Challenges and Methods in Testing the Remote Agent Planner
The Remote Agent Experiment (RAX) on the Deep Space 1 (DS1) mission was the first time that an artificially intelligent agent controlled a NASA spacecraft.
planning↗
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The Deep Space 1 Extended Mission
The primary mission of Deep Space 1 (DS1), the first flight of the New Millennium program, completed successfully in September 1999, having exceeded its objectives of testing new, high-risk technologies important for future space and Earth science missions.
Deep↗
Ion Propulsion Plasma Interactions in the Solar Wind
This paper focuses on the plasma physics issues related to ion propulsion. We present an overview of our current understanding of ion thruster plume induced plasma interactions and discuss the planned investigations of such interactions form the DS1 mission.
Solar↗
Results From The Deep Space 1 Technology Validation Mission
Launched on October 24, 1998, Deep Space 1 (DS1) is the first mission of NASA's New Millennium program, chartered to validate in space high-risk, new technologies important for future space and Earth science programs.
Deep↗
Ultraviolet spectroscopy of selected astronomical sources
The birth rates of various kinds of white dwarf progenitors are estimated and the spectra of two very hot O-type white dwarfs are analyzed. The effective temperature of LSE 21 was found to be in excess of 100,000 K. The abundance of iron in the atmospheres of two central stars and numerous very hot O-type subdwarfs was found to be strongly variable. Results obtained by high resolution optical spectroscopy, UBV photometry, and low resolution IUE spectrophotometry for LSS 2018, the central star of the planetary nebulae DS1, are summarized. A planetary nebula surrounding the very hot subdwarf LSS 1362 was discovered. Analysis of results obtained by high resolution optical spectra shows agreement with an effective temperature of 110,000 K derived using low resolution IUE observations.
Drilling, J. S.↗
LSS 2018: A double-lined spectroscopic binary central star with an extremely large reflection effect
LSS 2018, the central star of the planetry nebulae DS1, was found to be a double-lined spectroscopic binary with a period of 8.571 hours. Light variations with the same period were observed in U, B, and V; in the wavelength regions defined by the two IUE cameras; and in the strength of the CIII 4647 emission line. The light variations can be accurately predicted by a simple reflection effect, and an analysis of the light curves yields the angular diameter and effective temperature of the primary, the radii of the two stars in terms of their separation, and the inclination of the system. Analysis of the radial velocities then yields the masses of the two stars, their separation, the distance of the system, the absolute magnitude of the primary, and the size of the nebula.
Drilling, J. S.↗
LSS 2018 - A double-lined spectroscopic binary central star with an extremely large reflection effect
LSS 2018, the central star of the planetary nebulae DS1, was found to be a double-lined spectroscopic binary with a period of 8.571 hours. Light variations with the same period were observed in U, B, and V; in the wavelength regions defined by the two IUE cameras; and in the strength of the CIII 4647 emission line. The light variations can be accurately predicted by a simple reflection effect, and an analysis of the light curves yields the angular diameter and effective temperature of the primary, the radii of the two stars in terms of their separation, and the inclination of the system. Analysis of the radial velocities then yields the masses of the two stars, their separation, the distance of the system, the absolute magnitude of the primary, and the size of the nebula.
Drilling, J. S.↗
Science Planning for the TROPIX Mission
The objective of the study grant was to undertake the planning needed to execute meaningful solar electric propulsion missions in the magnetosphere and beyond. The first mission examined was the Transfer Orbit Plasma Investigation Experiment (TROPIX) mission to spiral outward through the magnetosphere. The next mission examined was to the moon and an asteroid. Entitled Diana, it was proposed to NASA in October 1994. Two similar missions were conceived in 1996 entitled CNR for Comet Nucleus Rendezvous and MBAR for Main Belt Asteroid Rendezvous. The latter mission was again proposed in 1998. All four of these missions were unsuccessfully proposed to the NASA Discovery program. Nevertheless we were partially successful in that the Deep Space 1 (DS1) mission was eventually carried out nearly duplicating our CNR mission. Returning to the magnetosphere we studied and proposed to the Medium Class Explorer (MIDEX) program a MidEx mission called TEMPEST, in 1995. This mission included two solar electric spacecraft that spiraled outward in the magnetosphere: one at near 900 inclination and one in the equatorial plane. This mission was not selected for flight. Next we proposed a single SEP vehicle to carry Energetic Neutral Atom (ENA) imagers and inside observations to complement the IMAGE mission providing needed data to properly interpret the IMAGE data. This mission called SESAME was submitted unsuccessfully in 1997. One proposal was successful. A study grant was awarded to examine a four spacecraft solar electric mission, named Global Magnetospheric Dynamics. This study was completed and a report on this mission is attached but events overtook this design and a separate study team was selected to design a classical chemical mission as a Solar Terrestrial Probe. Competing proposals such as through the MIDEX opportunity were expressly forbidden. A bibliography is attached.
Russell, C. T.↗
Deep Space One High-Voltage Bus Management
The design of the High Voltage Power Converter Unit on DS1 allows both the spacecraft avionics and ion propulsion to operate in a stable manner near the PPP of the solar array. This approach relies on a fairly well-defined solar array model to determine the projected PPP. The solar array voltage set-points have to be updated every week to maintain operation near PPP. Stable operation even to the LEFT of the Peak Power Point is achievable so long as you do not change the operating power level of the ion engine. The next step for this technology is to investigate the use of onboard autonomy to determine the optimum SA voltage regulation set-point (i.e. near the PPP); this is for future missions that have one or more ion propulsion subsystems.
Rachocki, Ken↗
Deep Space 1: Into the New Millennium
This paper presents Deep Space 1: Into the New Millennium in viewgraph form. The topics include: 1) NASA's New Millennium Program; 2) Deep Space 1 (DS1) Project Overview; 3) Technology/Science Payload; 4) Mission Objectives and Status; 5) Extended Mission Opportunities; and 6) Summary.
Varghese, Philip↗
Flight Validation of On-Demand Operations: The Deep Space One Beacon Monitor Operations Experiment
After a brief overview of the operational concept, this paper will provide a detailed description of the _as-flown_ flight software components, the DS1 experiment plan, and experiment results to date. Special emphasis will be given to experiment results and lessons learned since the basic system design has been previously reported. Mission scenarios where beacon operations is highly applicable will be described. Detailed cost savings estimates for a sample science mission will be provided as will cumulative savings that are possible over the next fifteen years of NASA missions.
Wyatt, Jay↗
Remote Agent Experiment
Remote Agent (RA) is a model-based, reusable artificial intelligence (At) software system that enables goal-based spacecraft commanding and robust fault recovery. RA was flight validated during an experiment on board of DS1 between May 17th and May 21th, 1999.
Benard, Doug↗
A Novel Approach to Exploring the Mars Polar Caps
The Martian polar caps contain some of the most important scientific sites on the planet. There is much interest in exploring them with a view to understanding their role in the Mars climate system. By gaining access to the stratigraphy of the polar terrain, it is probable that one can access the climate history of the planet. Additionally, investigations aimed at localizing subsurface water--liquid or solid--are not only of great scientific interest but are also germane to the long-term interests of the manned space flight program. A major difficulty with polar exploration is access. Current techniques using chemical propulsion, Holman transfers, and direct-entry landers with aeroshells have limited capability to access the polar terrain. For the near term the authors propose a new approach to solving this transportation issue by using Solar Electric Propulsion (SEP), recently flight demonstrated on NASA's DS1 Mission to an asteroid and a comet. For a longer-term approach there are additional ways in which access to Mars, as well as other planets, can be significantly improved. These include the use of Chaos orbit theory to enable transportation between LaGrange points in the solar system, gossamer structures enabling very low-mass mobility, and advanced ascent vehicles. In this paper the authors describe how a 1000-kG payload can be transported to the surface of Mars and a polar sample obtained and returned to Earth in less than five years using SEP. A vision of how this approach can be integrated into a long-term Mars exploration strategy building toward the future is also discussed.
Brophy, John R.↗
Verification of Plan Models Using UPPAAL
This paper describes work on the verification of HSTS, the planner and scheduler of the Remote Agent autonomous control system deployed in Deep Space 1 (DS1). The verification is done using UPPAAL, a real time model checking tool. We start by motivating our work in the introduction. Then we give a brief description of HSTS and UPPAAL. After that, we give a mapping of HSTS models into UPPAAL and we present samples of plan model properties one may want to verify. Finally, we conclude with a summary.
Khatib, Lina↗
Model Checking the Remote Agent Planner
This work tackles the problem of using Model Checking for the purpose of verifying the HSTS (Scheduling Testbed System) planning system. HSTS is the planner and scheduler of the remote agent autonomous control system deployed in Deep Space One (DS1). Model Checking allows for the verification of domain models as well as planning entries. We have chosen the real-time model checker UPPAAL for this work. We start by motivating our work in the introduction. Then we give a brief description of HSTS and UPPAAL. After that, we give a sketch for the mapping of HSTS models into UPPAAL and we present samples of plan model properties one may want to verify.
Khatib, Lina↗
The Near-Nucleus Environment of 19P/Borrelly During the Deep Space One Encounter
Images from the DS1 spacecraft reveal complex dust structures near the nucleus of comet Borrelly. Initial analyses confirm the importance of effects from extended active sources as well as dust acceleration and fragmentation. Additional information is contained in the original extended abstract.
Boice, D. C.↗
Photometric Modeling of a Cometary Nucleus: Taking Hapke Modeling to the Limit
In the past two decades, photometric models developed by Bruce Hapke have been fit to a wide range of bodies in the Solar System: The Moon, Mercury, several asteroids, and many icy and rocky satellites. These models have enabled comparative descriptions of the physical attributes of planetary surfaces, including macroscopic roughness, particle size and size-distribution, the single scattering albedo, and the compaction state of the optically active portion of the regolith. One challenging type of body to observe and model, a cometary nucleus, awaited the first space based mission to obtain images unobscured by coma. The NASA-JPL Deep Space 1 Mission (DS1) encountered the short-period Jupiter-family comet 19/P Borrelly on September 22, 2001, about 8 days after perihelion. Prior to its closest approach of 2171 km, the remote-sensing package on the spacecraft obtained 25 CCD images of the comet, representing the first closeup, unobscured view of a comet's nucleus. At closest approach, corresponding to a resolution of 47 meters per pixel, the intensity of the coma was less than 1% of that of the nucleus. An unprecedented range of high solar phase angles (52-89 degrees), viewing geometries that are in general attainable only when a comet is active, enabled the first quantitative and disk-resolved modeling of surface photometric physical parameters.
Buratti, B. J.↗
IDEA: Planning at the Core of Autonomous Reactive Agents
Several successful autonomous systems are separated into technologically diverse functional layers operating at different levels of abstraction. This diversity makes them difficult to implement and validate. In this paper, we present IDEA (Intelligent Distributed Execution Architecture), a unified planning and execution framework. In IDEA a layered system can be implemented as separate agents, one per layer, each representing its interactions with the world in a model. At all levels, the model representation primitives and their semantics is the same. Moreover, each agent relies on a single model, plan database, plan runner and on a variety of planners, both reactive and deliberative. The framework allows the specification of agents that operate, within a guaranteed reaction time and supports flexible specification of reactive vs. deliberative agent behavior. Within the IDEA framework we are working to fully duplicate the functionalities of the DS1 Remote Agent and extend it to domains of higher complexity than autonomous spacecraft control.
Muscettola, Nicola↗