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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↗

Automated construction of lightweight, simple, field-erected structures

The feasibility of automation of construction processes which could result in mobile construction robots is examined. The construction of a large photovoltaic power plant with a peak power output of 100 MW is demonstrated. The reasons to automate the construction process, a conventional construction scenario as the reference for evaluation, and a list of potential cost benefits using robots are presented. The technical feasibility of using robots to construct SPS ground stations is addressed.

Leonard, R. S.↗

Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations

Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt, and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time. Factors in determining what is optimal include the operator's ability to use hand-controllers for each type of task. Robot joint locations, forces and torques are used, as well as the operator's identity, to identify the current type of task being performed in order to call up a stored optimal viewing arrangement and system parameter configuration.

Diner, Daniel B.↗

Does NASA's Constellation Architecture Offer Opportunities to Achieve Multiple Additional Goals in Space?

Every major NASA human spaceflight program in the last four decades has been modified to achieve goals in space not incorporated within the original design goals: the Apollo Applications Program, Skylab, Space Shuttle, and International Space Station. Several groups in the US have been identifying major future science goals, the science facilities necessary to investigate them, as well as possible roles for augmented versions of elements of NASA's Constellation program. Specifically, teams in the astronomy community have been developing concepts for very capable missions to follow the James Webb Space Telescope that could take advantage of - or require - free-space operations by astronauts and/or robots. Taking as one example, the Single-Aperture Far-InfraRed (SAFIR) telescope with a approx.10+ m aperture proposed for operation in the 2020 timeframe. According to current NASA plans, the Ares V launch vehicle (or a variant) will be available about the same time, as will the capability to transport astronauts to the vicinity of the Moon via the Orion Crew Exploration Vehicle and associated systems. [As the lunar surface offers no advantages - and major disadvantages - for most major optical systems, the expensive system for landing and operating on the lunar surface is not required.] Although as currently conceived, SAFIR and other astronomical missions will operate at the Sun-Earth L2 location, it appears trivial to travel for servicing to the more accessible Earth-Moon L1,2 locations. Moreover, as the recent Orbital Express and Automated Transfer Vehicle missions have demonstrated, future robotic capabilities should offer capabilities that would (remotely) extend human presence far beyond the vicinity of the Earth. In addition to multiplying the value of NASA's architecture for future human spaceflight to achieve the goals multiple major stakeholders, if humans one day travel beyond the Earth-Moon system - say, to Mars - technologies and capabilities for operating for long periods in free space must be developed. The engineering. management, and operational successes of the Space Station have demonstrated that international collaboration is possible. However, there is a danger that the hard-won lessons of current programs will be lost without continuing development of in-space operations. A program to achieve. for example, major astronomical goals in space using astronauts and robots will sustain international capabilities, produce highly visible achievements, and appeal to an additional broad community of stakeholders not currently involved with missions to the lunar surface.

Thronson, Harley A.↗

Does the NASA Constellation Architecture Offer Opportunities to Achieve Multiple Additional Goals in Space?

Every major NASA human spaceflight program in the last four decades has been modified to achieve goals in space not incorporated within the original design goals: the Apollo Applications Program, Skylab, Space Shuttle, and International Space Station. Several groups in the U.S. have been identifying major future science goals, the science facilities necessary to investigate them, as well as possible roles for augmented versions of elements of NASA's Constellation program. Specifically, teams in the astronomy community have been developing concepts for very capable missions to follow the James Webb Space Telescope that could take advantage of - or require - free-space operations by astronauts and/or robots. Taking as one example, the Single-Aperture Far-InfraRed (SAFIR) telescope with a 10+ m aperture proposed for operation in the 2020 timeframe. According to current NASA plans, the Ares V launch vehicle (or a variant) will be available about the same time, as will the capability to transport astronauts to the vicinity of the Moon via the Orion Crew Exploration Vehicle and associated systems. [As the lunar surface offers no advantages - and major disadvantages - for most major optical systems, the expensive system for landing and operating on the lunar surface is not required.] Although as currently conceived, SAFIR and other astronomical missions will operate at the Sun-Earth L2 location, it appears trivial to travel for servicing to the more accessible Earth-Moon L1,2 locations. Moreover, as the recent Orbital Express and Automated Transfer Vehicle Missions have demonstrated, future robotic capabilities should offer capabilities that would (remotely) extend human presence far beyond the vicinity of the Earth.

Thronson, Harley↗

Does NASA's Constellation Architecture Offer Opportunities to Achieve Multiple Additional Goals in Space?

Every major NASA human spaceflight program in the last four decades has been modified to achieve goals in space not incorporated within the original design goals: the Apollo Applications Program, Skylab, Space Shuttle, and International Space Station. Several groups in the US have been identifying major future science goals, the science facilities necessary to investigate them, as well as possible roles for augmented versions of elements of NASA's Constellation program. Specifically, teams in the astronomy community have been developing concepts for very capable missions to follow the James Webb Space Telescope that could take advantage of - or require - free-space operations by astronauts and/or robots. Taking as one example, the Single-Aperture Far-InfraRed (SAFIR) telescope with a approx. 10+ m aperture proposed for operation in the 2020 timeframe. According to current NASA plans, the Ares V launch vehicle (or a variant) will be available about the same time, as will the capability to transport astronauts to the vicinity of the Moon via the Orion Crew Exploration Vehicle and associated systems. [As the lunar surface offers no advantages - and major disadvantages - for most major optical systems, the expensive system for landing and operating on the lunar surface is not required.] Although as currently conceived, SAFIR and other astronomical missions will operate at the Sun-Earth L2 location, it appears trivial to travel for servicing to the more accessible Earth-Moon L1,2 locations. Moreover. as the recent Orbital Express and Automated Transfer Vehicle missions have demonstrated, future robotic capabilities should offer capabilities that would (remotely) extend human presence far beyond the vicinity of the Earth. In addition to multiplying the value of NASA's architecture for future human spaceflight to achieve the goals multiple major stakeholders. if humans one day travel beyond the Earth-Moon system - say, to Mars - technologies and capabilities for operating for long periods in free space must be developed. The engineering, management. and operational successes of the Space Station have demonstrated that international collaboratio~i is possible. However, there is a danger that the hard-won lessons of cLul+sent programs will be lost without continuing development of in-space operations. A program to achieve. for example. major astronomical goals in space using astronauts and robots will sustain international capabilities. produce highly visible achievements. and appeal to a11 additional broad community of stakeholders not currently involved with missions to the lunar surface.

Thronson, Harley↗

Automated assembly of large space structures

Viewgraphs and discussion on automated assembly of large space structures are presented. The program research objective is to develop technology and demonstrate the potential for automated inspace assembly of large erectable structures. This is accomplished by merging experience in structural assembly and robotics at LaRC into an interdisciplinary program with focused effort on automated assembly of a generic structural configuration with a standard cell and by building into the system the capability to do expanded research with complex configurations.

Rhodes, Marvin D.↗

ISAAC Integrated Structural Assembly of Advanced Composites

The NASA Langley Research Center obtained the Integrated Structural Assembly of Advanced Composites (ISAAC) robotic system in 2014 to add state-of-the-art automated manufacturing of composites to our traditional in-house design, analysis, and experimentation capabilities. ISAAC is used to explore fabrication of parts with novel designs and for research into new composite manufacturing techniques. Automated fiber placement (AFP) was the initial manufacturing capability on ISAAC and has been used to support a range of aeronautics and space projects including the Advanced Composites Project (ACP), Composites for Exploration Upper Stage (CEUS), and Advanced Air Transportation Technologies (AATT). In addition to AFP, ISAAC can now provide through-thickness reinforcement of composites by adding stitches through dry fabric prior to resin infusion. Stitching is of interest since it can improve damage tolerance, reduce final assembly time, and reduce inspection requirements. ISSAC can stitch traditional single-needle seams and perform stitching operations using two needles when access is only available to one side of the part. Stitching capability is being advanced in the High-Rate Composites Aircraft Manufacturing (HiCAM) project today. This lecture will describe the work with ISAAC today and new exciting plans for the future.

automated fiber placement↗

Commercial Application of In-Space Assembly

In-Space assembly (ISA) expands the opportunities for cost effective emplacement of systems in space. Currently, spacecraft are launched into space and deploy into their operational configuration through a carefully choreographed sequence of operations. The deployment operation dictates the arrangement of the primary systems on the spacecraft, limiting the ability to take full advantage of launch vehicles volume and mass capability. ISA enables vastly different spacecraft architectures and emplacement scenarios to be achieved, including optimal launch configurations ranging from single launch and assembly to on-orbit aggregation of multiple launches at different orbital locations and times. The spacecraft can be visited at different orbital locations and times to effect expansion and maintenance of an operational capability. To date, the primary application of ISA has been in large programs funded by government organizations, such as the International Space Station. Recently, Space Systems Loral (SSL) led a study funded by the Defense Advanced Research Projects Agency (DARPA), called Dragonfly, to investigate the commercial applicability and economic advantages of ISA. In the study, it was shown that ISA enables SSL to double the capability of a commercial satellite system by taking advantage of alternate packaging approaches for the reflectors. The study included an ultra-light-weight robotic system, derived from Mars manipulator designs, to complete assembly of portions of the antenna system using a tool derived from DARPA orbital express and National Aeronautics and Space Administration (NASA) automated structural assembly experience. The mechanical connector that enables robotic ISA takes advantage of decades of development by NASA from the 1970's to 1980's during the Space Station Freedom program, the precursor to the ISS. The mechanical connector was originally designed for rapid astronaut assembly while also providing a high quality structural connection with linear load deflection response. The paper will discuss the business case for ISA, the general approach taken to exploit on-orbit assembly in the GEO communication satellite market, and the concept of operations associated with the ISA approach, thus laying the foundation for ISA to become an accepted operational approach for commercial in-space operations.

Lymer, John↗

Cable-Driven Parallel Robot (CDPR) for Panelized Envelope Retrofits: Feasible Workspace Analysis

Recent decades have seen remarkable progress in the field of robotic-assisted construction. Cable-driven parallel robots (CDPRs) emerge as promising tools for automating construction processes, due to their advantageous features such as scalability, reconfigurability, compact design, and high payload-to-weight ratio. This paper uses a simple static model to determine the feasibility of a CDPR for overclad panel installation in building envelope retrofits. Given that the building facade needs to be a subset of the CDPR’s wrench-feasible workspace, we focus on the sensitivity of the workspace concerning various cable arrangements and CDPR frame sizes (e.g., height and width extensions). Our analysis indicates that no cable arrangement satisfies the requirement of complete facade coverage and avoids cable-to-panel collisions. Thus, frame extension is needed to enhance coverage. However, in densely populated areas where width extension is limited by space constraints, height extension alone is insufficient to guarantee full facade coverage. This paper pioneers the investigation of CDPRs for panelized envelope retrofits, showcasing their advantages and limitations and paving the way for further research and development.

Liu, Yifang↗

Executive system software design and expert system implementation

The topics are presented in viewgraph form and include: software requirements; design layout of the automated assembly system; menu display for automated composite command; expert system features; complete robot arm state diagram and logic; and expert system benefits.

Cheryl L Allen↗

Technology for increased human productivity and safety on orbit

Technologies are addressed that can facilitate the efficient performance of station operations on the Space Station Freedom (SSF) and thereby optimize the utilization of SSF for scientific research. The dedication of SSF capabilities to scientific study and to the payload-user community is a key goal of the program. Robotics applications are discussed in terms of automating the processing of experiment materials on-orbit by transferring ampules to a furnace system or by handling plant-tissue cultures. Noncontact temperature measurement and medical support technology are considered important technologies for maximizing time for scientific purposes. Detailed examinations are conducted of other technologies including advanced data systems and furnace designs. The addition of the listed technologies can provide an environment in which scientific research is more efficient and accurate.

Ambrus, Judith↗

Development Of Software To Recognize Parts Of Plants

Report describes first phase in development of digital image-processing subsystem recognizing parts of plants. Subsystem part of robotic system tending and harvesting plants in automated plant-growth chamber. Initial focus on image-processing software that distinguishes among seed heads, stems, and leaves of wheat plants and further distinguishes between these parts and background. Software adaptable to other types of plants.

Despain, Ronald R.↗

Preliminary test results and upgrades for an automated assembly system

An automated structures assembly testbed developed by Langley Research Center to study the practical problems associated with the automated assembly of large space structures using robotic manipulators is described. Emphasis is placed on the requirements and features of system upgrades and their impact on system performance, flexibility, and reliability. The current research program is aimed at evolving the baseline assembly system into a flexible, robust, sensor-based system capable of assembling more complex truss-supported satellite systems. To achieve this objective, five system upgrades have been developed including a machine vision capability to eliminate taught robot arm positions; an on-board end-effector microprocessor to reduce communications; a second-generation end-effector to construct contoured trusses for antennas and install payloads; the installation of reflector-type panels on the truss to produce a complete and functional system, and an expert system to significantly reduce the amount of software code required for system operation and provide greater flexibility in implementing new features.

Will, Ralph W.↗

Model Checking JAVA Programs Using Java Pathfinder

This paper describes a translator called JAVA PATHFINDER from JAVA to PROMELA, the "programming language" of the SPIN model checker. The purpose is to establish a framework for verification and debugging of JAVA programs based on model checking. This work should be seen in a broader attempt to make formal methods applicable "in the loop" of programming within NASA's areas such as space, aviation, and robotics. Our main goal is to create automated formal methods such that programmers themselves can apply these in their daily work (in the loop) without the need for specialists to manually reformulate a program into a different notation in order to analyze the program. This work is a continuation of an effort to formally verify, using SPIN, a multi-threaded operating system programmed in Lisp for the Deep-Space 1 spacecraft, and of previous work in applying existing model checkers and theorem provers to real applications.

Havelund, Klaus↗

Agent Interaction with Human Systems in Complex Environments: Requirements for Automating the Function of CapCom in Apollo 17

A human-centered approach to computer systems design involves reframing analysis in terms of people interacting with each other, not only human-machine interaction. The primary concern is not how people can interact with computers, but how shall we design computers to help people work together? An analysis of astronaut interactions with CapCom on Earth during one traverse of Apollo 17 shows what kind of information was conveyed and what might be automated today. A variety of agent and robotic technologies are proposed that deal with recurrent problems in communication and coordination during the analyzed traverse.

Clancey, William J.↗

Roles for Agent Assistants in Field Science: Understanding Personal Projects and Collaboration

A human-centered approach to computer systems design involves reframing analysis in terms of the people interacting with each other. The primary concern is not how people can interact with computers, but how shall we design work systems (facilities, tools, roles, and procedures) to help people pursue their personal projects, as they work independently and collaboratively? Two case studies provide empirical requirements. First, an analysis of astronaut interactions with CapCom on Earth during one traverse of Apollo 17 shows what kind of information was conveyed and what might be automated today. A variety of agent and robotic technologies are proposed that deal with recurrent problems in communication and coordination during the analyzed traverse. Second, an analysis of biologists and a geologist working at Haughton Crater in the High Canadian Arctic reveals how work interactions between people involve independent personal projects, sensitively coordinated for mutual benefit. In both cases, an agent or robotic system's role would be to assist people, rather than collaborating, because today's computer systems lack the identity and purpose that consciousness provides.

Clancey, William J.↗

Studies on Automated Manufacturing of High Performance Composites

The NASA Langley Research Center fiber placement facility has proven to be a valuable asset for obtaining data, experience, and insights into the automated fabrication of high performance composites. The facility consists of two automated devices: an Asea Brown Boveri (ABB) robotic arm with a modified heated head capable of hot gas and focused infrared heating and a 7' x 17' gantry containing a feeder head, rotating platform, focused infrared lamp and e-beam gun. While uncured thermoset tow and tape, e.g., epoxy and cyanate prepreg, can be placed with a robot, the placement facility s most powerful attribute is the ability to place thermoplastic and e-beam curable material to net shape. In recent years, ribbonizing techniques have been developed to make high quality thermoplastic and thermoset dry material forms to the standards required for robotic placement. A variety of composites have been fabricated from these ribbons by heated head tow and tape placement including both flat plates and cylinders. Composite mechanical property values of the former were between 85 and 100 percent of those obtained by hand lay-up/autoclave processing.

Cano, R. J.↗