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NASA NTRS2019

Overview of the PLEXIL Plan Execution Technology and its Applications in Autonomous Piloting Projects at NASA

Automated planning is a key Artificial Intelligence technology enabling Unmanned Aerial Systems (UAS) and the eminent reality of Urban Air Mobility (UAM). It produces plans, which formalize procedures often performed by humans. Plans differ from other kinds of computer programs in their ability to react and interact with a dynamically changing environment. Aviation plans must encode the procedural knowledge, reasoning capability, and capacity for multi-tasking held by competent human pilots. Correct execution of these plans (performed by software called an executive) in the dynamic airspace environment is vital to the success of each automated flight, and the safety of the vehicle and all things in its path. In the early 2000s NASA developed a plan representation language and executive called PLEXIL (Plan Execution Interchange Language) that has successfully been applied in several NASA aviation and UAS projects. Autonomy Operating System (AOS), Cockpit Hierarchical Automated Planning and Execution (CHAP-E), and ICAROUS are all projects that have used PLEXIL to help encode and automatically execute flight procedures, some normally performed by human pilots. AOS also automates a subset of pilot/Air Traffic Control communication towards enabling UAS entry into the National Airspace. PLEXIL has been open-source software since 2008 and has seen usage in a wide range of prototypical autonomy applications in academia, government, and industry. In this presentation, we describe PLEXIL and highlight its significant accomplishments in the aviation domain.

Dalal, Michael↗

NASA NTRS2020

Using Flexible Execution, Replanning, and Model Parameter Updates to Address Environmental Uncertainty for a Planetary Lander

Planning in an unknown environment presents a number of challenges: incorrect world models, unpredictable variation in execution, and fixed depletable resources. Productivity in the face of these challenges requires an integrated approach to planning and execution that is capable of accomplishing goals, reacting to variation, and maximizing overall utility. We examine this problem in the context of a Europa Lander concept mission. We model the problem as a hierarchical task network, framing it as a utility maximization problem with a depletable energy resource. Then, we propose a planning and execution framework that responds to feedback using three techniques: flexible execution, periodic replanning, and online parameter estimation and re-goaling. We demonstrate the efficacy of each of these techniques through simulation of a Europa Lander mission, showing higher utility achievement compared to simpler approaches, when presented with variation in energy consumption. We demonstrate that an approach to scheduling and execution that is grounded in decision theory and integrated planning and execution will be an enabling technology for future tightly-constrained planetary surface missions.

Chien, Steve↗

NASA NTRS2020

Event-Driven Modeling and Execution of Robotic Activities and Contingencies in the Europa Lander Mission Concept Using BPMN

TRACE (Traceable Robotic Activity Composer and Executive) is a tool designed to address the model-ing, verification, and execution of planned and con-tingent activities during robotic space missions. These activities can be modeled (i.e., planned) graph-ically in TRACE using the Business Process Model and Notation (BPMN) language. This standardized language is used to model a sequence of robotic ac-tivities tied together by logical constructs, events, and time. TRACE includes verification tools to en-sure feasibility before mission models are executed by TRACE’s executive, which is integrated into the autonomy subsystem via a connector. In this paper, we describe TRACE in detail as it would apply to a conceptual Europa Lander surface mission with planned excavation and sample collection activities, as well as, contingency activities when execution is off-nominal—all highlighting our novel use of BPMN as a lingua franca for the pipeline from mis-sion planning to autonomous execution.

Lim, Grace↗

NASA NTRS2005

State-based models for planning and execution coordination

Many traditional planners are built on top of existing execution engines that were not necessarily intended to be operated by a planner. The Mission Data System has been designed from the onset to have both an execution and planning engine and provides a framework for producing state-based models that can be used to coordinate planning and execution. The models provide a basis for ensuring the consistency of assumptions made by the execution engine and planner, and the frameworks provide a basis for run time communications between the planner and execution engines.

planning↗

NASA NTRS1972

Advanced Software Techniques for Data Management Systems. Volume 2: Space Shuttle Flight Executive System: Functional Design

A functional design of software executive system for the space shuttle avionics computer is presented. Three primary functions of the executive are emphasized in the design: task management, I/O management, and configuration management. The executive system organization is based on the applications software and configuration requirements established during the Phase B definition of the Space Shuttle program. Although the primary features of the executive system architecture were derived from Phase B requirements, it was specified for implementation with the IBM 4 Pi EP aerospace computer and is expected to be incorporated into a breadboard data management computer system at NASA Manned Spacecraft Center's Information system division. The executive system was structured for internal operation on the IBM 4 Pi EP system with its external configuration and applications software assumed to the characteristic of the centralized quad-redundant avionics systems defined in Phase B.

Pepe, J. T.↗

NASA NTRS1973

DIALOG: An executive computer program for linking independent programs

A very large scale computer programming procedure called the DIALOG executive system was developed for the CDC 6000 series computers. The executive computer program, DIALOG, controls the sequence of execution and data management function for a library of independent computer programs. Communication of common information is accomplished by DIALOG through a dynamically constructed and maintained data base of common information. Each computer program maintains its individual identity and is unaware of its contribution to the large scale program. This feature makes any computer program a candidate for use with the DIALOG executive system. The installation and uses of the DIALOG executive system are described.

Glatt, C. R.↗

NASA NTRS1972

Advanced Avionics Breadboard Executive Design and Implementation

The advanced avionics breadboard (AAB) executive evolved from an effort to design and develop an avionics system. This executive is unique in that it supervises a triple redundant avionics computer system. Three IBM System 4 Pi/CP computers, operating synchronously and executing identical software, comprise the central processors which route data to and from a data bus via an input/output controller. The executive's basic function is to provide application programs with an efficient software structure within which to perform specific avionics application tasks. Although implemented in a triplex data management system, the AAB executive contains the flexibility to be adapted to other systems with minimal change.

Adams, L. R.↗

NASA NTRS1984

Executable assertions and flight software

It is pointed out that executable assertions can be used for dynamic testing of software. An executable assertion is a logical statement about the variables or a block of code. If there is no error during execution then the assertion statement results in a true value. Assertions are useful for testing purposes throughout the lifecycle of software. They can be used for validation during the design phase, and for exception handling and error detection during the operation phase. The present investigation has the objective to study the use of executable assertions for testing flight software. Attention is given to details regarding executable assertions, the digital flight control system, testing flight software, and preliminary experimental results.

Mahmood, A.↗

NASA NTRS1988

TRAPEDS: Producing traces for multicomputers via execution-driven simulation

Trace-driven simulation is an important aid in performance analysis of computer systems. Capturing address traces for these simulations is a difficult problem for single processors and particularly for multicomputers. Even when existing trace methods can be used on multicomputers, the amount of collected data typically grows with the number of processors, so I/O and trace storage costs increase. A new technique is presented which modifies the executable code to dynamically collect the address trace from the user code and analyzes this trace during the execution of the program. This method helps resolve the I/O and storage problems and facilitates parallel analysis of the address trace. If a trace stored on disk is desired, the generated trace information can also be written to files during execution, with a resultant drop in program execution speed. An initial implementation on the Intel iPSC/2 hypercube multicomputer is detailed, and sample simulation results are presented. The effect of this trace collection method on execution time is illustrated.

Stunkel, Craig B.↗

NASA NTRS1989

TRAPEDS - Producing traces for multicomputers via execution driven simulation

Stunkel, Craig B.↗

NASA NTRS1990

A modular telerobotic task execution system

A telerobot task execution system is proposed to provide a general parametrizable task execution capability. The system includes communication with the calling system, e.g., a task planning system, and single- and dual-arm sensor-based task execution with monitoring and reflexing. A specific task is described by specifying the parameters to various available task execution modules including trajectory generation, compliance control, teleoperation, monitoring, and sensor fusion. Reflex action is achieved by finding the corresponding reflex action in a reflex table when an execution event has been detected with a monitor.

Backes, Paul G.↗

NASA NTRS2000

Expected Utility Distributions for Flexible, Contingent Execution

This paper presents a method for using expected utility distributions in the execution of flexible, contingent plans. A utility distribution maps the possible start times of an action to the expected utility of the plan suffix starting with that action. The contingent plan encodes a tree of possible courses of action and includes flexible temporal constraints and resource constraints. When execution reaches a branch point, the eligible option with the highest expected utility at that point in time is selected. The utility distributions make this selection sensitive to the runtime context, yet still efficient. Our approach uses predictions of action duration uncertainty as well as expectations of resource usage and availability to determine when an action can execute and with what probability. Execution windows and probabilities inevitably change as execution proceeds, but such changes do not invalidate the cached utility distributions, thus, dynamic updating of utility information is minimized.

Bresina, John L.↗

NASA NTRS2005

Survey of Command Execution Systems for NASA Spacecraft and Robots

NASA spacecraft and robots operate at long distances from Earth Command sequences generated manually, or by automated planners on Earth, must eventually be executed autonomously onboard the spacecraft or robot. Software systems that execute commands onboard are known variously as execution systems, virtual machines, or sequence engines. Every robotic system requires some sort of execution system, but the level of autonomy and type of control they are designed for varies greatly. This paper presents a survey of execution systems with a focus on systems relevant to NASA missions.

Verma, Vandi↗

NASA NTRS2006

Intelligent Rover Execution for Detecting Life in the Atacama Desert

On-board supervisory execution is crucial for the deployment of more capable and autonomous remote explorers. Planetary science is considering robotic explorers operating for long periods of time without ground supervision while interacting with a changing and often hostile environment. Effective and robust operations require on-board supervisory control with a high level of awareness of the principles of functioning of the environment and of the numerous internal subsystems that need to be coordinated. We describe an on-board rover executive that was deployed on a rover as past of the "Limits of Life in the Atacama Desert (LITA)" field campaign sponsored by the NASA ASTEP program. The executive was built using the Intelligent Distributed Execution Architecture (IDEA), an execution framework that uses model-based and plan-based supervisory control of its fundamental computational paradigm. We present the results of the third field experiment conducted in the Atacama desert (Chile) in August - October 2005.

Baskaran, Vijayakumar↗

NASA NTRS1990

Event driven executive

Tasks may be planned for execution on a single processor or are split up by the designer for execution among a plurality of signal processors. The tasks are modeled using a design aid called a precedence graph, from which a dependency table and a prerequisite table are established for reference within each processor. During execution, at the completion of a given task, an end of task interrupt is provided from any processor which has completed a task to any and all other processors including itself in which completion of that task is a prerequisite for commencement of any dependent tasks. The relevant updated data may be transferred by the processor either before or after signalling task completion to the processors needing the updated data prior to commencing execution of the dependent tasks. Coherency may be ensured, however, by sending the data before the interrupt. When the end of task interrupt is received in a processor, its dependency table is consulted to determine those tasks dependent upon completion of the task which has just been signalled as completed, and task dependency signals indicative thereof are provided and stored in a current status list of a prerequisite table. The current status of all current prerequisites are compared to the complete prerequisites listed for all affected tasks and those tasks for which the comparison indicates that all prerequisites have been met are queued for execution in a selected order.

Tulpule, Bhalchandra R.↗

NASA NTRS2011

Symbolically Modeling Concurrent MCAPI Executions

Improper use of Inter-Process Communication (IPC) within concurrent systems often creates data races which can lead to bugs that are challenging to discover. Techniques that use Satisfiability Modulo Theories (SMT) problems to symbolically model possible executions of concurrent software have recently been proposed for use in the formal verification of software. In this work we describe a new technique for modeling executions of concurrent software that use a message passing API called MCAPI. Our technique uses an execution trace to create an SMT problem that symbolically models all possible concurrent executions and follows the same sequence of conditional branch outcomes as the provided execution trace. We check if there exists a satisfying assignment to the SMT problem with respect to specific safety properties. If such an assignment exists, it provides the conditions that lead to the violation of the property. We show how our method models behaviors of MCAPI applications that are ignored in previously published techniques.

Fischer, Topher↗

NASA NTRS2014

Maneuver Performance Assessment of the Cassini Spacecraft Through Execution-Error Modeling and Analysis

The Cassini spacecraft has executed nearly 300 maneuvers since 1997, providing ample data for execution-error model updates. With maneuvers through 2017, opportunities remain to improve on the models and remove biases identified in maneuver executions. This manuscript focuses on how execution-error models can be used to judge maneuver performance, while providing a means for detecting performance degradation. Additionally, this paper describes Cassini's execution-error model updates in August 2012. An assessment of Cassini's maneuver performance through OTM-368 on January 5, 2014 is also presented.

Wagner, Sean↗

NASA NTRS2018

Integrated Planning and Execution for a Self-Reliant Mars Rover

Planetary rovers exploring the surface of Mars face a challenging operational environment that requires close cooperation between deliberative planning and behavioral execution in order to most efﬁciently leverage the robot’s capabilities into science value returned to earth. The Self-Reliant Rovers project envisions future rover missions that require only occasional high-level direction from human controllers to successfully conduct detailed in-situ studies of its Martian environs. To achieve this high degree of autonomy, this work leverages a spectrum of planning and execution techniques that allow the rover to respond appropriately to both opportunity and adversity it encounters. Small perturbations are accommodated at ﬁrst by behavioral adaptation, with more and more extensive disruptions handled in turn by executive administration of plan ﬂexibility, heuristic-guided plan repair strategies, and ﬁnally comprehensive replanning from science campaign goals. The integrated system has been deployed and tested on a terrestrial rover in an environment and under scenarios that anticipate those faced by future Mars rovers. This paper recounts complexities of planning and execution coordination faced in the rover domain and the practical solutions employed to address them. Particular emphasis is given to lessons from the ﬁeld and foibles ripe for remedy by future advances in planning and execution research.

Gaines, Daniel↗