDP sender will autonomously perform the requested transmissions. When the entire data product is delivered, the CFDP receiver will let the CFDP sender know that the transaction has completed successfully. The result is that custom software becomes standard, and manual operations become autonomous. This paper will consider various ways of achieving reliable file delivery, explain why CFDP is the optimal choice for use over space links, explain how the core protocol works, and give some guidance on how to best utilize CFDP within various mission scenarios. It will also touch on additional features of CFDP, as well as other uses for CFDP (e.g. the loading of on-board memory and tables).
The primary objective this summer is "evaluating standards for wireless architecture for the internet of things". The Internet of Things is the network of physical objects or "things" embedded with electronics, software, sensors and network connectivity which enables these objects to collect and exchange data and make decisions based on said data. This was accomplished by creating a semi-autonomous vehicle that takes advantage of multiple sensors, cameras, and onboard computers and combined them with a mesh network which enabled communication across large distances with little to no interruption. The mesh network took advantage of what is known as DTN - Disruption Tolerant Networking which according to NASA is the new communications protocol that is "the first step towards interplanetary internet." The use of DTN comes from the fact that it will store information if an interruption in communications is detected and even forward that information via other relays within range so that the data is not lost. This translates well into the project because as the car moves further away from whatever is sending it commands (in this case a joystick), the information can still be forwarded to the car with little to no loss of information thanks to the mesh nodes around the driving area.
In this paper we address the design, development, and evaluation of the Virtual Engineering and Science Team (VEST) tool - a revolutionary way to achieve onboard subsystem/instrument autonomy. VEST directly addresses the technology needed for advanced autonomy enablers for spacecraft subsystems. It will significantly support the efficient and cost effective realization of on-board autonomy and contribute directly to realizing the concept of an intelligent autonomous spacecraft. VEST will support the evolution of a subsystem/instrument model that is probably correct and from that model the automatic generation of the code needed to support the autonomous operation of what was modeled. VEST will directly support the integration of the efforts of engineers, scientists, and software technologists. This integration of efforts will be a significant advancement over the way things are currently accomplished. The model, developed through the use of VEST, will be the basis for the physical construction of the subsystem/instrument and the generated code will support its autonomous operation once in space. The close coupling between the model and the code, in the same tool environment, will help ensure that correct and reliable operational control of the subsystem/instrument is achieved.VEST will provide a thoroughly modern interface that will allow users to easily and intuitively input subsystem/instrument requirements and visually get back the system's reaction to the correctness and compatibility of the inputs as the model evolves. User interface/interaction, logic, theorem proving, rule-based and model-based reasoning, and automatic code generation are some of the basic technologies that will be brought into play in realizing VEST.
This paper discusses the knowledge acquisition issues involved in transitioning their novel technology in to space flight software, developing the planer in the context of a large software projet and completing the work under a compressed development schedule.
Three minute video presentation demonstrating new features added to ASO robotics software for 2019.
The Livingstone 2 (L2) model-based diagnosis software is a reusable diagnostic tool for monitoring complex systems. In 2004, L2 was integrated with the JPL Autonomous Sciencecraft Experiment (ASE) and deployed on-board Goddard's Earth Observing One (EO-1) remote sensing satellite, to monitor and diagnose the EO-1 space science instruments and imaging sequence. This paper reports on lessons learned from this flight experiment. The goals for this experiment, including validation of minimum success criteria and of a series of diagnostic scenarios, have all been successfully net. Long-term operations in space are on-going, as a test of the maturity of the system, with L2 performance remaining flawless. L2 has demonstrated the ability to track the state of the system during nominal operations, detect simulated abnormalities in operations and isolate failures to their root cause fault. Specific advances demonstrated include diagnosis of ambiguity groups rather than a single fault candidate; hypothesis revision given new sensor evidence about the state of the system; and the capability to check for faults in a dynamic system without having to wait until the system is quiescent. The major benefits of this advanced health management technology are to increase mission duration and reliability through intelligent fault protection, and robust autonomous operations with reduced dependency on supervisory operations from Earth. The work-load for operators will be reduced by telemetry of processed state-of-health information rather than raw data. The long-term vision is that of making diagnosis available to the onboard planner or executive, allowing autonomy software to re-plan in order to work around known component failures. For a system that is expected to evolve substantially over its lifetime, as for the International Space Station, the model-based approach has definite advantages over rule-based expert systems and limit-checking fault protection systems, as these do not scale well. The model-based approach facilitates reuse of the L2 diagnostic software; only the model of the system to be diagnosed and telemetry monitoring software has to be rebuilt for a new system or expanded for a growing system. The hierarchical L2 model supports modularity and expendability, and as such is suitable solution for integrated system health management as envisioned for systems-of-systems.
ANTS (Autonomous Nano- Technology Swarm), a mission architecture consisting of a large (1000 member) swarm of picoclass (1 kg) totally autonomous spacecraft with both adaptable and evolvable heuristic systems, is being developed as a NASA advanced mission concept, and is here examined as a paradigm for lunar surface exploration. As the capacity and complexity of hardware and software, demands for bandwidth, and the sophistication of goals for lunar and planetary exploration have increased, greater cost constraints have led to fewer resources and thus, the need to operate spacecraft with less frequent human contact. At present, autonomous operation of spacecraft systems allows great capability of spacecraft to 'safe' themselves and survive when conditions threaten spacecraft safety. To further develop spacecraft capability, NASA is at the forefront of development of new mission architectures which involve the use of Intelligent Software Agents (ISAs), performing experiments in space and on the ground to advance deliberative and collaborative autonomous control techniques. Selected missions in current planning stages require small groups of spacecraft weighing tens, instead of hundreds, of kilograms to cooperate at a tactical level to select and schedule measurements to be made by appropriate instruments onboard. Such missions will be characterizing rapidly unfolding real-time events on a routine basis. The next level of development, which we are considering here, is in the use of autonomous systems at the strategic level, to explore the remote terranes, potentially involving large surveys or detailed reconnaissance.
The ability to compute end-to-end mission optimized trajectories is a critical component needed for the next generation of complex human spaceflight design and operations (Orion, HLS, Gateway, Mars). This project created a new interface for two of NASA’s trajectory tools: Copernicus and Genesis, enabling them to be used together for end-to-end mission design and optimization of all flight phases, including Earth ascent, lunar ascent, rendezvous, and lunar descent. This capability can also serve as a pathfinder for developing a future autonomous, onboard trajectory optimizer.
In support of future deep space manned missions, an autonomous/automated vehicle, providing crew autonomy and an autonomous response planning system, will be required due to the light time delays in communication. Vehicle capabilities as a whole must provide for tactical response to vehicle system failures and space environmental effects induced failures, for risk mitigation of permanent loss of communication with Earth, and for assured crew return capabilities. The complexity of human rated space systems and the limited crew sizes and crew skills mix drive the need for a robust autonomous capability on-board the vehicle. The HAL 9000 Space Operating System[2] designed for such missions and space craft includes the first distributed real-time planning / re-planning system. This paper will detail the software architecture of the multiple planning engine system, and the interface design for plan changes, approval and implementation that is performed autonomously. Operations scenarios will be defined for analysis of the planning engines operations and its requirements for nominal / off nominal activities. An assessment of the distributed realtime re-planning system, in the defined operations environment, will be provided as well as findings as it pertains to the vehicle, crew, and mission control requirements needed for implementation.
The Iowa State University team, Team LunaCY, is composed of the following sub-teams: the main student organization, the Lunabotics Club; a senior mechanical engineering design course, ME 415; a senior multidisciplinary design course, ENGR 466; and a senior design course from Wartburg College in Waverly, Iowa. Team LunaCY designed and fabricated ART-E III, Astra Robotic Tractor- Excavator the Third, for the team's third appearance in the NASA Lunabotic Mining competition. While designing ART-E III, the team had four main goals for this year's competition:to reduce the total weight of the robot, to increase the amount of regolith simulant mined, to reduce dust, and to make ART-E III autonomous. After many designs and research, a final robot design was chosen that obtained all four goals of Team LunaCY. A few changes Team LunaCY made this year was to go to the electrical, computer, and software engineering club fest at Iowa State University to recruit engineering students to accomplish the task of making ART-E III autonomous. Team LunaCY chose to use LabView to program the robot and various sensors were installed to measure the distance between the robot and the surroundings to allow ART-E III to maneuver autonomously. Team LunaCY also built a testing arena to test prototypes and ART-E III in. To best replicate the competition arena at the Kennedy Space Center, a regolith simulant was made from sand, QuickCrete, and fly ash to cover the floor of the arena. Team LunaCY also installed fans to allow ventilation in the arena and used proper safety attire when working in the arena . With the additional practice in the testing arena and innovative robot design, Team LunaCY expects to make a strong appearance at the 2012 NASA Lunabotic Mining Competition. .
This panel identifies the challenges of supporting medical events in deep space using integrated systems software to augment existing capabilities during increasingly Earth-independent missions where an asynchronous communication environment becomes routine. An interdisciplinary team of software designers, physicians, human factors engineers, and computational modelers applied their respective expertise to develop a roadmap for supporting the crew making medical decisions in more autonomous fashion with time-delayed ground support. The first presentation describes predictive modeling implemented to assist medical system design and address risk reduction using robust clinical decision support software. The second presentation details how operational and environmental challenges guide assumptions and, in turn, by what means requirements for medical decision-making in deep space are derived. The third presentation describes and defines the skills and capabilities an exploration spaceflight medical officer will need to perform effectively during extended-duration spaceflight missions. The fourth presentation covers the potential models and function of the software element for supporting clinical decisions. The final presentation covers how these elements may work together with ground support to provide comprehensive care despite deep space travel's extreme challenges and limitations.