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At least 451 records · Page 25

The HAL 9000 Space Operating System Real-Time Planning Engine Design and Operations Requirements

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.

Stetson, Howard↗

The Earth Science Afternoon Constellation: Preparing for Autonomous but Coordinated Operations

This paper describes how the challenges of coordinating the autonomous operations of geographically dispersed mission control centers for several small and large satellites are being overcome. The Earth Science Afternoon Constellation, also referred to as the "A-Train", is an international grouping of five NASA satellites (two major NASA EOS missions and three NASA/Earth System Science Pathfinder missions) and one French satellite orbiting in close proximity. This grouping of satellites provides scientists with the opportunity to perform coincident observations using data from two or more instruments on various satellites with measurements taken at approximately the same time. Three of the six missions are currently on-orbit, with the two missions expected to join the constellation later this year and one mission in 2007. The operational challenges are daunting for several reasons. There are several Mission Control Centers (widely separated on two continents), operating autonomously under tight budget constraints. All of the Mission Control Centers have reasons to be concerned about safety while flying in close proximity to other satellites, but most Centers did not have the resources or the desire to address this concern alone - the interfaces are too numerous and anticipated operations too costly. Clearly, an efficient approach was needed. This paper describes the steps taken to make this Earth science constellation a reality. Agreements were forged to allow the Mission Control Centers to maintain their autonomy, while ensuring their satellite's safety. Each member mission in the constellation operates independently in accordance with its own mission requirements, but the member missions have agreed to coordinate their operations, i.e., orbital positions and control to ensure the safety of the entire constellation. A centralized system was developed at NASA Goddard Space Flight Center to collect, analyze, and distribute ephemeris data used by each of the mission teams to determine the positions of the satellites in the constellation. The system issues warnings regarding possible dangerous configurations, eliminating the need for redundant capabilities at each Mission Control Center. On-orbit contingency situations were identified and analyzed; agreements were reached in advance of contingency operations to ensure that coordination between the Mission Control Centers can be handled expeditiously and fairly. In this manner, recovery from anomalous situations can be more quickly realized, thereby increasing the science return and reducing costs. The process used to develop these contingency procedures and the systems used to facilitate the contingency resolution are described as well.

Case, Warren↗

An Expert System for Autonomous Spacecraft Control

The Autonomous Sciencecraft Experiment (ASE), part of the New Millennium Space Technology 6 Project, is flying onboard the Earth Orbiter 1 (EO-1) mission. The ASE software enables EO-1 to autonomously detect and respond to science events such as: volcanic activity, flooding, and water freeze/thaw. ASE uses classification algorithms to analyze imagery onboard to detect chang-e and science events. Detection of these events is then used to trigger follow-up imagery. Onboard mission planning software then develops a response plan that accounts for target visibility and operations constraints. This plan is then executed using a task execution system that can deal with run-time anomalies. In this paper we describe the autonomy flight software and how it enables a new paradigm of autonomous science and mission operations. We will also describe the current experiment status and future plans.

utonomy flight software↗

Role of automation in the ACRV operations

The Assured Crew Return Vehicle (ACRV) will provide the Space Station Freedom with contingency means of return to earth (1) of one disabled crew member during medical emergencies, (2) of all crew members in case of accidents or failures of SSF systems, and (3) in case of interruption of the Space Shuttle flights. A wide range of vehicle configurations and system approaches are currently under study. The Program requirements focus on minimizing life cycle costs by ensuring simple operations, built-in reliability and maintainability. The ACRV philosophy of embedded operations is based on maximum use of existing facilities, resources and processes, while minimizing the interfaces and impacts to the Space Shuttle and Freedom programs. A preliminary integrated operations concept based on this philosophy and covering the ground, flight, mission support, and landing and recovery operations has been produced. To implement the ACRV operations concept, the underlying approach has been to rely on vehicle autonomy and automation, to the extent possible. Candidate functions and processes which may benefit from current or near-term automation and robotics technologies are identified. These include, but are not limited to, built-in automated ground tests and checkouts; use of the Freedom and the Orbiter remote manipulator systems, for ACRV berthing; automated passive monitoring and performance trend analysis, and periodic active checkouts during dormant periods. The major ACRV operations concept issues as they relate to the use of automation are discussed.

Sepahban, S. F.↗

Learning-based Anticipatory Control of Microreactors

Learning-based anticipatory control advances the level of autonomy of microreactor control systems, a key consideration for the unattended operation of fission batteries. In this work, an anticipatory control system is shown to provide accurate load-following for a microreactor by utilizing a model predictive control framework.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Federal USS Synthesis Effort: 2023 Flight Test Report. A NASA and Department of Defense Joint Evaluation of Multi-Domain Airspace Integration

In recent years, advancements in technology have greatly improved the utility and applicability of Uncrewed Aircraft Systems (UAS) and have highlighted the need for and importance of UAS Traffic Management (UTM). Onboard sense and avoid systems, ground-based sensors, and long- range command and control (C2) systems have significantly expanded the possibilities for UAS beyond visual line of sight (BVLOS) operations. Initially, research on UTM flights focused on their interactions with other UTM operations, but that has since been expanded to include interactions with the flight profiles of Advanced Air Mobility (AAM) and upper Class E Traffic Management (ETM) operations. Recognizing the potential of these systems and the increase in UAS autonomy, the Department of Defense (DoD) is working towards integrating these missions and systems into a unified DoD Federal ecosystem. The Federal USS Synthesis Effort (FUSE) aims to develop a live system that can efficiently combine this wide range of UTM, AAM, and ETM systems, thus enabling expanded operations within a single common operating environment. The goal of the Federal USS Synthesis Effort (FUSE) is for NASA and the DoD to develop a live system that can efficiently combine UTM, AAM, and ETM systems. The most recent endeavor in this effort was a live flight test conducted near Grand Forks Air Force Base in June, 2023, where the FUSE ecosystem successfully demonstrated integrating UTM, AAM, and ETM operations while providing a single, shared COP to users. Additional investigations were made during the test, including assessing the usefulness of the system and its capability to support UAS weighing over 55 lbs.; testing user messaging capabilities and a DoD adaptation of a Federal USS; and assessing user workload, automated vs manual control, and the usability of NASA’s XTMClient.

Federal USS↗

Clinical Decision Support - Concepts of Operation

We are entering a new era in space exploration to return to the moon and explore Mars. Crew members operating independently during long duration space exploration missions will require a clinical decision support system (CDSS) to increase autonomy by augmenting their knowledge, skills and abilities in different scenarios. Significant changes to in-flight and habitat medical care due to constraints on mass, volume, power, crew time and medical evacuation capabilities are needed to increase crew autonomy and self-reliance in decision making and task performance. The Exploration Medical Capability (ExMC) Element of the Human Research Program (HRP) pushes the boundary of space medical systems to advance the care of astronauts on future exploration missions beyond low Earth orbit by identifying and testing next-generation medical care and crew health maintenance technologies. Clinical decision support (CDS) presents knowledge and data in a context aware manner to augment a crew members’ knowledge, skills and abilities during the process of observation, orientation, decisions and action. A comprehensive crew health and performance CDSS is required to augment crew capability and will be used in different scenarios for several reasons. In general, the CDSS’s role is to assist the crew in prevention, detection, diagnosis and treatment of crew health and performance related conditions that may arise in exploration spaceflight. For example, CDSS would assist a high acuity scenario such as a heart attack by supplying clear instructions, vital signs and treatment reminders. A lower severity scenario such as kidney stone risk could interface to vehicle systems and display more complex predictive data during a diagnosis. A CDSS needs to contribute to successful missions by maintaining a high performing crew who can potentially exhibit countless medical conditions related to derangements from the space environment (sleep, cognition, nutrition and exercise) as well as conditions intrinsic to humans anywhere. While supporting the crew’s ability to make sound clinical decisions is desirable in any mission, it is essential for exploration missions with significant communication delays, no evacuation capability, and extended exposure to the flight environment. Such missions correspond with medical Level of Care V (LOC V), the highest level specified in NASA-STD-3001. The project focuses on CDS implementation research to derive requirements for LOC V, where the need for increased autonomy results in new practices and the inclusion of non-clinical data, such as vehicle environmental measures and physical exercise results, from other human and vehicle domains and advanced analytics. The CDS project describes how the CDSS is intended to be used by defining concepts of operations (ConOps). The process to derive ConOps focuses on increased autonomy that reduces the likelihood and consequences of accepted medical conditions. These crew health and performance inputs are grouped by common datasets and analysis models. Use cases are derived to research new clinical scenarios, architectural development and workflows. Implementation research is conducted with protypes to inform assumptions and derive requirements. The project also establishes how externally developed analysis and approaches can be added to expand a clinical decision support system and thus highlight how a comprehensive system can be globally developed with collaborators. This presentation will cover example scenarios from the CDS ConOps and the method to derive them. One example scenario will be CDSS alerting an increased kidney stone risk during a mission, with diagnosis and treatment options provided during the intervention.

clinical decision support↗

Clinical Decision Support - Concepts of Operation

We are entering a new era in space exploration to return to the moon and explore Mars. Crew members operating independently during long duration space exploration missions will require a clinical decision support system (CDSS) to increase autonomy by augmenting their knowledge, skills and abilities in different scenarios. Significant changes to in-flight and habitat medical care due to constraints on mass, volume, power, crew time and medical evacuation capabilities are needed to increase crew autonomy and self-reliance in decision making and task performance. The Exploration Medical Capability (ExMC) Element of the Human Research Program (HRP) pushes the boundary of space medical systems to advance the care of astronauts on future exploration missions beyond low Earth orbit by identifying and testing next-generation medical care and crew health maintenance technologies. Clinical decision support (CDS) presents knowledge and data in a context aware manner to augment a crew members’ knowledge, skills and abilities during the process of observation, orientation, decisions and action. A comprehensive crew health and performance CDSS is required to augment crew capability and will be used in different scenarios for several reasons. In general, the CDSS’s role is to assist the crew in prevention, detection, diagnosis and treatment of crew health and performance related conditions that may arise in exploration spaceflight. For example, CDSS would assist a high acuity scenario such as a heart attack by supplying clear instructions, vital signs and treatment reminders. A lower severity scenario such as kidney stone risk could interface to vehicle systems and display more complex predictive data during a diagnosis. A CDSS needs to contribute to successful missions by maintaining a high performing crew who can potentially exhibit countless medical conditions related to derangements from the space environment (sleep, cognition, nutrition and exercise) as well as conditions intrinsic to humans anywhere. While supporting the crew’s ability to make sound clinical decisions is desirable in any mission, it is essential for exploration missions with significant communication delays, no evacuation capability, and extended exposure to the flight environment. Such missions correspond with medical Level of Care V (LOC V), the highest level specified in NASA-STD-3001. The project focuses on CDS implementation research to derive requirements for LOC V, where the need for increased autonomy results in new practices and the inclusion of non-clinical data, such as vehicle environmental measures and physical exercise results, from other human and vehicle domains and advanced analytics. The CDS project describes how the CDSS is intended to be used by defining concepts of operations (ConOps). The process to derive ConOps focuses on increased autonomy that reduces the likelihood and consequences of accepted medical conditions. These crew health and performance inputs are grouped by common datasets and analysis models. Use cases are derived to research new clinical scenarios, architectural development and workflows. Implementation research is conducted with protypes to inform assumptions and derive requirements. The project also establishes how externally developed analysis and approaches can be added to expand a clinical decision support system and thus highlight how a comprehensive system can be globally developed with collaborators. This presentation will cover example scenarios from the CDS ConOps and the method to derive them. One example scenario will be CDSS alerting an increased kidney stone risk during a mission, with diagnosis and treatment options provided during the intervention.

clinical decision support↗

Artificial intelligence for Space Station automation: Crew safety, productivity, autonomy, augmented capability

Artificial intelligence (AI) R&D projects for the successful and efficient operation of the Space Station are described. The book explores the most advanced AI-based technologies, reviews the results of concept design studies to determine required AI capabilities, details demonstrations that would indicate the existence of these capabilities, and develops an R&D plan leading to such demonstrations. Particular attention is given to teleoperation and robotics, sensors, expert systems, computers, planning, and man-machine interface.

Firschein, O.↗

Astrobee Robot Software: Enabling Mobile Autonomy on the ISS

Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This slides presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot.The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). We present the software approach, infrastructure required, and main software components.

Fluckiger, Lorenzo↗

Software design for automated assembly of truss structures

Concern over the limited intravehicular activity time has increased the interest in performing in-space assembly and construction operations with automated robotic systems. A technique being considered at LaRC is a supervised-autonomy approach, which can be monitored by an Earth-based supervisor that intervenes only when the automated system encounters a problem. A test-bed to support evaluation of the hardware and software requirements for supervised-autonomy assembly methods was developed. This report describes the design of the software system necessary to support the assembly process. The software is hierarchical and supports both automated assembly operations and supervisor error-recovery procedures, including the capability to pause and reverse any operation. The software design serves as a model for the development of software for more sophisticated automated systems and as a test-bed for evaluation of new concepts and hardware components.

Herstrom, Catherine L.↗

Designing for Advanced Aerial Mobility: Human-Autonomy Teaming and In-Time System-Wide Safety Assurance

The continued growth of aviation shall require new innovative technologies and operational concepts to meet the ever-increasing demands on air transportation. The NASA Advanced Air Mobility (AAM) project focuses on emerging aviation markets, such as Urban Air Mobility (UAM). UAM is defined as “...a safe and efficient system for air passenger and cargo transportation within an urban area. It is inclusive of small package delivery and other urban unmanned aerial system services and supports a mix of onboard/ground-piloted and increasingly autonomous operations” ([1]). The AAM project emphasizes technology development and validating system-level concepts and solutions in coordination with other NASA Aeronautics Research Mission Directorate (ARMD) projects to enable UAM metro- and micro-plex vertiport and airspace concepts of operations. The NASA AAM research portfolio includes the concepts of Remote Supervisor-in-Command (RSC) and Fleet and Airspace Manager (FAM) as possible human roles for consumer fleet providers. NASA research in RSC is focused on development of guidelines and standards for remote pilots/operators passively and actively controlling a large fleet of autonomous aircraft. For FAM, flight and ground system concepts and technologies to enable high density homogeneous operations at increased scale from vertiport(s), and coordination with other humans in the systems (e.g., UAM urban airspace manager, Air Traffic Control) are key research areas. The envisioned UAM operations are posited to require autonomous systems to enable functions ranging from fleet and resource management to vehicle control. Although automation has become increasingly sophisticated and ubiquitous in civil aviation, autonomy represents a significant evolution in automation, which has generally been limited in functional scope and capability. As autonomy takes on increasing responsibilities, humans and machines will be required to work together in new and different ways [2], rather than traditional design approaches focused on how machines (i.e., autonomy) can do the work of people. The emerging field of human-autonomy teaming (HAT) represents a comprehensive and prioritized research-driven approach to enable the success of future emerging aviation market applications through capabilities and principles that facilitate humans and machine working and thinking better together. The NASA Transformational Tools and Technologies (TTT) Autonomous System (AS) Sub-project was created to assist with the transition into higher levels of autonomy to enable new modes of air transportation, such as UAM. TTT-AS has identified HAT as a key research need to enable UAM while maintaining today’s ultra-safe aviation system safety levels. The latter challenge has been taken up by the NASA System-Wide Safety (SWS) Project, which recognizes that aviation safety, as it evolves, shall require new ways of thinking about safety to include integration of a wide-range of existing and new safety systems and practices, enhanced tools and technologies, increased access to data and data fusion, improved data analysis capabilities, enhanced in-time risk monitoring and detection, hazard prioritization and mitigation, safety assurance decision-support, and in-time integrated system analytics [3].The operational concept of UAM represents a variety of work that has been termed, “work-as-imagined” to characterize the idea that how people think that work is done and how work is actually done are often not the same [4]. To ensure design success and system safety, looking at “work-as-done” provides a comparative approach toward UAM concept and technology design through examination of corresponding analogs found today in aviation (e.g., on-demand operations) and other transportation domains (e.g., port operations). The paper shall discuss various alternative applications with specific focus on airline operation center (AOC) operations, and unmanned aerial system (UAS) command-and-control to inform scaled-versions of FAM and RSC, respectively, and with consideration of the national airspace system contextual environment. The tenets and principles of the HAT field and current NASA research efforts under the TTT-AS sub-project shall also be described. Finally, the SWS sub-project efforts to develop In-Time System-Wide Safety Assurance (ISSA) and In-Time Safety Management Systems (IASMS) are discussed in terms of how “in-time” safety assurance may be conceptualized for the on-demand mobility air taxi “work-as-imagined” operational concept [5]. As part of this effort, concepts from the emerging field of resilience engineering, are being studied. Traditional approaches to aviation safety have focused on what can go wrong and how to prevent it. Another approach to thinking about system safety should reflect not only “avoiding things that go wrong” (protective safety) but also “ensuring that things go right” (productive safety), that enables a system to exhibit the resilient performance [6] necessary for the success of the future aviation system emerging concepts of operations. The paper shall describe efforts focused on how productive safety and resilience may enable a more complete approach to system safety thinking and design of ISSA and IASMS for UAM. Future directions and research needs shall also be discussed.

resilience↗

A task control architecture for autonomous robots

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Simmons, Reid↗

Sharing intelligence: Decision-making interactions between users and software in MAESTRO

By combining the best of automated and human decision-making in scheduling many advantages can accrue. The joint performance of the user and system is potentially much better than either alone. Features of the MAESTRO scheduling system serve to illustrate concepts of user/software cooperation. MAESTRO may be operated at a user-determinable and dynamic level of autonomy. Because the system allows so much flexibility in the allocation of decision-making responsibilities, and provides users with a wealth of information and other support for their own decision-making, better overall schedules may result.

Geoffroy, Amy L.↗

Spaceborne GPS: Current Status and Future Visions

The Global Positioning System (GPS), developed by the Department of Defense is quickly revolutionizing the architecture of future spacecraft and spacecraft systems. Significant savings in spacecraft life cycle cost, in power, and in mass can be realized by exploiting GPS technology in spaceborne vehicles. These savings are realized because GPS is a systems sensor--it combines the ability to sense space vehicle trajectory, attitude, time, and relative ranging between vehicles into one package. As a result, a reduced spacecraft sensor complement can be employed and significant reductions in space vehicle operations cost can be realized through enhanced on-board autonomy. This paper provides an overview of the current status of spaceborne GPS, a description of spaceborne GPS receivers available now and in the near future, a description of the 1997-2000 GPS flight experiments, and the spaceborne GPS team's vision for the future.

Bauer, Frank H.↗

SPHERES National Lab Facility

SPHERES is a facility of the ISS National Laboratory with three IVA nano-satellites designed and delivered by MIT to research estimation, control, and autonomy algorithms. Since Fall 2010, The SPHERES system is now operationally supported and managed by NASA Ames Research Center (ARC). A SPHERES Program Office was established and is located at NASA Ames Research Center. The SPHERES Program Office coordinates all SPHERES related research and STEM activities on-board the International Space Station (ISS), as well as, current and future payload development. By working aboard ISS under crew supervision, it provides a risk tolerant Test-bed Environment for Distributed Satellite Free-flying Control Algorithms. If anything goes wrong, reset and try again! NASA has made the capability available to other U.S. government agencies, schools, commercial companies and students to expand the pool of ideas for how to test and use these bowling ball-sized droids. For many of the researchers, SPHERES offers the only opportunity to do affordable on-orbit characterization of their technology in the microgravity environment. Future utilization of SPHERES as a facility will grow its capabilities as a platform for science, technology development, and education.

Free Flyer↗

Exploration Technologies for Operations

Although the International Space Station (ISS) assembly has been completed, the Operations support teams continue to seek more efficient and effective ways to prepare for and conduct the ISS operations and future exploration missions beyond low earth orbit. This search for improvement has led to a significant collaboration between the NASA research and advanced software development community at NASA Ames Research Center and the Mission Operations community at NASA Johnson Space Center. Since 2001, NASA Ames Research Center has been developing and applying its advanced intelligent systems and human systems integration research to mission operations tools for several of the unmanned Mars missions operations. Since 2006, NASA Ames Research Center has also been developing and applying its advanced intelligent systems and human systems integration research to mission operations tools for manned operations support with the Mission Operations Directorate at NASA Johnson Space Center. This paper discusses the completion of the development and deployment of a variety of intelligent and human systems technologies adopted for manned mission operations. The technologies associated with the projects include advanced software systems for operations and human-centered computing. Human-centered computing looks to the processes and procedures that people do to perform any given job, then attempts to identify opportunities to improve these processes and procedures. In particular, for mission operations, improvements are quantified by specifically identifying how a tool can increase a persons efficiency, enhance a persons functional capability, andor improve the assurance of a persons decisions. The Ames development team has collaborated with the Mission Operations team to identify areas of efficiencies through technology infusion applications in support of the Plan, Train, and Fly activities of human-spaceflight mission operations. The specific applications discussed in this paper are in the areas of mission planning systems, mission operations design modeling and workflow automation, advanced systems monitoring, mission control technologies, search tools, training management tools, spacecraft solar array management, spacecraft power management, and spacecraft attitude planning. We discuss these specific projects between the Ames Research Center and the Johnson Space Centers Mission Operations Directorate, and how these technologies and projects are enhancing the mission operations support for the International Space Station. We also discuss the challenges, problems, and successes associated with long-distance and multi-year development projects between the research team at Ames and the Mission Operations customers at Johnson Space center. Finally, we discuss how these technology infusion applications and underlying technologies might be used in the future to support on-board operations of the crew and spacecraft systems as human exploration expands beyond low earth orbit to destinations in the solar system where communications delays will require more on-board autonomy and planning by the crew. Longer communications delays will require that the ground mission operations support will be primarily strategic in nature, while the tactical level of planning, systems monitoring and control, and failure analysisisolationrecovery will be the responsibility of both the spacecraft autonomous systems and the crew. Our expectation is that the technologies

mission operations↗