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Real-Time Embedded Software Verification and Validation 2001

As the space applications become more complex and timing constraints on control actions are more stringent, the task of integrating and testing NASA's real-time systems (such as X-38 Crew Return Vehicle, and certain International Space Station autonomous systems) has become a great challenge. A testing environment where can preserve consistent temporal behaviors as in the target execution must be established for system-level verification and software quality assurance. Our goal is to develop an analysis suite for validation and verification of real-time systems that are used to perform human- in-the-loop control operations during safety-critical missions. The suite will be able to carry out quantitative approaches of coverage diagnostic and temporal behavior evaluation in order to measure test coverage, to optimize test utilization, and to verify timing correctness.

Lee, Yann-Hang

(abstract) MEASURE-Jupiter: Low Cost Missions to Explore Jupiter in the Post-Galileo Era

MEASURE-Jupiter is a new mission concept for the exploration of giant planets, with initial application to Jupiter. By flying sets of lightweight spacecraft with highly focused measurement objectives, it is designed to break the apparent impass in giant planet exploration beyond Cassini. The MEASURE-Jupiter concept is characterized by: 1) intensive exploration of a giant planet system, 2) multiple small missions flown in focused waves using spacecraft costing $100M to $200M, and 3) mission sets launched every 2 to 3 years. Why Jupiter? Jupiter is the most complex planetary system in the Solar System with many scientifically intriguing bodies and phenomena to explore. The Galileo mission will scratch the surface of the exploration of Jupiter, posing many questions for the MEASURE-Jupiter missions to address. Jupiter is also the easiest planet in the Outer Solar System to reach, making possible flight times of 2 years and total mission durations of 3 years or less. Concept design studies have uncovered a number of scientifically rewarding, simple, low-cost mission options. These options have the additional attraction of being able to launch on 2-year trajectories to Jupiter with low-cost Delta II expendable launch vehicles. A partial list of mission concepts studied to date include: Io Very Close Flyby, Jupiter Close Polar Pass, Mini-Orbiters, and Galilean Satellite Penetrators. Key to the realization of the MEASURE-Jupiter missions is the judicious use of the new low power consuming advanced technology and applicable systems from the Pluto Fast Flyby mission spacecraft design. Foremost of the new technologies planned for inclusion are the elements of hybrid solar array/battery power systems which make it possible to perform the identified missions without the need for Radioactive Thermoelectric Generators (RTGs). This relieves the mission design of the attendant programmatic complexities, cost, and constraints attendant with the use of RTGs.

MEASURE-Jupiter Jupiter Pluto Fast Flyby low cost

(abstract) Saturn Mini-Probes Mission

The original Cassini mission concept for intensive Saturn exploration included dual atmospheric probes - to Titan and Saturn. The Saturn probe was lost in Cassini Project cost reduction, but the Saturn atmospheric goals are still important to the planetary science community - especially it measurements can be acquired during synoptic coverage by the Cassini Orbiter. New advanced technology and design heritage from the Pluto Fast Flyby mission permit a low cost mission concept for launch early in the first decade of the 21st century, in time to take advantage of the Cassini spacecraft being in orbit around Saturn. This paper will describe such a concept. The mini-probe carrier can be a relatively simple design, depending on a solar array/battery power system design instead of Radioactive Thermoelectric Generators (RTGs) with their attendant programmatic complexities, costs, and constraints. The Atlas IIAS/Star 48B, Proton, and STS with upper stage are launch vehicle options which permit modest payload deliveries to Saturn with relatively short flight times (3 to 4 years) such that the mini-probes arrive in the time period when the Cassini Orbiter is operating at Saturn. The Cassini time-line with a compatible SMP mission sequence is described. An example mission concept includes a carrier spacecraft with three 10 to 20 kg mini-probes, launched in the late summer of 2001 by an Atlas IIAS/Star 48B on a 3.8 year trip to Saturn. Preliminary evaluation of the Cassini time-line suggests compatibility of the probe entries with collecting the data for Earth-return.

Saturn Cassini miniprobes cost Pluto Fast Flyby

Integrated Safety Analysis Tiers

Commercial partnerships and organizational constraints, combined with complex systems, may lead to division of hazard analysis across organizations. This division could cause important hazards to be overlooked, causes to be missed, controls for a hazard to be incomplete, or verifications to be inefficient. Each organization s team must understand at least one level beyond the interface sufficiently enough to comprehend integrated hazards. This paper will discuss various ways to properly divide analysis among organizations. The Ares I launch vehicle integrated safety analyses effort will be utilized to illustrate an approach that addresses the key issues and concerns arising from multiple analysis responsibilities.

Shackelford, Carla

ISS Solar Array Management

The International Space Station (ISS) Solar Array Management (SAM) software toolset provides the capabilities necessary to operate a spacecraft with complex solar array constraints. It monitors spacecraft telemetry and provides interpretations of solar array constraint data in an intuitive manner. The toolset provides extensive situational awareness to ensure mission success by analyzing power generation needs, array motion constraints, and structural loading situations. The software suite consists of several components including samCS (constraint set selector), samShadyTimers (array shadowing timers), samWin (visualization GUI), samLock (array motion constraint computation), and samJet (attitude control system configuration selector). It provides high availability and uptime for extended and continuous mission support. It is able to support two-degrees-of-freedom (DOF) array positioning and supports up to ten simultaneous constraints with intuitive 1D and 2D decision support visualizations of constraint data. Display synchronization is enabled across a networked control center and multiple methods for constraint data interpolation are supported. Use of this software toolset increases flight safety, reduces mission support effort, optimizes solar array operation for achieving mission goals, and has run for weeks at a time without issues. The SAM toolset is currently used in ISS real-time mission operations.

Williams, James P.

MESSENGER at Mercury: Early Orbital Operations

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) spacecraft, launched in August 2004 under NASA's Discovery Program, was inserted into orbit about the planet Mercury in March 2011. MESSENGER's three flybys of Mercury in 2008-2009 marked the first spacecraft visits to the innermost planet since the Mariner 10 flybys in 1974-1975. The unprecedented orbital operations are yielding new insights into the nature and evolution of Mercury. The scientific questions that frame the MESSENGER mission led to the mission measurement objectives to be achieved by the seven payload instruments and the radio science experiment. Interweaving the full set of required orbital observations in a manner that maximizes the opportunity to satisfy all mission objectives and yet meet stringent spacecraft pointing and thermal constraints was a complex optimization problem that was solved with a software tool that simulates science observations and tracks progress toward meeting each objective. The final orbital observation plan, the outcome of that optimization process, meets all mission objectives. MESSENGER's Mercury Dual Imaging System is acquiring a global monochromatic image mosaic at better than 90% coverage and at least 250 m average resolution, a global color image mosaic at better than 90% coverage and at least 1 km average resolution, and global stereo imaging at better than 80% coverage and at least 250 m average resolution. Higher-resolution images are also being acquired of targeted areas. The elemental remote sensing instruments, including the Gamma-Ray and Neutron Spectrometer and the X-Ray Spectrometer, are being operated nearly continuously and will establish the average surface abundances of most major elements. The Visible and Infrared Spectrograph channel of MESSENGER's Mercury Atmospheric and Surface Composition Spectrometer is acquiring a global map of spectral reflectance from 300 to 1450 nm wavelength at a range of incidence and emission angles. Targeted areas have been selected for spectral coverage into the ultraviolet with the Ultraviolet and Visible Spectrometer (UVVS). MESSENGER's Mercury Laser Altimeter is acquiring topographic profiles when the slant range to Mercury's surface is less than 1800 km, encompassing latitudes from 20 deg. S to the north pole. Topography over the remainder of the southern hemisphere will be derived from stereo imaging, radio occultations, and limb profiles. MESSENGER's radio science experiment is determining Mercury's gravity field from Doppler signals acquired during frequent downlinks. MESSENGER's Magnetometer is measuring the vector magnetic field both within Mercury's magnetosphere and in Mercury's solar wind environment at an instrument sampling rate of up to 20 samples/s. The UVVS is determining the three-dimensional, time-dependent distribution of Mercury's exospheric neutral and ionic species via their emission lines. During each spacecraft orbit, the Energetic Particle Spectrometer measures energetic electrons and ions, and the Fast Imaging Plasma Spectrometer measures the energies and mass per charge of thermal plasma components, both within Mercury's magnetosphere and in Mercury's solar-wind environment. The primary mission observation sequence will continue for one Earth year, until March 2012. An extended mission, currently under discussion with NASA, would add a second year of orbital observations targeting a set of focused follow-on questions that build on observations to date and take advantage of the more active Sun expected during 2012-2013. MESSENGER's total primary mission cost, projected at $446 M in real-year dollars, is comparable to that of Mariner 10 after adjustment for inflation.

mercury

MESSENGER at Mercury: Early Orbital Operations

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) spacecraft, launched in August 2004 under NASA's Discovery Program, was inserted into orbit about the planet Mercury in March 2011. MESSENGER's three flybys of Mercury in 2008-2009 marked the first spacecraft visits to the innermost planet since the Mariner 10 flybys in 1974-1975. The unprecedented orbital operations are yielding new insights into the nature and evolution of Mercury. The scientific questions that frame the MESSENGER mission led to the mission measurement objectives to be achieved by the seven payload instruments and the radio science experiment. Interweaving the full set of required orbital observations in a manner that maximizes the opportunity to satisfy all mission objectives and yet meet stringent spacecraft pointing and thermal constraints was a complex optimization problem that was solved with a software tool that simulates science observations and tracks progress toward meeting each objective. The final orbital observation plan, the outcome of that optimization process, meets all mission objectives. MESSENGER's Mercury Dual Imaging System is acquiring a global monochromatic image mosaic at better than 90%coverage and at least 250 m average resolution, a global color image mosaic at better than 90%coverage and at least 1 km average resolution, and global stereo imaging at better than 80%coverage and at least 250 m average resolution. Higher-resolution images are also being acquired of targeted areas. The elemental remote sensing instruments, including the Gamma-Ray and Neutron Spectrometer and the X-Ray Spectrometer, are being operated nearly continuously and will establish the average surface abundances of most major elements. The Visible and Infrared Spectrograph channel of MESSENGER's Mercury Atmospheric and Surface Composition Spectrometer is acquiring a global map of spectral reflectance from 300 to 1450 nm wavelength at a range of incidence and emission angles. Targeted areas have been selected for spectral coverage into the ultraviolet with the Ultraviolet and Visible Spectrometer (UVVS). MESSENGER's Mercury Laser Altimeter is acquiring topographic profiles when the slant range to Mercury's surface is less than 1800 km, encompassing latitudes from 201S to the north pole. Topography over the remainder of the southern hemisphere will be derived from stereo imaging, radio occultations, and limb profiles. MESSENGER's radio science experiment is determining Mercury's gravity field from Doppler signals acquired during frequent downlinks. MESSENGER's Magnetometer is measuring the vector magnetic field both within Mercury's magnetosphere and in Mercury's solar wind environment at an instrument sampling rate of up to 20 samples/s. The UVVS is determining the three-dimensional, time-dependent distribution of Mercury's exospheric neutral and ionic species via their emission lines. During each spacecraft orbit, the Energetic Particle Spectrometer measures energetic electrons and ions, and the Fast Imaging Plasma Spectrometer measures the energies and mass per charge of thermal plasma components, both within Mercury's magnetosphere and in Mercury's solar-wind environment. The primary mission observation sequence will continue for one Earth year, until March 2012. An extended mission, currently under discussion with NASA, would add a second year of orbital observations targeting a set of focused follow-on questions that build on observations to date and take advantage of the more active Sun expected during 2012-2013. MESSENGER's total primary mission cost, projected at $446 M in real-year dollars, is comparable to that of Mariner 10 after adjustment for inflation.

Planetary Science

PROCSIMA: Diffractionless Beamed Propulsion for Breakthrough Interstellar Missions

The following report describes a new propulsion concept based on self-guiding of combined light and particle beam and explores the physics, technology and design principles needed to implement such a system for an interstellar fly-by mission to Proxima b. While the relevant self-focusing mechanism has been considered in an optical context, this is the first application to space propulsion known to the authors.The purpose of the present study is to provide a broad overview of the pertinent physics and design principles, credibly assess propulsion capabilities, and lay a comprehensive foundation for further, more targeted investigations of critical system elements and processes. Starting from basic principles, this report describes the equations of motion and physical phenomena needed to establish the feasibility of self-guiding and furthermore analyze the production and sustainment of the self-guided beam. Compared with laser or particle beam propulsion alone, the self-guided beam concept introduces a plethora of light-matter interactions and additional complexities, imposing certain constraints on the geometric and physical characteristics of the beam sources. In particular, we have the identified the particle beam as a crucial element of the proposed concept. System constraints are quantitatively analyzed and then explored by developing and applying a mission design process to a Proxima b flyby mission as well as a nearer-term mission to the solar gravitational lens point.

Mechanism

Feasibility of Powerline Communications (PLC) on Future Spacecraft: EMI/EMC Test Results on COTS PLC Technology

Cable harnessing mass continues to be a problem for spacecraft development, particularly with increasingly complex payloads and constraints to their mass and costs. As a strategic initiative to reduce cable harnessing on flight missions, NASA JPL’s Powerline Communications (PLC) research and technology development (R&TD) effort investigates the ability to combine power and data onto the same cable conductors. Research and development of PLC technology, including testing of commercial off-the-shelf (COTS) modules and design of custom PLC unit, aim to articulate the opportunity to infuse this technology into NASA flight projects. This paper illustrates the feasibility of Powerline Communications on future spacecraft through Electromagnetic Interference/Compatibility (EMI/EMC) testing on COTS PLC components including conducted emissions and susceptibility as well as radiated emissions and susceptibility.

Mitchell, Andrew W.

Radar-Sounding Characterization of the Subglacial Groundwater Table Beneath Hiawatha Glacier, Greenland

Radar-sounding surveys associated with the discovery of a large impact crater beneath Hiawatha Glacier, Greenland, revealed bright, flat subglacial reflections hypothesized to originate from a subglacial groundwater table. We test this hypothesis using radiometric and hydrologic analysis of those radar data. The dielectric loss between the reflection from the top of the basal layer and subglacial reflection and their reflectivity difference represent dual constraints upon the complex permittivity of the basal material. Either ice-cemented debris or fractured, well-drained bedrock explain the basal layer's radiometric properties. The subglacial reflector's geometry is parallel to isopotential hydraulic head contours, located 7.5–15.3 m below the interface, and 11 ± 7 dB brighter than the ice–basal layer reflection. We conclude that this subglacial reflection is a groundwater table and that its detection was enabled by the wide bandwidth of the radar system and unusual geologic setting, suggesting a path for future direct radar detection of subglacial groundwater elsewhere.

Johnathan T. Bessette

Advancing Autonomy in Distributed Space Systems: Insights From on-Orbit Testing with the Starling 1.0 Mission

Autonomous decision-making is crucial for enhancing mission effectiveness in Distributed Space Systems (DSS), particularly in multi-spacecraft operations where communication constraints and mission complexity pose challenges. The Distributed Spacecraft Autonomy (DSA) team at NASA’s Ames Research Center is advancing autonomy in DSS through five key technical areas: distributed resource and task management, reactive operations, system modeling and simulation, human-swarm interaction, and ad hoc network communications. The DSA experiment onboard the Starling 1.0 Mission showcases collaborative resource allocation for multi-point science data collection with four small spacecraft. Autonomy in decision-making is highlighted as a crucial factor for multi-spacecraft missions, enabling spacecraft to operate independently, reducing reliance on ground control. This capability is particularly significant for future deep-space missions, where communication delays and limited data transmission capacity make traditional command and control approaches impractical. This demonstration focuses on a GPS Channel Selection Experiment, leveraging emergent capabilities like "shared sampling" and "simultaneous sampling" to optimize channel selection across the spacecraft swarm. The experiment aims to capture ionospheric phenomena such as the Equatorial Ionization Anomaly and Polar Patches. The DSA system's autonomous reconfiguration ability is showcased, emphasizing its adaptability to natural phenomena without significant integration efforts. The GPS Channel Selection Experiment utilizes a dual-band GPS receiver to estimate plasma density in the ionosphere. Explorative and exploitative channel selections are employed based on the nature of observed phenomena. The performance of DSA algorithms is evaluated in terms of optimal channel allocations and responsiveness to changes in observed features. The DSA Flight Software utilizes the Core Flight System (cFS) framework, ensuring compatibility with the Starling 1.0 flight mission software. DSA showcases results from RTI’s Connext DDS Micro communication middleware, enabling message routing over the Ad-Hoc Network of Starling 1.0. This paper provides a comprehensive overview of the DSA experiment's initial results, emphasizing the advancements in autonomy for Distributed Space Systems and the successful collaboration with the Starling 1.0 mission.

Caleb Ashmore Adams

Recent experience in simultaneous control-structure optimization

To show the feasibility of simultaneous optimization as design procedure, low order problems were used in conjunction with simple control formulations. The numerical results indicate that simultaneous optimization is not only feasible, but also advantageous. Such advantages come at the expense of introducing complexities beyond those encountered in structure optimization alone, or control optimization alone. Examples include: larger design parameter space, optimization may combine continuous and combinatoric variables, and the combined objective function may be nonconvex. Future extensions to include large order problems, more complex objective functions and constraints, and more sophisticated control formulations will require further research to ensure that the additional complexities do not outweigh the advantages of simultaneous optimization. Some areas requiring more efficient tools than currently available include: multiobjective criteria and nonconvex optimization. Efficient techniques to deal with optimization over combinatoric and continuous variables, and with truncation issues for structure and control parameters of both the model space as well as the design space need to be developed.

Salama, M.

An Enabling Technology for New Planning and Scheduling Paradigms

The Night Projects Directorate at NASA's Marshall Space Flight Center is developing a new planning and scheduling environment and a new scheduling algorithm to enable a paradigm shift in planning and scheduling concepts. Over the past 33 years Marshall has developed and evolved a paradigm for generating payload timelines for Skylab, Spacelab, various other Shuttle payloads, and the International Space Station. The current paradigm starts by collecting the requirements, called ?ask models," from the scientists and technologists for the tasks that are to be scheduled. Because of shortcomings in the current modeling schema, some requirements are entered as notes. Next, a cadre with knowledge of vehicle and hardware modifies these models to encompass and be compatible with the hardware model; again, notes are added when the modeling schema does not provide a better way to represent the requirements. Finally, the models are modified to be compatible with the scheduling engine. Then the models are submitted to the scheduling engine for automatic scheduling or, when requirements are expressed in notes, the timeline is built manually. A future paradigm would provide a scheduling engine that accepts separate science models and hardware models. The modeling schema would have the capability to represent all the requirements without resorting to notes. Furthermore, the scheduling engine would not require that the models be modified to account for the capabilities (limitations) of the scheduling engine. The enabling technology under development at Marshall has three major components: (1) A new modeling schema allows expressing all the requirements of the tasks without resorting to notes or awkward contrivances. The chosen modeling schema is both maximally expressive and easy to use. It utilizes graphical methods to show hierarchies of task constraints and networks of temporal relationships. (2) A new scheduling algorithm automatically schedules the models without the intervention of a scheduling expert. The algorithm is tuned for the constraint hierarchies and the complex temporal relationships provided by the modeling schema. It has an extensive search algorithm that can exploit timing flexibilities and constraint and relationship options. (3) An innovative architecture allows multiple remote users to simultaneously model science and technology requirements and other users to model vehicle and hardware characteristics. The architecture allows the remote users to submit scheduling requests directly to the scheduling engine and immediately see the results. These three components are integrated so that science and technology experts with no knowledge of the vehicle or hardware subsystems and no knowledge of the internal workings of the scheduling engine have the ability to build and submit scheduling requests and see the results. The immediate feedback will hone the users' modeling skills and ultimately enable them to produce the desired timeline. This paper summarizes the three components of the enabling technology and describes how this technology would make a new paradigm possible.

Jaap, John

Enabling a New Planning and Scheduling Paradigm

The Flight Projects Directorate at NASA's Marshall Space Flight Center is developing a new planning and scheduling environment and a new scheduling algorithm to enable a paradigm shift in planning and scheduling concepts. Over the past 33 years Marshall has developed and evolved a paradigm for generating payload timelines for Skylab, Spacelab, various other Shuttle payloads, and the International Space Station. The current paradigm starts by collecting the requirements, called "tasks models," from the scientists and technologists for the tasks that they want to be done. Because of shortcomings in the current modeling schema, some requirements are entered as notes. Next a cadre with knowledge of vehicle and hardware modifies these models to encompass and be compatible with the hardware model; again, notes are added when the modeling schema does not provide a better way to represent the requirements. Finally, another cadre further modifies the models to be compatible with the scheduling engine. This last cadre also submits the models to the scheduling engine or builds the timeline manually to accommodate requirements that are expressed in notes. A future paradigm would provide a scheduling engine that accepts separate science models and hardware models. The modeling schema would have the capability to represent all the requirements without resorting to notes. Furthermore, the scheduling engine would not require that the models be modified to account for the capabilities (limitations) of the scheduling engine. The enabling technology under development at Marshall has three major components. (1) A new modeling schema allows expressing all the requirements of the tasks without resorting to notes or awkward contrivances. The chosen modeling schema is both maximally expressive and easy to use. It utilizes graphics methods to show hierarchies of task constraints and networks of temporal relationships. (2) A new scheduling algorithm automatically schedules the models without the intervention of a scheduling expert. The algorithm is tuned for the constraint hierarchies and the complex temporal relationships provided by the modeling schema. It has an extensive search algorithm which can exploit timing flexibilities and constraint and relationship options. (3) A web-based architecture allows multiple remote users to simultaneously model science and technology requirements and other users to model vehicle and hardware characteristics. The architecture allows the users to submit scheduling requests directly to the scheduling engine and immediately see the results. These three components are integrated so that science and technology experts with no knowledge of the vehicle or hardware subsystems and no knowledge of the internal workings of the scheduling engine have the ability to build and submit scheduling requests and see the results. The immediate feedback will hone the users' modeling skills and ultimately enable them to produce the desired timeline. This paper summarizes the three components of the enabling technology and describes how this technology would make a new paradigm possible.

Jaap, John

Optimal impulsive time-fixed orbital rendezvous and interception with path constraints

Minimum-fuel, impulsive, time-fixed solutions are obtained for the problem of orbital rendezvous and interception with interior path constraints. Transfers between coplanar circular orbits in an inverse-square gravitational field are considered, subject to a circular path constraint representing a minimum or maximum permissible orbital radius. Primer vector theory is extended to incorporate path constraints. The optimal number of impulses, their times and positions, and the presence of initial or final coasting arcs are determined. The existence of constraint boundary arcs and boundary points is investigated as well as the optimality of a class of singular arc solutions. To illustrate the complexities introduced by path constraints, an analysis is made of optimal rendezvous in field-free space subject to a minimum radius constraint.

Taur, D.-R.

An Automated Approach to Very High Order Aeroacoustic Computations in Complex Geometries

Computational aeroacoustics requires efficient, high-resolution simulation tools. And for smooth problems, this is best accomplished with very high order in space and time methods on small stencils. But the complexity of highly accurate numerical methods can inhibit their practical application, especially in irregular geometries. This complexity is reduced by using a special form of Hermite divided-difference spatial interpolation on Cartesian grids, and a Cauchy-Kowalewslci recursion procedure for time advancement. In addition, a stencil constraint tree reduces the complexity of interpolating grid points that are located near wall boundaries. These procedures are used to automatically develop and implement very high order methods (>15) for solving the linearized Euler equations that can achieve less than one grid point per wavelength resolution away from boundaries by including spatial derivatives of the primitive variables at each grid point. The accuracy of stable surface treatments is currently limited to 11th order for grid aligned boundaries and to 2nd order for irregular boundaries.

Dyson, Rodger W.

Automated Approach to Very High-Order Aeroacoustic Computations

Computational aeroacoustics requires efficient, high-resolution simulation tools. For smooth problems, this is best accomplished with very high-order in space and time methods on small stencils. However, the complexity of highly accurate numerical methods can inhibit their practical application, especially in irregular geometries. This complexity is reduced by using a special form of Hermite divided-difference spatial interpolation on Cartesian grids, and a Cauchy-Kowalewski recursion procedure for time advancement. In addition, a stencil constraint tree reduces the complexity of interpolating grid points that am located near wall boundaries. These procedures are used to develop automatically and to implement very high-order methods (> 15) for solving the linearized Euler equations that can achieve less than one grid point per wavelength resolution away from boundaries by including spatial derivatives of the primitive variables at each grid point. The accuracy of stable surface treatments is currently limited to 11th order for grid aligned boundaries and to 2nd order for irregular boundaries.

Dyson, Rodger W.

Robot, computer problem solving system

The development of a computer problem solving system is reported that considers physical problems faced by an artificial robot moving around in a complex environment. Fundamental interaction constraints with a real environment are simulated for the robot by visual scan and creation of an internal environmental model. The programming system used in constructing the problem solving system for the simulated robot and its simulated world environment is outlined together with the task that the system is capable of performing. A very general framework for understanding the relationship between an observed behavior and an adequate description of that behavior is included.

Becker, J. D.