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NASA NTRSDate not supplied

ATTRACTOR: Toward Trustworthy and Trusted Autonomous Systems

The question of what it means and what it takes for an autonomous system to consider another autonomous system justifiably trustworthy must be addressed by all who seek to integrate intelligent machine agents into real-world operations. A satisfactory answer to this question is an essential component in accepting autonomous machine decision-making in safety-critical and time-critical environments, such as aviation. Historically, simulation platforms for test and evaluation of complex systems have proven to be effective in assessing performance and contributing to decisions on the fitness of systems to operate in current general and commercial aviation airspace. Moreover, simulations have informed the definition of safety-critical constraints. However, as machine systems progressively take on responsibilities for decision-making traditionally supplied by humans, simulations require enhancement. Mixed reality simulation that integrates real-world platforms and data or high-fidelity simulation data in a sim-to-flight paradigm provides insight into agent interaction and the rationale behind autonomous agent decision-making as well as the capacity for seamless integrated implementation, testing, and operation of systems. Strong simulation capabilities are especially important in the presence of algorithms that hold great promise in decision-making yet increase the uncertainty in the system. Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR) is a subproject of NASA’s Convergent Aeronautics Solutions (CAS) Project. ATTRACTOR’s objective is to build a basis for understanding trust and trustworthiness in multi-agent autonomous teams, and thus to inform future certification of safety-critical and time-critical autonomous systems in aviation. Because the concepts of trust and trustworthiness must be addressed in a context, ATTRACTOR has chosen Search and Rescue (SAR) in dynamic and unstructured environments, with emphasis on search, as its design reference mission (DRM). During dynamic planning and execution of trajectory-based operations, autonomous agents determine their trajectories given an assigned mission or missions and call for assistance from an appropriate teammate when needed. This experience along with the attendant human-machine and machine-machine interactions, serve as a platform for developing approaches to identifying and measuring trustworthiness and increasing trust. In this paper, we give an overview of some of ATTRACTOR’s research and development activities, findings, and ongoing work.

ATTRACTOR↗

NASA NTRS1988

Information sciences and human factors overview

An overview of program objectives of the Information Sciences and Human Factors Division of NASA's Office of Aeronautics and Space Technology is given in viewgraph form. Information is given on the organizational structure, goals, the research and technology base, telerobotics, systems autonomy in space operations, space sensors, humans in space, space communications, space data systems, transportation vehicle guidance and control, spacecraft control, and major program directions in space.

Holcomb, Lee B.↗

NASA NTRS1992

Thermal Expert System (TEXSYS): Systems automony demonstration project, volume 1. Overview

The Systems Autonomy Demonstration Project (SADP) produced a knowledge-based real-time control system for control and fault detection, isolation, and recovery (FDIR) of a prototype two-phase Space Station Freedom external active thermal control system (EATCS). The Thermal Expert System (TEXSYS) was demonstrated in recent tests to be capable of reliable fault anticipation and detection, as well as ordinary control of the thermal bus. Performance requirements were addressed by adopting a hierarchical symbolic control approach-layering model-based expert system software on a conventional, numerical data acquisition and control system. The model-based reasoning capabilities of TEXSYS were shown to be advantageous over typical rule-based expert systems, particularly for detection of unforeseen faults and sensor failures. Volume 1 gives a project overview and testing highlights. Volume 2 provides detail on the EATCS test bed, test operations, and online test results. Appendix A is a test archive, while Appendix B is a compendium of design and user manuals for the TEXSYS software.

Glass, B. J.↗

DOE OSTI2021

Correlation between Sensor Performance, Autonomy Performance and Fuel-Efficiency in Semi-Truck Platoons

Semi-trucks, specifically class-8 trucks, have recently become a platform of interest for autonomy systems. Platooning involves multiple trucks following each n close proximity, with only the lead truck being manually driven and the rest being controlled autonomously. This approach to semi-truck autonomy is easily integrated on existing platforms, reduces delivery times, and reduces green- house gas emissions via fuel economy benefits. Level 1 SAE fuel studies were performed on class-8 trucks operating with the Auburn Cooperative Adaptive Cruise Control (CACC) system, and fuel savings up to 10-12% were seen. Enabling platooning autonomy required the use of radar, global positioning systems (GPS), and wireless vehicle-to-vehicle (V2V) communication. Poor measurements and state estimates can lead to incorrect or missing positioning data, which can lead to unnecessary dynamics and finally wasted fuel. This is especially an issue if deceleration is applied in response to a bad measurement. In this study, a faulty radar was shown to cause a greater than 5% increase in fuel consumption. The mechanism of this fuel consumption increase is investigated and applied to other types of sensor failures to indicate their potential effects on fuel economy. This analysis indicates that poor GPS signals over short time can be largely filtered out, with no real gain or loss of fuel economy. V2V communications were intentionally limited by causing interference, which resulted in dropped communication packets over a small physical area, but not an appreciable impact on fuel economy.

vehicle platooning, sensor performance, semi-auton↗

NASA NTRS2022

Mars 2020 Entry, Descent, and Landing Software Implementation

On February 18th, 2021, the Mars 2020 project's Perseverance Rover successfully touched down on the Martian surface after nearly eight years of development. The Mars 2020 Entry, Descent, and Landing (EDL) System largely leveraged heritage from the Mars Science Laboratory (MSL) EDL System while employing targeted technological advancements. The landing process is autonomously directed by a software behavior implemented in the rover's primary flight computer called the EDL Timeline that assumes control of the vehicle six days before atmospheric entry. In addition to performing the critical function of landing the rover on the Martian surface, the EDL timeline behavior must co-exist in a non-partitioned software and system environment with other high-level functions that accomplish the goals for the rest of the mission. Due to the criticality of EDL, the potential for loss of mission, and a need for complete system autonomy, the standard for how the EDL Timeline interacts with other functions in the system is highly constrained. This paper first walks through the basics of the EDL Timeline mechanics and how the behavior is designed to account for internal system variations and environmental unknowns. It then summarizes the interactions between the EDL timeline and other high-level system behaviors like spacecraft mode transitions and system fault protection, focusing on the complications that arise when passing spacecraft control between executive functions. Although the MSL-inherited EDL System is reliable and capable, targeted updates and a thorough verification and validation program were required for Mars 2020. This paper discusses changes made to close vulnerabilities discovered during both MSL and Mars 2020 development cycles, landing system capability enhancements that were enabling for Mars 2020's mission, and how these updates were integrated with the heritage system. It then describes how both analysis and testing campaigns were utilized to verify and validate all aspects of EDL and system behaviors that run during the six days before landing, as well as the operational workarounds that were needed to address problems found during the development and commissioning process. Finally, this paper imparts lessons learned from Mars 2020 EDL development, implementation, and operations, emphasizing how systems designed to conduct time-critical mission events with low margin of error can be improved in the future.

Stehura, Aaron↗

NASA NTRS1985

Overview of the NASA automation and robotics research program

NASA studies over the last eight years have identified five opportunities for the application of automation and robotics technology: (1) satellite servicing; (2) system monitoring, control, sequencing and diagnosis; (3) space manufacturing; (4) space structure assembly; and (5) planetary rovers. The development of these opportunities entails two technology R&D thrusts: telerobotics and system autonomy; both encompass such concerns as operator interface, task planning and reasoning, control execution, sensing, and systems integration.

Holcomb, Lee↗

NASA NTRS2000

A Cybernetic Approach to the Modeling of Agent Communities

In an earlier paper [1] examples of agent technology in a NASA context were presented. Both groundbased and space-based applications were addressed. This paper continues the discussion of one aspect of the Goddard Space Flight Center's continuing efforts to develop a community of agents that can support both ground-based and space-based systems autonomy. The paper focuses on an approach to agent-community modeling based on the theory of viable systems developed by Stafford Beer. It gives the status of an initial attempt to capture some of the agent-community behaviors in a viable system context. This paper is expository in nature and focuses on a discussion of the modeling of some of the underlying concepts and infrastructure that will serve as the basis of more detailed investigative work into the behavior of agent communities. The paper is organized as follows. First, a general introduction to agent community requirements is presented. Secondly, a brief introduction to the cybernetic concept of a viable system is given. This concept forms the foundation of the modeling approach. Then the concept of an agent community is modeled in the cybernetic context.

Truszkowski, Walt↗

NASA NTRS1992

Symbolic discrete event system specification

Extending discrete event modeling formalisms to facilitate greater symbol manipulation capabilities is important to further their use in intelligent control and design of high autonomy systems. An extension to the DEVS formalism that facilitates symbolic expression of event times by extending the time base from the real numbers to the field of linear polynomials over the reals is defined. A simulation algorithm is developed to generate the branching trajectories resulting from the underlying nondeterminism. To efficiently manage symbolic constraints, a consistency checking algorithm for linear polynomial constraints based on feasibility checking algorithms borrowed from linear programming has been developed. The extended formalism offers a convenient means to conduct multiple, simultaneous explorations of model behaviors. Examples of application are given with concentration on fault model analysis.

Zeigler, Bernard P.↗

NASA NTRS1989

Rebuilding the space technology base

NASA's Civil Space Technology Initiative (CSTI) will not only develop novel technologies for space exploration and exploitation, but also take mature technologies into their demonstration phase in earth orbit. In the course of five years, CSTI will pay off in ground- and space-tested hardware, software, processes, methods for low-orbit transport and operation, and fundamental scientific research on the orbital environment. Attention is given to LOX/hydrogen and LOX/hydrocarbon reusable engines, liquid/solid fuel hybrid boosters, and aeroassist flight experiments for the validation of aerobraking with atmospheric friction. Also discussed are advanced scientific sensors, systems autonomy and telerobotics, control of flexible structures, precise segmented reflectors, high-rate high-capacity data handling, and advanced nuclear power systems.

Povinelli, Frederick P.↗

NASA NTRS1988

Cooperating expert systems for Space Station - Power/thermal subsystem testbeds

The Systems Autonomy Demonstration Project (SADP) is a NASA-sponsored series of increasingly complex demonstrations to show the benefits of integrating knowledge-based systems with conventional process control in real-time, real-world problem domains that can facilitate the operations and availability of major Space Station distributed systems. This paper describes the system design, objectives, approaches, and status of each of the testbed knowledge-based systems. Simplified schematics of the systems are shown.

Wong, Carla M.↗

NASA NTRS1987

MTK: An AI tool for model-based reasoning

A 1988 goal for the Systems Autonomy Demonstration Project Office of the NASA Ames Research Center is to apply model-based representation and reasoning techniques in a knowledge-based system that will provide monitoring, fault diagnosis, control and trend analysis of the space station Thermal Management System (TMS). A number of issues raised during the development of the first prototype system inspired the design and construction of a model-based reasoning tool called MTK, which was used in the building of the second prototype. These issues are outlined, along with examples from the thermal system to highlight the motivating factors behind them. An overview of the capabilities of MTK is given.

Erickson, William K.↗

NASA NTRS1988

MTK: An AI tool for model-based reasoning

A 1988 goal for the Systems Autonomy Demonstration Project Office of the NASA Ames Research Office is to apply model-based representation and reasoning techniques in a knowledge-based system that will provide monitoring, fault diagnosis, control, and trend analysis of the Space Station Thermal Control System (TCS). A number of issues raised during the development of the first prototype system inspired the design and construction of a model-based reasoning tool called MTK, which was used in the building of the second prototype. These issues are outlined here with examples from the thermal system to highlight the motivating factors behind them, followed by an overview of the capabilities of MTK, which was developed to address these issues in a generic fashion.

Erickson, William K.↗

NASA NTRS2016

Multifunctional Systems for Planetary Exploration

We summarize the findings and recommendations of the Adaptive Multifunctional Systems for Micro-climate Control Study held at the Caltech Keck Institute for Space Studies. The objective of the Study was to adapt the most recent advances in multifunctional reconfigurable and adaptive systems to enable a microenvironment control to enable space exploration in extreme environments of the Solar System. The technical goal was to identify the most efficient materials, architectures, structures, system autonomy and energy management solutions needed to optimally project or generate a micro - environment around space assets. An important aspect of the Study was the consideration of distributed cellular systems as an architecture for multifunctional systems.

Quadrelli, Marco B.↗

NASA NTRS2002

Flexible Wing Base Micro Aerial Vehicles: Vision-Guided Flight Stability and Autonomy for Micro Air Vehicles

Substantial progress has been made recently towards design building and test-flying remotely piloted Micro Air Vehicle's (MAVs). We seek to complement this progress in overcoming the aerodynamic obstacles to.flight at very small scales with a vision stability and autonomy system. The developed system based on a robust horizon detection algorithm which we discuss in greater detail in a companion paper. In this paper, we first motivate the use of computer vision for MAV autonomy arguing that given current sensor technology, vision may he the only practical approach to the problem. We then briefly review our statistical vision-based horizon detection algorithm, which has been demonstrated at 30Hz with over 99.9% correct horizon identification. Next we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feed-back controller for self-stabilized flight, and report results on vision autonomous flights of duration exceeding ten minutes.

Ettinger, Scott M.↗

NASA NTRS2013

The Need for Intelligent Control of Space Power Systems

As manned spacecraft venture farther from Earth, the need for reliable, autonomous control of vehicle subsystems becomes critical. This is particularly true for the electrical power system which is critical to every other system. Autonomy can not be achieved by simple scripting techniques due to the communication latency times and the difficulty associated with failures (or combinations of failures) that need to be handled in as graceful a manner as possible to ensure system availability. Therefore an intelligent control system must be developed that can respond to disturbances and failures in a robust manner and ensure that critical system loads are served and all system constraints are respected.

May, Ryan David↗

NASA NTRS2019

Inserting New Technologies into Human-Computer Interfaces for Future Lunar and Mars Missions

Plans call for human cislunar operations and lunar surface access, to prepare for eventual Mars missions. NASA will also develop new opportunities in lunar orbit that provide the foundation and act as a gateway for human exploration deeper into the solar system. Current human spaceflight is complex and requires as many as fifty people to support the International Space Station (ISS) Mission Control Center (MCC) in Houston, Texas. These flight controllers in the front and back rooms of the MCC, serve as an extra pair of eyes overseeing the numerous station systems. Deep space missions - to the moon, Mars, and beyond - will be more complex and place challenging mission constraints on the crew. As the round-trip communication delays increase in deep space exploration, more on-board systems autonomy and functionality will be needed to maintain and control the vehicle. These mission constraints will change the Earth-based ground control approach and will demand efficient and effective human-computer interfaces (HCI) to control a highly complex vehicle or habitat system. All of this necessitates a different approach to designing and developing spacecraft and habitats. In the beginning of new human spaceflight programs, focus is typically on launch vehicle and uncrewed spacecraft design and development. The reasoning behind this focus to enable flight testing of an integrated launch vehicle and spacecraft system to ensure it will be safe enough to allow humans on board. This is an essential process for new spacecraft, however, the practical effect is a lack of funding for the spacecraft’s human interfaces development. It can be many years before the human interface development begins, putting it late in the spacecraft lifecycle, when almost all other spacecraft systems and subsystems are already in place. This forces the usage of existing and proven technologies for the HCI interfaces. We posit that putting the human first in a spacecraft design process will yield a more effective spacecraft for exploration and long duration missions. NASA Human Research Program (HRP) has identified inadequate HCI as a risk for future missions. New tools and procedures to aid the crew in operating a complex spacecraft will be required. This paper discusses ongoing activities in the development of the next generation HCI components and systems, and a new approach toward human interfaces for spacecraft.

Salazar, George A.↗

DOE OSTI2024

Synthesis of Correct Digital Controller Models from Specifications by Model Transformation (21-0320)

The design of high consequence controllers (in weapons systems, autonomy, etc.) that do what they are supposed to do is a significant challenge. Testing simply does not come close to meeting the requirements for assurance. Today circuit designers at Sandia (and elsewhere) typically capture the core behavior of their components using state models in tools such as STATEFLOW. They then check that their models meet certain requirements (e.g. “The system bus must not deadlock” or “both traffic lights at an intersection must not be green at the same time”) using tools called model checkers. If the model checker returns “yes” then the property is guaranteed to be satisfied by the model. However, there are several drawbacks to this industry practice: (1) there is a lot of detail to get right, this is particularly challenging when there are multiple components requiring complex coordination (2) any errors returned by the model checker have to be traced back through the design and fixed, necessitating rework, (3) there are severe scalability problems with this approach, particularly when dealing with concurrency. All this places high demands on the designers who now face not only an accelerated schedule but also controllers of increasing complexity. This report describes a new and fundamentally different approach to the construction of safety-critical digital controllers. Instead of directly constructing a complete model and then trying to verify it, the designer can start with an initial abstract (think “sketch”) model plus the requirements, from which a correct concrete model is automatically synthesized. There is no need for post-hoc verification of required functional properties. Having tool to carry this out will significantly impact the nation’s ability to ensure the safety of high-consequence digital systems. The approach has been implemented in a prototype tool, along with a suite of examples, including ones that reflect actual problems faced by designers. Our approach operates on a variant of Statecharts developed at Sandia called Qspecs. Statecharts are a widely used formalism for developing concurrent reactive systems, supporting scalability through allowing state models containing composite states, which are the serial or parallel composition of substates which can themselves contain statecharts. Statecharts enable an incremental style of development, in which states are progressively refined to incorporate greater detail in an incremental model of software development. Our approach formulates a set of constraints from the structure of the models and the requirements and propagates these constraints to a fixpoint. The solution to the constraints is an inductive invariant along with guards on the transitions. We also show how our approach extends to implementation refinement, decomposition, composition, and elaboration. We currently handle safety requirements written in LTL (Linear Temporal Logic)

42 ENGINEERING↗

NASA NTRS1992

Telerobotic rendezvous and docking vision system architecture

This research program has successfully demonstrated a new target label architecture that allows a microcomputer to determine the position, orientation, and identity of an object. It contains a CAD-like database with specific geometric information about the object for approach, grasping, and docking maneuvers. Successful demonstrations were performed selecting and docking an ORU box with either of two ORU receptacles. Small, but significant differences were seen in the two camera types used in the program, and camera sensitive program elements have been identified. The software has been formatted into a new co-autonomy system which provides various levels of operator interaction and promises to allow effective application of telerobotic systems while code improvements are continuing.

Gravely, Ben↗