Autonomous Attitude Control Fault Protection for the Galileo Probe Mission and Jupiter Orbit Insertion
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AACS flight software fault protection Probe Relay ↗
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The Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT)
As NASA plans to send humans back to the Moon and develop a lunar outpost, technologies must be developed to place humans and cargo safely, precisely, repeatedly, on the lunar surface with the capability to avoid surface hazards. Exploration Space Architecture Study requirements include the need for global lunar surface access with safe, precise landing without lighting constraints on terrain that may have landing hazards for human scale landing vehicles. Landing accuracies of perhaps 1,000 meters for sortie crew missions to 10 s of meters for Outpost class missions are required. The Autonomous precision Landing Hazard Avoidance Technology (ALHAT) project will develop the new and unique descent and landing Guidance, Navigation and Control (GNC) hardware and software technologies necessary for these capabilities. The ALHAT project will qualify a lunar descent and landing GNC system to a Technology Readiness Level (TRL) of 6 capable of supporting lunar crewed, cargo, and robotic missions. The (ALHAT) development project was chartered by NASA Headquarters in October 2006. The initial effort to write a project plan and define an ALHAT Team was followed by a fairly aggressive research and analysis effort to determine what technologies existed that could be developed and applied to the lunar landing problems indicated above. This paper describes the project development, research, analysis and concept evolution that has occurred since the assignment of the project. This includes the areas of systems engineering, GNC, sensors, sensor algorithms, simulations, fielding testing, laboratory testing, Hardware-In-The-Loop testing, system avionics and system certification concepts.
Epp, Chirold D.↗
Autonomous Inspection of Electrical Transmission Structures with Airborne UV Sensors and Automated Air Traffic Management
This report details test and measurement flights to demonstrate autonomous UAV (Unmanned Aerial Vehicle) inspection of high-voltage electrical transmission structures. A UAV built with commercial, off-the-shelf hardware and software, supplemented with custom sensors and logging software, measured ultraviolet (UV) emissions from a test generator placed on a low-altitude substation and a medium-altitude switching tower. Since corona discharge precedes catastrophic electrical faults on high-voltage structures, detection and geolocation of ultraviolet emissions is needed to develop a UAV-based self-diagnosing power grid. Signal readings from an onboard ultraviolet sensor were validated during flight with a commercial corona camera. Geolocation was accomplished with onboard GPS; the UAV position was logged to a local ground station and transmitted in real time to a NASA server for tracking in the national airspace. The method has practicality and relevance but not adequacy; either improved UAV position determination technology or increased sensor range is needed to enable broad deployment of this method.
Moore, Andrew J.↗
Development and Testing of a Vehicle Management System for Autonomous Spacecraft Habitat Operations
As the increased distance between Earth-based mission control and the spacecraft results in increasing communication delays, small crews cannot take on all functions performed by ground today, and so vehicles must be more automated to reduce the crew workload for such missions. In addition, both near-term and future missions will feature significant periods when crew is not present, meaning the vehicles will need to operate themselves autonomously. NASA's Advanced Exploration Systems Program pioneers new approaches for rapidly developing prototype systems, demonstrating key capabilities, and validating operational concepts for future human missions beyond low-Earth orbit. Under this program, NASA has developed and demonstrated multiple technologies to enable the autonomous operation of a dormant space habitat. These technologies included a fault-tolerant avionics architecture, novel spacecraft power system and power system controller, and autonomy software to control the habitat. The demonstration involved simulation of the habitat and multiple spacecraft sub-systems (power storage and distribution, avionics, and air-side life-support) during a multi-day test at NASA's Johnson Space Center. The foundation of the demonstration was ‘quiescent operations' of a habitat during a 55 minute eclipse period. For this demonstration, the spacecraft power distribution system and air-side life support system were simulated at a high level of fidelity; additional systems were managed, but with lower fidelity operational constraints and system behavior. Operational constraints for real and simulated loads were developed by analyzing on-orbit hardware and evaluating future Exploration capable technology. A total of 13 real and simulated loads were used during the test. Eight scenarios including both nominal and off-nominal conditions were performed. Over the course of the test, every application performed its desired functions successfully during the simulated tests. The results will inform both future tests, as well as provide insight to NASA's domestic and international partners, as they construct the next generation of space habitats to be used on beyond-Earth missions.
Autonomous Systems and Operations↗
FORCE Regression Testing
Via programs including the Light Water Reactor Sustainability and Integrated Energy Systems, the U.S. Department of Energy has invested in the Framework for Optimization of ResourCes and Economics (FORCE) software framework (Idaho National Laboratory 2024a) for the technical and economic analysis of nuclear-integrated energy systems (IES). Nuclear IES expand the use of nuclear from traditional baseload electricity generation to a flexible and adaptive source of combined heat and power. Nuclear heat can be used in the production of a variety of energy currencies such as hydrogen and ammonia as well as other heat applications including water desalination and district heating. FORCE is designed with the intent to provide interconnected analysis tools that enable the accurate technical and economic assessment of specific nuclear IES configurations for individual energy markets. FORCE consists of three main analysis pathways: HYBRID (Idaho National Laboratory 2024b), which contains high-resolution physical models for IES; Holistic Energy Resource Optimization Network (HERON) (Idaho National Laboratory 2024c), which analyzes IES long-term economic viability; and Optimization of Real-time Capacity Allocation (ORCA) (Idaho National Laboratory 2024d), designed for real-time control of IES via digital twins and optimal decision making, including autonomous and remote operation research. Development of the FORCE ecosystem is guided by three pillars: capability, which assures that the computational requirements of IES analysis are met by the software tools; reliability, which provides for consistent code performance and expected behaviors; and accessibility, which lowers the barrier to entry for using the software and accelerates analysis by users beyond the FORCE primary developers. Reliability of the FORCE ecosystem is established according to the American Nuclear Society?s Nuclear Quality Assurance (NQA-1) program [American Society of Mechanical Engineers 1982], with specific levels of software quality assurance (SQA) within NQA-1 applied to each software tool in FORCE. As the tools within FORCE have matured, some integration algorithms to accurately connect the software tools for holistic analysis have been developed and deployed within the FORCE software repository. In accordance with NQA-1 standards, regression tests are required to guarantee the software performs consistently even when new capabilities are added to the software. In this report, we document the deployment of both unit tests, which test the consistent behavior of small pieces of the FORCE code base, as well as integration tests, which test the consistent performance of full use cases for the FORCE integration algorithms. We further document the encapsulation of these tests within a test harness, which collectively checks for each successful test completion on demand. Finally, we document the automation of the test harness using GitHub Actions [GitHub 2024], which require all tests succeed before any new capability or other changes can be added to the FORCE integration software
97 MATHEMATICS AND COMPUTING↗
Simulation-Based Verification of Livingstone Applications
AI software is viewed as a means to give greater autonomy to automated systems, capable of coping with harsh and unpredictable environments in deep space missions. Autonomous systems pose a serious challenge to traditional test-based verification approaches, because of the enormous space of possible situations that they aim to address. Before these systems are put in control of critical applications, appropriate new verification approaches need to be developed. This article describes Livingstone PathFinder (LPF), a verification tool for autonomous diagnosis applications based on NASA's Livingstone model-based diagnosis system. LPF applies state space exploration algorithms to an instrumented testbed, consisting of the Livingstone diagnosis system embedded in a simulated operating environment. The article describes different facets of LPF and reports some experimental results from applying LPF to a Livingstone model of the main propulsion feed subsystem of the X-34 space vehicle. This paper describes Livingstone PathFinder (LPF), a verification tool for autonomous diagnosis applications based on NASA's Livingstone model-based diagnosis system. LPF applies state space exploration algorithms to an instrumented testbed, consisting of the Livingstone diagnosis system embedded in a simulated operating environment. Section 2 provides an overview of Livingstone; Section 3 describes the LPF architecture; Section 4 discusses its applicability; Section 5 reviews some experimental results; Section 6 compares LPF to related verification approaches; Section 7 draws conclusions and discusses some perspectives.
Lindsey, Anthony E.↗
Autonomous Flight Safety System
Autonomous Flight Safety System (AFSS) is an independent flight safety system designed for small to medium sized expendable launch vehicles launching from or needing range safety protection while overlying relatively remote locations. AFSS replaces the need for a man-in-the-loop to make decisions for flight termination. AFSS could also serve as the prototype for an autonomous manned flight crew escape advisory system. AFSS utilizes onboard sensors and processors to emulate the human decision-making process using rule-based software logic and can dramatically reduce safety response time during critical launch phases. The Range Safety flight path nominal trajectory, its deviation allowances, limit zones and other flight safety rules are stored in the onboard computers. Position, velocity and attitude data obtained from onboard global positioning system (GPS) and inertial navigation system (INS) sensors are compared with these rules to determine the appropriate action to ensure that people and property are not jeopardized. The final system will be fully redundant and independent with multiple processors, sensors, and dead man switches to prevent inadvertent flight termination. AFSS is currently in Phase III which includes updated algorithms, integrated GPS/INS sensors, large scale simulation testing and initial aircraft flight testing.
Ferrell, Bob↗
The development of an autonomous rendezvous and docking simulation using rapid integration and prototyping technology
A generic planar 3 degree of freedom simulation was developed that supports hardware in the loop simulations, guidance and control analysis, and can directly generate flight software. This simulation was developed in a small amount of time utilizing rapid prototyping techniques. The approach taken to develop this simulation tool, the benefits seen using this approach to development, and on-going efforts to improve and extend this capability are described. The simulation is composed of 3 major elements: (1) Docker dynamics model, (2) Dockee dynamics model, and (3) Docker Control System. The docker and dockee models are based on simple planar orbital dynamics equations using a spherical earth gravity model. The docker control system is based on a phase plane approach to error correction.
Shackelford, John H.↗
Distributed computing for autonomous on board planning and sequence validations
We propose a new conceptual approach to system-level autonomy that exploits in a synergistic way recent breakthroughs in three specific areas: automatic generation of embeddable planning and validation software, integration of telecommunications forecaster and planning tools, and fault-tolerant assignment of computing tasks to multiple processors.
autonomy synergy software telecommunications compu↗
ARM-DOE/adi-vap-pblhtsonde
The Atmospheric Radiation Measurement Program developed a value added product that could run autonomously to determine planetary boundary height using radiosondes. This product has produced data for 117 unique sites and facilities for more than 10 years. The initial software was released around 2013 and data has been produced since 2001 for some sites.
Sivaraman, Chitra↗
Metrics of a Paradigm for Intelligent Control
We present metrics for quantifying organizational structures of complex control systems intended for controlling long-lived robotic or other autonomous applications commonly found in space applications. Such advanced control systems are often called integration platforms or agent architectures. Reported metrics span concerns about time, resources, software engineering, and complexities in the world.
Hexmoor, Henry↗
Approach-Phase Precision Landing with Hazard Relative Navigation: Terrestrial Test Campaign Results of the Morpheus/ALHAT Project
The Morpheus Project began in late 2009 as an ambitious e ort code-named Project M to integrate three ongoing multi-center NASA technology developments: humanoid robotics, liquid oxygen/liquid methane (LOX/LCH4) propulsion and Autonomous Precision Landing and Hazard Avoidance Technology (ALHAT) into a single engineering demonstration mission to be own to the Moon by 2013. The humanoid robot e ort was redirected to a deploy- ment of Robonaut 2 on the International Space Station in February of 2011 while Morpheus continued as a terrestrial eld test project integrating the existing ALHAT Project's tech- nologies into a sub-orbital ight system using the world's rst LOX/LCH4 main propulsion and reaction control system fed from the same blowdown tanks. A series of 33 tethered tests with the Morpheus 1.0 vehicle and Morpheus 1.5 vehicle were conducted from April 2011 - December 2013 before successful, sustained free ights with the primary Vertical Testbed (VTB) navigation con guration began with Free Flight 3 on December 10, 2013. Over the course of the following 12 free ights and 3 tethered ights, components of the ALHAT navigation system were integrated into the Morpheus vehicle, operations, and ight control loop. The ALHAT navigation system was integrated and run concurrently with the VTB navigation system as a reference and fail-safe option in ight (see touchdown position esti- mate comparisons in Fig. 1). Flight testing completed with Free Flight 15 on December 15, 2014 with a completely autonomous Hazard Detection and Avoidance (HDA), integration of surface relative and Hazard Relative Navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman lter software, and landing within 2 meters of the VTB GPS-based navigation solution at the safe landing site target. This paper describes the Mor- pheus joint VTB/ALHAT navigation architecture, the sensors utilized during the terrestrial ight campaign, issues resolved during testing, and the navigation results from the ight tests.
Crain, Timothy P.↗
Clinical Decision Support - Concepts of Operation
We are entering a new era in space exploration to return to the moon and explore Mars. These ambitious goals will require significant changes to in-flight and habitat medical care due to constraints on mass, volume, power, crew time and medical evacuation capabilities. These constraints make it absolutely necessary to develop transformative solutions using new technologies. 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. The Clinical Decision Support (CDS) project addresses the gap Medical-701 within the Inflight Medical Conditions risk: Enhance medical capabilities within an exploration medical system. For long-duration, deep space missions, computational and data resources will play an important role in maintaining crew health, wellness and performance where the crew will need to be more self-reliant. The aim of the CDS project is to develop and provide recommended requirements for an in-vehicle CDSS that acts as an assistant for delivering optimal health and performance and medical care during exploration missions. The CDSS is envisioned as a software-based tool that will augment a crewmembers’ knowledge, skills and abilities to assist in decision-making and crew health and performance (CHP) management thus increasing CHP systems capabilities. The human interface will be context aware and lessen the cognitive load to assimilate and use information as well as combine large disparate data sets in such a manner that provides the crew with actionable insight to decisions related to crew medical, health and performance management. Crew autonomy will be provided through a CDS that 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. The CDS project addresses the need for crew members to operate independently during long duration space exploration missions that require medical Levels of Care (LoC) V, the highest level specified by NASA-STD-3001 and described in more detail by the ExMC interpretation of LoC document (NASA/TM-2017-219290), where significant changes to in-flight and habitat medical care necessitate increasing crew autonomy in decision making and task performance. The CDS project will develop and test a series of iterative and increasingly more complex system prototypes. These annual demonstrations of the data system integration with the crew health and performance domain will inform exploration medical system requirements for an on-board Clinical Decision Support System (CDSS) through a series of use cases that guide CDS prototype functionality. CDS concepts are based on ExMC Concept of Operations documents (presented separately) and will highlight architecture extensibility to other more complex analyses and tests using core crew health and performance integrated data management, processing and visualization capabilities. This approach also establishes how externally developed analyses and approaches could be added to expand a clinical decision support system and thus highlight how a comprehensive system can be commercially and/or globally developed. The CDS project will build upon the concept of an integrated data management approach based on the Medical Data Architecture (MDA) project to more fully address challenges associated with in-flight and habitat medical, health and performance care due to constraints on mass, volume, power, crew time and medical evacuation capabilities required for medical LoC V. These requirements will be derived through systems engineering approaches and software prototype developments over the course of the multi-year CDS project to address crew health and performance decision-making and task performance, often autonomously executed by the crew, in a manner that is consistent with the appropriate medical level of care for the mission. This presentation will provide an overview of the vision for the CDS project and highlight the initial accomplishments in project planning, implementation and requirements identification in fiscal year 2020.
clinical decision support↗
Clinical Decision Support - Overview and Update
We are entering a new era in space exploration to return to the moon and explore Mars. These ambitious goals will require significant changes to in-flight and habitat medical care due to constraints on mass, volume, power, crew time and medical evacuation capabilities. These constraints make it absolutely necessary to develop transformative solutions using new technologies. 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. The Clinical Decision Support (CDS) project addresses the gap Medical-701 within the Inflight Medical Conditions risk: Enhance medical capabilities within an exploration medical system. For long-duration, deep space missions, computational and data resources will play an important role in maintaining crew health, wellness and performance where the crew will need to be more self-reliant. The aim of the CDS project is to develop and provide recommended requirements for an in-vehicle CDSS that acts as an assistant for delivering optimal health and performance and medical care during exploration missions. The CDSS is envisioned as a software-based tool that will augment a crewmembers’ knowledge, skills and abilities to assist in decision-making and crew health and performance (CHP) management thus increasing CHP systems capabilities. The human interface will be context aware and lessen the cognitive load to assimilate and use information as well as combine large disparate data sets in such a manner that provides the crew with actionable insight to decisions related to crew medical, health and performance management. Crew autonomy will be provided through a CDS that 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. The CDS project addresses the need for crew members to operate independently during long duration space exploration missions that require medical Levels of Care (LoC) V, the highest level specified by NASA-STD-3001 and described in more detail by the ExMC interpretation of LoC document (NASA/TM-2017-219290), where significant changes to in-flight and habitat medical care necessitate increasing crew autonomy in decision making and task performance. The CDS project will develop and test a series of iterative and increasingly more complex system prototypes. These annual demonstrations of the data system integration with the crew health and performance domain will inform exploration medical system requirements for an on-board Clinical Decision Support System (CDSS) through a series of use cases that guide CDS prototype functionality. CDS concepts are based on ExMC Concept of Operations documents (presented separately) and will highlight architecture extensibility to other more complex analyses and tests using core crew health and performance integrated data management, processing and visualization capabilities. This approach also establishes how externally developed analyses and approaches could be added to expand a clinical decision support system and thus highlight how a comprehensive system can be commercially and/or globally developed. The CDS project will build upon the concept of an integrated data management approach based on the Medical Data Architecture (MDA) project to more fully address challenges associated with in-flight and habitat medical, health and performance care due to constraints on mass, volume, power, crew time and medical evacuation capabilities required for medical LoC V. These requirements will be derived through systems engineering approaches and software prototype developments over the course of the multi-year CDS project to address crew health and performance decision-making and task performance, often autonomously executed by the crew, in a manner that is consistent with the appropriate medical level of care for the mission. This presentation will provide an overview of the vision for the CDS project and highlight the initial accomplishments in project planning, implementation and requirements identification in fiscal year 2020.
clinical decision support system↗
Instrument technologies for the detection of extraterrestrial intersteller robotic probes.
In the continuing endeavor to detect evidence of ETI (Extraterrestrial Intelligence) in the solar neighborhood, instrument technologies now exist that allow the formation of a scientific method to carry out a search for interstellar robotic probes of possible extraterrestrial origin. The range of currently observable probe features/manifestations will be shown and how they influence search space, instrument selection and deployment. Autonomous instrument platforms (i.e. robotic observatories) to search for anomalous energy signatures can be designed and assembled using Commercial off-the-shelf (COTS) hardware and software. The COTS approach to observatory design provides an economical, flexible and robust path toward collecting reliable data. The present variety of COTS instruments permits the necessary observational sensitivity , bandwidth and embedded processing speed to establish a nearby robotic probe detection envelope. A survey of these instrument technologies will be presented and how they can be applied to the challenge of collecting enough scientific data on anomalous observational phenomena to determine whether or not a robotic probe was detected
Stride, Scot Lloyd↗
Designing an autonomous environment for mission critical operation of the EUVE satellite
Since the launch of NASA's Extreme Ultraviolet Explorer (EUVE) satellite in 1992, there has only been a handful of occurrences that have warranted manual intervention in the EUVE Science Operations Center (ESOC). So, in an effort to reduce costs, the current environment is being redesigned to utilize a combination of off-the-shelf packages and recently developed artificial intelligence (AI) software to automate the monitoring of the science payload and ground systems. The successful implementation of systemic automation would allow the ESOC to evolve from a seven day/week, three shift operation, to a seven day/week one shift operation. First, it was necessary to identify all areas considered mission critical. These were defined as follows: (1) The telemetry stream must be monitored autonomously and anomalies identified. (2) Duty personnel must be automatically paged and informed of the occurrence of an anomaly. (3) The 'basic' state of the ground system must be assessed. (4) Monitors should check that the systems and processes needed to continue in a 'healthy' operational mode are working at all times. (5) Network loads should be monitored to ensure that they stay within established limits. (6) Connectivity to Goddard Space Flight Center (GSFC) systems should be monitored as well, not just for connectivity of the network itself but also for the ability to transfer files. (7) All necessary peripheral devices should be monitored. This would include the disks, routers, tape drives, printers, tape carousel, and power supplies. (8) System daemons such as the archival daemon, the Sybase server, the payload monitoring software, and any other necessary processes should be monitored to ensure that they are operational. (9) The monitoring system needs to be redundant so that the failure of a single machine will not paralyze the monitors. (10) Notification should be done by means of looking though a table of the pager numbers for current 'on call' personnel. The software should be capable of dialing out to notify, sending email, and producing error logs. (11) The system should have knowledge of when real-time passes and tape recorder dumps will occur and should know that these passes and data transmissions are successful. Once the design criteria were established, the design team split into two groups: one that addressed the tracking, commanding, and health and safety of the science payload and another group that addressed the ground systems and communications aspects of the overall system.
Abedini, Annadiana↗
Science Goal Monitor: Science Goal Driven Automation for NASA Missions
Infusion of automation technologies into NASA s future missions will be essential because of the need to: (1) effectively handle an exponentially increasing volume of scientific data, (2) successfully meet dynamic, opportunistic scientific goals and objectives, and (3) substantially reduce mission operations staff and costs. While much effort has gone into automating routine spacecraft operations to reduce human workload and hence costs, applying intelligent automation to the science side, i.e., science data acquisition, data analysis and reactions to that data analysis in a timely and still scientifically valid manner, has been relatively under-emphasized. In order to introduce science driven automation in missions, we must be able to: capture and interpret the science goals of observing programs, represent those goals in machine interpretable language; and allow spacecrafts onboard systems to autonomously react to the scientist's goals. In short, we must teach our platforms to dynamically understand, recognize, and react to the scientists goals. The Science Goal Monitor (SGM) project at NASA Goddard Space Flight Center is a prototype software tool being developed to determine the best strategies for implementing science goal driven automation in missions. The tools being developed in SGM improve the ability to monitor and react to the changing status of scientific events. The SGM system enables scientists to specify what to look for and how to react in descriptive rather than technical terms. The system monitors streams of science data to identify occurrences of key events previously specified by the scientist. When an event occurs, the system autonomously coordinates the execution of the scientist s desired reactions. Through SGM, we will improve om understanding about the capabilities needed onboard for success, develop metrics to understand the potential increase in science returns, and develop an operational prototype so that the perceived risks associated with increased use of automation can be reduced.
Koratkar, Anuradha↗
MOS 2.0: The Next Generation in Mission Operations Systems
A Mission Operations System (MOS) or Ground System constitutes that portion of an overall space mission Enterprise that resides here on Earth. Over the past two decades, technological innovations in computing and software technologies have allowed an MOS to support ever more complex missions while consuming a decreasing fraction of Project development budgets. Despite (or perhaps, because of) such successes, it is routine to hear concerns about the cost of MOS development. At the same time, demand continues for Ground Systems which will plan more spacecraft activities with fewer commanding errors, provide scientists and engineers with more autonomous functionality, process and manage larger and more complex data more quickly, all while requiring fewer people to develop, deploy, operate and maintain them. One successful approach to such concerns over this period is a multimission approach, based on the reuse of portions (most often software) developed and used in previous missions. The Advanced Multi-Mission Operations System (AMMOS), developed for deep-space science missions, is one successful example of such an approach. Like many computing-intensive systems, it has grown up in a near-organic fashion from a relatively simple set of tools into a complexly interrelated set of capabilities. Such systems, like a city lacking any concept of urban planning, can and will grow in ways that are neither efficient nor particularly easy to sustain. To meet the growing demands and unyielding constraints placed on ground systems, a new approach is necessary. Under the aegis of a multi-year effort to revitalize the AMMOS's multimission operations capabilities, we are utilizing modern practices in systems architecting and model-based engineering to create the next step in Ground Systems: MOS 2.0. In this paper we outline our work (ongoing and planned) to architect and design a multimission MOS 2.0, describe our goals and measureable objectives, and discuss some of the benefits that this top-down, architectural approach holds for creating a more flexible and capable MOS for Missions while holding the line on cost.
ground systems↗