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NASA NTRSDate not supplied

Airspace Integration Considerations for Increasingly Autonomous Flight and Operations

There is much interest in autonomous systems and their operations. When it comes to autonomous systems, it is critical to understand various levels of proposed autonomy, reasons for selecting autonomous capabilities, certification approaches and various challenges or research needs associated with the integration of autonomous systems in the National Airspace System (NAS). Furthermore, there are levels of autonomous systems proposed for different types of aircraft including: single pilot operations, remotely piloted operations, fully autonomous operations, and multiple aircraft managed by a single, remote pilot. This preliminary article aims to provide a broad overview rather than concentrate on a specific element of autonomous flight. Hence, the focus of this article is on enabling various types of increasingly autonomous aircraft and their operations routinely within the next five to ten years, consistent with the FAA’s Info-Centric NAS (ICN) vision. Under ICN, a fully integrated information environment supports collaboration across diverse traffic management services and shifts decision-making to the most appropriate actor supported by automation. However, the roles and responsibilities of Air Traffic Services (ATS) personnel providing traditional services are likely to be very similar to today in that humans will still be responsible for majority of decision making. There is another NASA research effort beyond ICN is underway called Sky For All which is not covered in this article as it is in the planning stages.

autonomy↗
NASA NTRS1999

The autonomic laboratory

The autonomic nervous system can now be studied quantitatively, noninvasively, and reproducibly in a clinical autonomic laboratory. The approach at the Mayo Clinic is to study the postganglionic sympathetic nerve fibers of peripheral nerve (using the quantitative sudomotor axon reflex test [QSART]), the parasympathetic nerves to the heart (cardiovagal tests), and the regulation of blood pressure by the baroreflexes (adrenergic tests). Patient preparation is extremely important, since the state of the patient influences the results of autonomic function tests. The autonomic technologist in this evolving field needs to have a solid core of knowledge of autonomic physiology and autonomic function tests, followed by training in the performance of these tests in a standardized fashion. The range and utilization of tests of autonomic function will likely continue to evolve.

NASA Discipline Cardiopulmonary↗
DOE OSTI2022

Autonomous System Subversion Tactics: Prototypes and Recommended Countermeasures

One of the fielding requirements for Advanced and Small Modular Reactors (AR/SMR) is the ability to support remote and autonomous operations. Autonomous Control Systems (ACS) are found on platforms such as Autonomous Space Vehicles, Cruise Missiles, and advanced driver-assistance systems. Each of these ACS implementations depends upon a set of decision support subsystems responsible for supporting Autonomous Mission Managers (names vary based upon field and author preferences). These Autonomous Mission Managers receive inputs from system sensors (e.g., LIDAR collection from an automobile travelling down a street; transients from a nuclear reactor), and perform a set of classifications (e.g., Red Traffic Light; Small Pedestrian at 10m; Load Rejection; Single Coolant Pump Trip), and then use these classifications in combination with recommendation algorithms to achieve platform goals (e.g., Stop the Vehicle at the Traffic Light, Avoid the Small Pedestrian; Trip the Reactor to prevent a Safety Event). The design, implementation, and fielding of an ACS capability will alter the cyber-attack surface such that existing risk management plans will need to be updated to include how to protect and defend against data-science and decision-support-system attack classes. These attack classes would include protection of the design and training environments where algorithm selection and testing and training data would be obvious attack vectors. These attack classes would also require an informed set of detection and response procedures to identify anomalous behaviors and document best practices for anomaly assessment and vulnerability mitigation and remediation. Last year we published a Cyber Threat Assessment Methodology for Autonomous and Remote Operations for AR/SMRs along with a companion publication on Cyber Attack and Defense Use Cases. The focus of the methodology was on describing and enumerating ACS processes, components, and functions such that security engineers could: evaluate subversion options against the target; identify threat actor attributes and capabilities derived from each subversion option; and identify security controls and response countermeasures. The Use Cases document offered detailed methodology examples including an assessment of a Military Base SMR, an Autonomous System Decision Loop, and implementation of AR/SMR Machine Learning algorithms. Our proposal at the end of last year was to focus on implementation of subversion prototypes related to the last Use Case area: AR/SMR Machine Learning (ML) Algorithms. We included six attack scenarios in our Use Cases paper: a Poisoning Attack against ML functions implemented using an FPGA; a Trojaning Attack against ML classifiers exploiting the excitability of Nuclear Engineers; a Backdooring Attack against ML Training environments to ensure persistence of an attack vector; a False Positive Evasion Attack against multi-factor Access Control Systems using clever inputs; an Inference Attack against ML models by an Insider with access to the Operational environment; and an Adversarial Reprogramming Attack against a Material Access Control Video Surveillance System. At the beginning of this year these six attack scenarios were provided to our research teams at Georgia Tech and Idaho State University and each team successfully implemented a subversion attack against a ML implementation to include transient misclassifications. While this is a notable outcome from this type of research, this paper offers the reader insight into not only how to structure and execute these types of attacks, but into the thought process behind how the researcher investigated the problem space, performed initial algorithm implementation, and the trial-and-error behind arriving at the successful subversion prototypes. We include in this paper a set of associated Scenarios on how these subversion prototypes could be implemented and an initial set of guidance for AR/SMR architects, Nuclear Regulators, and Cyber Defenders to implement awareness and defense capabilities into their current operational portfolios.

42 ENGINEERING↗
DOE OSTI2023

Analysis of Tasks in Autonomous Systems Using the EMRALD Dynamic Risk Assessment Tool

An autonomous system refers to the system that has the power and ability for self-governance in the performance of system functions. Autonomous systems have been actively pursued in a variety of domains such as automotive, aviation, maritime, medicine, and nuclear fields. As an unmanned concept employing the highest automation level, the autonomous system basically performs most of the work in normal operations or emergency situations. However, despite advances in technology, many researchers have noted these systems still require human actions. The nature of human actions on autonomous systems is different than the human actions that are considered in existing systems. Nevertheless, only a few studies have been conducted on 1) characterizing the different types of errors and risks associated with human actions interacting with autonomous systems and 2) how to evaluate human actions in the autonomous operations. As a starting point, this study aims to investigate differences of tasks in autonomous operation compared to those in existing nuclear power plant operation using the Event Modeling Risk Assessment Using Linked Diagram (EMRALD) software. In this paper, insights aspect of human error and time are derived out and discussed based on the output of the EMRALD models.

99 GENERAL AND MISCELLANEOUS↗
NASA NTRS1998

Abnormalities of the QT interval in primary disorders of autonomic failure

BACKGROUND: Experimental evidence shows that activation of the autonomic nervous system influences ventricular repolarization and, therefore, the QT interval on the ECG. To test the hypothesis that the QT interval is abnormal in autonomic dysfunction, we examined ECGs in patients with severe primary autonomic failure and in patients with congenital dopamine beta-hydroxylase (DbetaH) deficiency who are unable to synthesize norepinephrine and epinephrine. SUBJECTS AND METHODS: Maximal QT and rate-corrected QT (QTc) intervals and adjusted QTc dispersion [(maximal QTc - minimum QTc on 12 lead ECG)/square root of the number of leads measured] were determined in blinded fashion from ECGs of 67 patients with primary autonomic failure (36 patients with multiple system atrophy [MSA], and 31 patients with pure autonomic failure [PAF]) and 17 age- and sex-matched healthy controls. ECGs of 5 patients with congenital DbetaH deficiency and 6 age- and sex-matched controls were also analyzed. RESULTS: Patients with MSA and PAF had significantly prolonged maximum QTc intervals (492+/-58 ms(1/2) and 502+/-61 ms(1/2) [mean +/- SD]), respectively, compared with controls (450+/-18 ms(1/2), P < .05 and P < .01, respectively). A similar but not significant trend was observed for QT. QTc dispersion was also increased in MSA (40+/-20 ms(1/2), P < .05 vs controls) and PAF patients (32+/-19 ms(1/2), NS) compared with controls (21+/-5 ms(1/2)). In contrast, patients with congenital DbetaH deficiency did not have significantly different RR, QT, QTc intervals, or QTc dispersion when compared with controls. CONCLUSIONS: Patients with primary autonomic failure who have combined parasympathetic and sympathetic failure have abnormally prolonged QT interval and increased QT dispersion. However, QT interval in patients with congenital DbetaH deficiency was not significantly different from controls. It is possible, therefore, that QT abnormalities in patients with primary autonomic failure are not solely caused by lesions of the sympathetic nervous system, and that the parasympathetic nervous system is likely to have a modulatory role in ventricular repolarization.

Non-NASA Center↗
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↗
DOE OSTI2020

On the Formalization of Development and Assessment Process for Digital Twins in the Nearly Autonomous Management and Control System

In recent years, the autonomous control system has been encouraged in advanced reactors for restoring economic viability, simplifying the operation and maintenance, and enabling remote-site power generations [1]. Since the reactor is expected to be operated for a long period of time with a limited number of individuals onsite, it is recommended that the autonomous control system should have access to very realistic models of the state of processes in the whole lifecycle, together with these process behaviors in interaction with their environment in the real world. As a result, digital twin (DT) technology is suggested in autonomous control systems. DT is defined as a digital representation of a physical object or system, which contains a record for the histories of loads, operation and maintenance status, predictions for the near-term transient of important state variables, and decision-making process [2]. Since machine learning (ML) can recognize patterns within a complex system in real-time applications, it has been used to build DTs in the autonomous control systems for advanced reactors. Meanwhile, due to the rareness of operation data in accident scenarios, the development and assessment of DTs is expected to be mainly driven by simulations. Although the capability and feasibility of ML-based DTs are recognized in improving the safety and efficiency of reactor control, a major concern from the regulatory commission and the nuclear industry is whether the information from a DT is developed and assessed in accordance with expectation and requirements by the target decision. Such concerns not only affect the acceptance criteria for DTs, but also values that can be extracted from DTs and autonomous control system during operations. Inspired by the success of formal methods in improving the reliability and robustness of computer programming and software development, it is suggested that the development and assessment process (DAP) for both separate DTs and integral control system should be formalized in a transparent, consistent, and improvable manner. In this study, a digital-twin development and assessment process (DT-DAP) is proposed by adapting the evaluation model development and assessment process (EMDAP) [3] to requirements by the autonomous control system, ML algorithms, and DT technology. To demonstrate the framework, a baseline nearly autonomous management and control (NAMAC) system with ML-based DTs for diagnosis and prognosis is developed and assessed based on the framework. It is found that with selected testing methods and techniques, the DT-DAP can help identify errors in DTs and NAMAC which would otherwise be left unverified. Meanwhile, it is found that the DT-DAP can improve the DTs and NAMAC by continuously learning and iterating through different elements.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
NASA NTRS2006

Biologically-Inspired Concepts for Autonomic Self-Protection in Multiagent Systems

Biologically-inspired autonomous and autonomic systems (AAS) are essentially concerned with creating self-directed and self-managing systems based on metaphors &om nature and the human body, such as the autonomic nervous system. Agent technologies have been identified as a key enabler for engineering autonomy and autonomicity in systems, both in terms of retrofitting into legacy systems and in designing new systems. Handing over responsibility to systems themselves raises concerns for humans with regard to safety and security. This paper reports on the continued investigation into a strand of research on how to engineer self-protection mechanisms into systems to assist in encouraging confidence regarding security when utilizing autonomy and autonomicity. This includes utilizing the apoptosis and quiescence metaphors to potentially provide a self-destruct or self-sleep signal between autonomic agents when needed, and an ALice signal to facilitate self-identification and self-certification between anonymous autonomous agents and systems.

Sterritt, Roy↗
NASA NTRS2012

A Briefing on Metrics and Risks for Autonomous Decision-Making in Aerospace Applications

Significant technology advances will enable future aerospace systems to safely and reliably make decisions autonomously, or without human interaction. The decision-making may result in actions that enable an aircraft or spacecraft in an off-nominal state or with slightly degraded components to achieve mission performance and safety goals while reducing or avoiding damage to the aircraft or spacecraft. Some key technology enablers for autonomous decision-making include: a continuous state awareness through the maturation of the prognostics health management field, novel sensor development, and the considerable gains made in computation power and data processing bandwidth versus system size. Sophisticated algorithms and physics based models coupled with these technological advances allow reliable assessment of a system, subsystem, or components. Decisions that balance mission objectives and constraints with remaining useful life predictions can be made autonomously to maintain safety requirements, optimal performance, and ensure mission objectives. This autonomous approach to decision-making will come with new risks and benefits, some of which will be examined in this paper. To start, an account of previous work to categorize or quantify autonomy in aerospace systems will be presented. In addition, a survey of perceived risks in autonomous decision-making in the context of piloted aircraft and remotely piloted or completely autonomous unmanned autonomous systems (UAS) will be presented based on interviews that were conducted with individuals from industry, academia, and government.

Frost, Susan↗
NASA NTRSDate not supplied

The Anatomy of Software Changes and Bugs in Autonomous Operating System

Cyberphysical systems with autonomous functions are complex pieces of software, consisting of many components, some of which implement autonomous functionality and some may use AI or machine learning algorithms. Software bugs in an autonomous system are of particular concern, as they can have catastrophic consequences. However, detailed studies based on empirical data are rare and therefore these bugs are not well understood. This paper aims to contribute towards filling that gap by investigating the software changes and bugs in Autonomy Operating System (AOS) for Unmanned Aircraft Systems (UAS), which consist of 26 components containing about 103,000 lines of code and having a total of 772 bugfixes. Based on the data extracted from the code repository and semi-structured interviews with the developers of AOS, we explore the differences among autonomous software components, components developed using Model-based Software Engineering, and reuse with respect to change proneness, fault proneness, distribution of bugfixes among AOS components and files of these components, and characteristics of bugs of different AOS components. Our results show that the autonomous components were significantly more change prone (measured in number of commits and code churn) and fault prone (measured in bugfixes per KLoC) than non-autonomous components. The distribution of the locations of bugfixes was skewed, both at component and file level (i.e., a small number of components / files contained the majority of bugs). These evidence-based findings provide important insights to researchers and practitioners alike and can be used to efficiently improve the quality and reliability of autonomous systems.

Katerina Goseva-Popstojanova↗
NASA NTRS2002

The nature of the autonomic dysfunction in multiple system atrophy

The concept that multiple system atrophy (MSA, Shy-Drager syndrome) is a disorder of the autonomic nervous system is several decades old. While there has been renewed interest in the movement disorder associated with MSA, two recent consensus statements confirm the centrality of the autonomic disorder to the diagnosis. Here, we reexamine the autonomic pathophysiology in MSA. Whereas MSA is often thought of as "autonomic failure", new evidence indicates substantial persistence of functioning sympathetic and parasympathetic nerves even in clinically advanced disease. These findings help explain some of the previously poorly understood features of MSA. Recognition that MSA entails persistent, constitutive autonomic tone requires a significant revision of our concepts of its diagnosis and therapy. We will review recent evidence bearing on autonomic tone in MSA and discuss their therapeutic implications, particularly in terms of the possible development of a bionic baroreflex for better control of blood pressure.

NASA Discipline Regulatory Physiology↗
NASA NTRS1999

Vestibular autonomic regulation (including motion sickness and the mechanism of vomiting)

Autonomic manifestations of vestibular dysfunction and motion sickness are well established in the clinical literature. Recent studies of 'vestibular autonomic regulation' have focused predominantly on autonomic responses to stimulation of the vestibular sense organs in the inner ear. These studies have shown that autonomic responses to vestibular stimulation are regionally selective and have defined a 'vestibulosympathetic reflex' in animal experiments. Outside the realm of experimental preparations, however, the importance of vestibular inputs in autonomic regulation is unclear because controls for secondary factors, such as affective/emotional responses and cardiovascular responses elicited by muscle contraction and regional blood pooling, have been inadequate. Anatomic and physiologic evidence of an extensive convergence of vestibular and autonomic information in the brainstem suggests though that there may be an integrated representation of gravitoinertial acceleration from vestibular, somatic, and visceral receptors for somatic and visceral motor control. In the case of vestibular dysfunction or motion sickness, the unpleasant visceral manifestations (e.g. epigastric discomfort, nausea or vomiting) may contribute to conditioned situational avoidance and the development of agoraphobia.

Review, Tutorial↗
NASA NTRS1998

Contrasting actions of pressor agents in severe autonomic failure

BACKGROUND: Orthostatic hypotension is the most disabling symptom of autonomic failure. The choice of a pressor agent is largely empiric, and it would be of great value to define predictors of a response. PATIENTS AND METHODS: In 35 patients with severe orthostatic hypotension due to multiple system atrophy or pure autonomic failure, we determined the effect on seated systolic blood pressure (SBP) of placebo, phenylpropanolamine (12.5 mg and 25 mg), yohimbine (5.4 mg), indomethacin (50 mg), ibuprofen (600 mg), caffeine (250 mg), and methylphenidate (5 mg). In a subgroup of patients, we compared the pressor effect of midodrine (5 mg) with the effect of phenylpropanolamine (12.5 mg). RESULTS: There were no significant differences in the pressor responses between patients with multiple system atrophy or pure autonomic failure. When compared with placebo, the pressor response was significant for phenylpropanolamine, yohimbine, and indomethacin. In a subgroup of patients, we confirmed that this pressor effect of phenylpropanolamine, yohimbine, and indomethacin corresponded to a significant increase in standing SBP. The pressor responses to ibuprofen, caffeine, and methylphenidate were not significantly different from placebo. Phenylpropanolamine and midodrine elicited similar pressor responses. There were no significant associations between drug response and autonomic function testing, postprandial hypotension, or plasma catecholamine levels. CONCLUSIONS: We conclude that significant increases in systolic blood pressure can be obtained in patients with orthostatic hypotension due to primary autonomic failure with phenylpropanolamine in low doses or yohimbine or indomethacin in moderate doses. The response to a pressor agent cannot be predicted by autonomic function testing or plasma catecholamines. Therefore, empiric testing with a sequence of medications, based on the risk of side effects in the individual patient and the probability of a response, is a useful approach.

Clinical Trial↗
NASA NTRS1997

The hypertension of autonomic failure and its treatment

We studied the incidence and severity of supine hypertension in 117 patients with severe primary autonomic failure presenting to a referral center over a 9-year period. Patients were uniformly characterized by disabling orthostatic hypotension, lack of compensatory heart rate increase, abnormal autonomic function tests, and unresponsive plasma norepinephrine. Fifty-four patients had isolated autonomic impairment (pure autonomic failure). Sixty-three patients had central nervous system involvement in addition to autonomic impairment (multiple-system atrophy). Patients were studied off medications, in a metabolic ward, and on a controlled diet containing 150 mEq of sodium. Fifty-six percent of patients had supine diastolic blood pressure > or =90 mm Hg. The prevalence of hypertension was slightly greater in females (63%) than in males (52%). Potential mechanisms responsible for this hypertension were investigated. No correlation was found between blood volume and blood pressure. Similarly, plasma norepinephrine (92+/-15 pg/mL) and plasma renin activity (0.3+/-0.05 ng/mL per hour) were very low in the subset of patients with pure autonomic failure and supine hypertension (mean systolic/diastolic pressure, 177 +/- 6/108 +/- 2 mm Hg, range 167/97 to 219/121). Supine hypertension represents a challenge in the treatment of orthostatic hypotension. We found these patients to be particularly responsive to the hypotensive effects of transdermal nitroglycerin. Doses ranging from 0.025 to 0.1 mg/h decreased systolic blood pressure by 36+/-7 mm Hg and may effectively treat supine hypertension overnight, but the dose should be individualized and used with caution.

NASA Discipline Regulatory Physiology↗
DOE OSTI2020

Autonomous Strategies for Improved Performance and Reliability of Li‐Ion Batteries

Abstract The battery community has devoted significant effort to improve the performance and reliability of Li‐ion batteries through the development of new materials. The integration of autonomous function provides an alternative strategy to further extend performance. Autonomous material systems mimic the ability of biological systems to self‐protect, sense, regulate, and heal in response to damage and other environmental changes. When incorporated in batteries, these materials enable autonomic restoration of battery performance upon degradation, as well as autonomic shutdown or extinguishment in response to thermal runaway. Successful strategies for improving Li‐ion battery performance include controlled release of microencapsulated functional additives and the integration of self‐healing or adaptive interlayers and binders. These methods have been effective for stabilizing the solid electrolyte interface, preventing battery fires, restoring electrode conductivity, and suppressing Li dendrite growth. Challenges and opportunities exist in the further application of autonomous strategies in the battery environment. A greater variety of encapsulated additives with precise triggered‐release are needed to address specific battery degradation mechanisms. Incorporation of self‐healing polymers in solid‐state batteries facilitates improvement in interfacial and mechanical stability. The integration of autonomous strategies with battery management systems potentially enables enhanced control over multiple battery cycling parameters.

Zhao, Lihong↗
DOE OSTI2023

Toward implementing autonomous adaptive data acquisition for scanning hyperspectral imaging of biological systems

Autonomous experimentation is an emerging area of research, primarily related to autonomous vehicles, scientific combinatorial discovery approaches in materials science and drug discovery, and iterative research loops of planning, experimentation, and analysis. However, autonomous approaches developed in these contexts are difficult to apply to high-dimensional mapping technologies, such as scanning hyperspectral imaging of biological systems, due to sample complexity and heterogeneity. We briefly cover the history of adaptive sampling algorithms and surrogate modeling in order to define autonomous adaptive data acquisition as an objective-based, flexible building block for future biological imaging experimentation driven by intelligent infrastructure. We subsequently summarize the recent implementations of autonomous adaptive data acquisition (AADA) for scanning hyperspectral imaging, assess how these address the difficulties of autonomous approaches in hyperspectral imaging, and highlight the AADA design variation from a goal-oriented perspective. Finally, we present a modular AADA architecture that embeds AADA-driven flexible building blocks to address the challenge of time resolution for high-dimensional scanning hyperspectral imaging of nonequilibrium dynamical systems. In our example research-driven experimental design case, we propose an AADA infrastructure for time-resolved, noninvasive, and label-free scanning hyperspectral imaging of living biological systems. This AADA infrastructure can accurately target the correct state of the system for experimental workflows that utilize subsequent expensive, high-information-content analytical techniques.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2023

HCPerf: Driving Performance-Directed Hierarchical Coordination for Autonomous Vehicles

The rapid development of autonomous driving poses new research challenges to the on-vehicle computing system. In particular, the execution time of autonomous driving tasks highly depends on the specific driving environment. For instance, the execution time of configurable sensor fusion increases significantly as the scene becomes complex, which leads to end-to-end deadline misses from sensing to control and may cause accidents. Thus, a framework that can effectively utilize the system resources to guarantee the end-to-end deadlines of autonomous driving tasks as well as effectively prioritize the responsiveness and throughput of the control commands is crucial for autonomous driving. In this paper, we propose HCPerf, a performance-directed hierarchical coordination framework that intelligently coordinates the autonomous driving tasks with high execution time variation and complex dependencies according to the driving performance in real-time. Specifically, HCPerf mainly consists of two coordinators. The internal coordinator intelligently schedules the tasks according to the driving performance of the vehicle in order to help them meet the end-to-end deadlines while well prioritizing the responsiveness and throughput of the control commands. At the same time, the external coordinator dynamically tunes the rates of tasks according to the schedulability in order to efficiently utilize the system resource. We conduct extensive experiments on both simulation and hardware testbeds with the representative autonomous driving application. The results show that HCPerf can effectively improve the driving performance by 7.69%-45.94% in different driving scenarios.

Ma, Jialiang↗
DOE OSTI2021

Evolution of the IEEE P7009 Standard: Towards Fail-Safe Design of Autonomous Systems

Autonomous systems are complex, diverse, and likely be used in environments that change unpredictably. We must develop mechanisms to cope with failures, potentially caused by both the natural stresses of the operating environment and the system's inadequate environmental models. Failures also arise from system component wear. In 2016, the IEEE launched the Global Initiative on Ethics of Autonomous and Intelligent Systems in response to the proliferation of increasingly-autonomous systems. A cornerstone of this initiative is the IEEE P7000 series of projects, which set the standards for the future of ethical intelligent and autonomous technologies. This paper describes the ongoing development of the IEEE P7009 standard on “Fail-Safe Design of Autonomous and Semi-Autonomous Systems”. We provide a collective perspective on the ongoing development of IEEE P7009, and outline the objectives, current approaches, issues under discussion, and two exemplar use cases from different sectors: one high-regulation, the other low-regulation.

Farrell, Marie↗