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NASA NTRS2002

ANTS: Applying A New Paradigm for Lunar and Planetary Exploration

ANTS (Autonomous Nano- Technology Swarm), a mission architecture consisting of a large (1000 member) swarm of picoclass (1 kg) totally autonomous spacecraft with both adaptable and evolvable heuristic systems, is being developed as a NASA advanced mission concept, and is here examined as a paradigm for lunar surface exploration. As the capacity and complexity of hardware and software, demands for bandwidth, and the sophistication of goals for lunar and planetary exploration have increased, greater cost constraints have led to fewer resources and thus, the need to operate spacecraft with less frequent human contact. At present, autonomous operation of spacecraft systems allows great capability of spacecraft to 'safe' themselves and survive when conditions threaten spacecraft safety. To further develop spacecraft capability, NASA is at the forefront of development of new mission architectures which involve the use of Intelligent Software Agents (ISAs), performing experiments in space and on the ground to advance deliberative and collaborative autonomous control techniques. Selected missions in current planning stages require small groups of spacecraft weighing tens, instead of hundreds, of kilograms to cooperate at a tactical level to select and schedule measurements to be made by appropriate instruments onboard. Such missions will be characterizing rapidly unfolding real-time events on a routine basis. The next level of development, which we are considering here, is in the use of autonomous systems at the strategic level, to explore the remote terranes, potentially involving large surveys or detailed reconnaissance.

Clark, P. E.↗

NASA NTRS2009

Citric Acid Passivation of Stainless Steel

Passivation is a process for cleaning and providing corrosion protection for stainless steel. Currently, on Kennedy Space Center (KSC), only parts passivated with nitric acid are acceptable for use. KSC disposes of approximately 125gal of concentrated nitric acid per year, and receives many parts from vendors who must also dispose of used nitric acid. Unfortunately, nitric acid presents health and environmental hazards. As a result, several recent industry studies have examined citric acid as an alternative. Implementing a citric acid-based passivation procedure would improve the health and environmental safety aspects of passivation process. However although there is a lack of published studies that conclusively prove citric acid is a technically sound passivation agent. In 2007, NASA's KSC Materials Advisory Working Group requested the evaluation of citric acid in place of nitric acid for passivation of parts at KSC. United Space Alliance Materials & Processes engineers have developed a three-phase test plan to evaluate citric acid as an alternative to nitric acid on three stainless steels commonly used at KSC: UNS S30400, S41000, and S17400. Phases 1 and 2 will produce an optimized citric acid treatment based on results from atmospheric exposure at NASA's Beach Corrosion Facility. Phase 3 will compare the optimized solution(s) with nitric acid treatments. If the results indicate that citric acid passivates as well or better than nitric acid, NASA intends to approve this method for parts used at the Kennedy Space Center.

Yasensky, David↗

NASA NTRS2013

Alternative to Nitric Acid for Passivation of Stainless Steel Alloys

Corrosion is an extensive problem that affects the Department of Defense (DoD) and National Aeronautics and Space Administration (NASA). The deleterious effects of corrosion result in steep costs, asset downtime affecting mission readiness, and safety risks to personnel. Consequently, it is vital to reduce corrosion costs and risks in a sustainable manner. The DoD and NASA have numerous structures and equipment that are fabricated from stainless steel. The standard practice for protection of stainless steel is a process called passivation. Typical passivation procedures call for the use of nitric acid; however, there are a number of environmental, worker safety, and operational issues associated with its use. Citric acid offers a variety of benefits including increased safety for personnel, reduced environmental impact, and reduced operational cost. DoD and NASA agreed to collaborate to validate citric acid as an acceptable passivating agent for stainless steel. This paper details our investigation of prior work developing the citric acid passivation process, development of the test plan, optimization of the process for specific stainless steel alloys, ongoing and planned testing to elucidate the process' resistance to corrosion in comparison to nitric acid, and preliminary results.

Lewis, Pattie L.↗

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 NTRS2018

Serious Gaming for Building a Basis of Certification via Trust and Trustworthiness of Autonomous Systems

Autonomous systems governed by a variety of adaptive and nondeterministic algorithms are being planned for inclusion into safety-critical environments, such as unmanned aircraft and space systems in both civilian and military applications. However, until autonomous systems are proven and perceived to be capable and resilient in the face of unanticipated conditions, humans will be reluctant or unable to delegate authority, remaining in control aided by machine-based information and decision support. Proving capability, or trustworthiness, is a necessary component of certification. Perceived capability is a component of trust. Trustworthiness is an attribute of a cyber-physical system that requires context-driven metrics to prove and certify. Trust is an attribute of the agents participating in the system and is gained over time and multiple interactions through trustworthy behavior and transparency. Historically, artificial intelligence and machine learning systems provide answers without explanation - without a rationale or insight into the machine “thinking”. In order to function as trusted teammates, machines must be able to explain their decisions and actions. This transparency is a product of both content and communication. NASA’s Autonomy Teaming & TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR) project seeks to build a basis for certification of autonomous systems via establishing metrics for trustworthiness and trust in multi-agent team interactions, using AI (Artificial Intelligence) explainability and persistent modeling and simulation, in the context of mission planning and execution, with analyzable trajectories. Inspired by Massively Multiplayer Online Role Playing Games (MMORPG) and Serious Gaming, the proposed ATTRACTOR modeling and simulation environment is similar to online gaming environments in which player (aka agent) participants interact with each other, affect their environment, and expect the simulation to persist and change regardless of any individual agent’s active participation. This persistent simulation environment will accommodate individual agents, groups of self-organizing agents, and large-scale infrastructure behavior. The effects of the emerging adaptation and coevolution can be observed and measured to building a basis of measurable trustworthiness and trust, toward certification of safety-critical autonomous systems.

Allen, B. Danette↗

NASA NTRS2003

A Role of the Reaction Kernel in Propagation and Stabilization of Edge Diffusion Flames of C1-C3 Hydrocarbons

Diffusion flame stabilization is of essential importance in both Earth-bound combustion systems and spacecraft fire safety. Local extinction, re-ignition, and propagation processes may occur as a result of interactions between the flame zone and vortices or fire-extinguishing agents. By using a computational fluid dynamics code with a detailed chemistry model for methane combustion, the authors have revealed the chemical kinetic structure of the stabilizing region of both jet and flat-plate diffusion flames, predicted the flame stability limit, and proposed diffusion flame attachment and detachment mechanisms in normal and microgravity. Because of the unique geometry of the edge of diffusion flames, radical back-diffusion against the oxygen-rich entrainment dramatically enhanced chain reactions, thus forming a peak reactivity spot, i.e., reaction kernel, responsible for flame holding. The new results have been obtained for the edge diffusion flame propagation and attached flame structure using various C1-C3 hydrocarbons.

Takahashi, Fumiaki↗

NASA NTRS2002

Biosensors for Real-Time Monitoring of Radiation-Induced Biologic Effects in Space

This work seeks to develop cellular biosensors based on dendritic polymers. Nanoscale polymer structures less than 20 nm in diameter will be used as the basis of the biosensors. The structures will be designed to target into specific cells of an astronaut and be able to monitor health issues such as exposure to radiation. Multiple components can be assembled on the polymers including target directors, analytical devices (such as molecular probes), and reporting agents. The reporting will be accomplished through fluorescence signal monitoring, with the use of multispectral analysis for signal interpretation. These nanosensors could facilitate the success and increase the safety of extended space flight. The design and assembly of these devices has been pioneered at the Center for Biologic Nanotechnology in the University of Michigan. This period, synthesis of the test-bed biosensors continued. Studies were performed on the candidate fluorescent dyes to determine which might be suitable for the biosensor under development. Development continued on producing an artificial capillary bed as a tool for the use in the production of the fluorescence signal monitor. Work was also done on the in vitro multispectral analysis system, which uses the robotic microscope.

Baker, James R.↗

NASA NTRS2007

Carving a Niche for the No-Frills Carrier, Air Arabia, in Oil-Rich Skies

The concept of introducing a no-frills airline to the wealthy Arab region presented its risks. This independent study sought to position the new airline in the marketplace. After three focus groups and 400 self-administered surveys, safety (#1) and price (#2) are low-fare carrier considerations whereas safety (#1), punctuality (#2) and price (#3) apply for full-fare airlines. Recommended ways for the no-frills carrier to reach the market include newspaper ads, travel agent sales, online bookings, and call centers. Additionally, respondents appeared to evaluate this low-fare carrier as if it is a full-service airline.

McKechnie, Donelda S.↗

NASA NTRS2012

Development of Complexity Science and Technology Tools for NextGen Airspace Research and Applications

The objective of this research by NextGen AeroSciences, LLC is twofold: 1) to deliver an initial "toolbox" of algorithms, agent-based structures, and method descriptions for introducing trajectory agency as a methodology for simulating and analyzing airspace states, including bulk properties of large numbers of heterogeneous 4D aircraft trajectories in a test airspace -- while maintaining or increasing system safety; and 2) to use these tools in a test airspace to identify possible phase transition structure to predict when an airspace will approach the limits of its capacity. These 4D trajectories continuously replan their paths in the presence of noise and uncertainty while optimizing performance measures and performing conflict detection and resolution. In this approach, trajectories are represented as extended objects endowed with pseudopotential, maintaining time and fuel-efficient paths by bending just enough to accommodate separation while remaining inside of performance envelopes. This trajectory-centric approach differs from previous aircraft-centric distributed approaches to deconfliction. The results of this project are the following: 1) we delivered a toolbox of algorithms, agent-based structures and method descriptions as pseudocode; and 2) we corroborated the existence of phase transition structure in simulation with the addition of "early warning" detected prior to "full" airspace. This research suggests that airspace "fullness" can be anticipated and remedied before the airspace becomes unsafe.

Holmes, Bruce J.↗

NASA NTRS1994

Beware of agents when flying aircraft: Basic principles behind a generic methodology for the evaluation and certification of advanced aviation systems

There is currently a growing interest in the aeronautical community to assess the effects of the increasing levels of automation on pilots' performance and overall safety. The first effect of automation is the change in the nature of the pilot's role on the flight deck. Pilots have become supervisors who monitor aircraft systems in usual situations and intervene only when unanticipated events occur. Instead of 'hand flying' the airplane, pilots contribute to the control of aircraft by acting as mediators, instructions given to the automation. By eliminating the need for manually controlling normal situations, such a role division has reduced the opportunities for the pilot to acquire experience and skills necessary to safely cope with abnormal events. Difficulties in assessing the state and behavior of automation arise mainly from four factors: (1) the complexity of current systems and consequence mode-related problems; (2) the intrinsic autonomy of automation which is able to fire mode transitions without explicit commands from the pilots; (3) the bad quality of feed-back from the control systems displays and interfaces to the pilots; and (4) the fact that the automation currently has no explicit representation of the current pilots' intentions and strategy. Assuming certification has among its major goals to guarantee the passengers' and pilots' safety and the airplane integrity under normal and abnormal operational conditions, the authors suggest it would be particularly fruitful to come up with a conceptual reference system providing the certification authorities both with a theoretical framework and a list of principles usable for assessing the quality of the equipment and designs under examination. This is precisely the scope of this paper. However, the authors recognize that the conceptual presented is still under development and would thus be best considered as a source of reflection for the design, evaluation and certification processes of advanced aviation technologies.

Javaux, Denis↗

NASA NTRS1992

Space Station Freedom combustion research

Extended operations in microgravity, on board spacecraft like Space Station Freedom, provide both unusual opportunities and unusual challenges for combustion science. On the one hand, eliminating the intrusion of buoyancy provides a valuable new perspective for fundamental studies of combustion phenomena. On the other hand, however, the absence of buoyancy creates new hazards of fires and explosions that must be understood to assure safe manned space activities. These considerations - and the relevance of combustion science to problems of pollutants, energy utilization, waste incineration, power and propulsion systems, and fire and explosion hazards, among others - provide strong motivation for microgravity combustion research. The intrusion of buoyancy is a greater impediment to fundamental combustion studies than to most other areas of science. Combustion intrinsically heats gases with the resulting buoyant motion at normal gravity either preventing or vastly complicating measurements. Perversely, this limitation is most evident for fundamental laboratory experiments; few practical combustion phenomena are significantly affected by buoyancy. Thus, we have never observed the most fundamental combustion phenomena - laminar premixed and diffusion flames, heterogeneous flames of particles and surfaces, low-speed turbulent flames, etc. - without substantial buoyant disturbances. This precludes rational merging of theory, where buoyancy is of little interest, and experiments, that always are contaminated by buoyancy, which is the traditional path for developing most areas of science. The current microgravity combustion program seeks to rectify this deficiency using both ground-based and space-based facilities, with experiments involving space-based facilities including: laminar premixed flames, soot processes in laminar jet diffusion flames, structure of laminar and turbulent jet diffusion flames, solid surface combustion, one-dimensional smoldering, ignition and flame spread of liquids, drop combustion, and quenching of panicle-air flames. Unfortunately, the same features that make microgravity attractive for fundamental combustion experiments, introduce new fire and explosion hazards that have no counterpart on earth. For example, microgravity can cause broader flammability limits, novel regimes of flame spread, enhanced effects of flame radiation, slower fire detector response, and enhanced combustion upon injecting fire extinguishing agents, among others. On the other hand, spacecraft provide an opportunity to use 'fire-safe' atmospheres due to their controlled environment. Investigation of these problems is just beginning, with specific fire safety experiments supplementing the space based fundamental experiments listed earlier; thus, much remains to be done to develop an adequate technology base for fire and explosion safety considerations for spacecraft.

Faeth, G. M.↗

NASA NTRSDate not supplied

Tradeoffs When Considering Deep Reinforcement Learning for Contingency Management in Advanced Air Mobility

Air transportation is undergoing a rapid evolution globally with the introduction of Advanced Air Mobility (AAM) and with it comes novel challenges and opportunities for transforming aviation. As AAM operations introduce increasing heterogeneity in vehicle capabilities and density, increased levels of automation are likely necessary to achieve operational safety and efficiency goals. This paper focuses on one example where increased automation has been suggested. Autonomous operations will need contingency management systems that can monitor evolving risk across a span of interrelated (or interdependent) hazards and, if necessary, execute appropriate control interventions via supervised or automated decision making. Accommodating this complex environment may require automated functions (autonomy) that apply artificial intelligence (AI) techniques that can adapt and respond to a quickly changing environment. This paper explores the use of Deep Reinforcement Learning (DRL) which has shown promising performance in complex and high-dimensional environments where the objective can be constructed as a sequential decision-making problem. An extension of a prior formulation of the contingency management problem as a Markov Decision Process (MDP) is presented and uses a DRL framework to train agents that mitigate hazards present in the simulation environment. A comparison of these learning-based agents and classical techniques is presented in terms of their performance, verification difficulties, and development process.

machine learning↗

NASA NTRS2010

Walking the Walk/Talking the Talk: Mission Planning with Speech-Interactive Agents

The application of simulation technology to mission planning and rehearsal has enabled realistic overhead 2-D and immersive 3-D "fly-through" capabilities that can help better prepare tactical teams for conducting missions in unfamiliar locales. For aircrews, detailed terrain data can offer a preview of the relevant landmarks and hazards, and threat models can provide a comprehensive glimpse of potential hot zones and safety corridors. A further extension of the utility of such planning and rehearsal techniques would allow users to perform the radio communications planned for a mission; that is, the air-ground coordination that is critical to the success of missions such as close air support (CAS). Such practice opportunities, while valuable, are limited by the inescapable scarcity of complete mission teams to gather in space and time during planning and rehearsal cycles. Moreoever, using simulated comms with synthetic entities, despite the substantial training and cost benefits, remains an elusive objective. In this paper we report on a solution to this gap that incorporates "synthetic teammates" - intelligent software agents that can role-play entities in a mission scenario and that can communicate in spoken language with users. We employ a fielded mission planning and rehearsal tool so that our focus remains on the experimental objectives of the research rather than on developing a testbed from scratch. Use of this planning tool also helps to validate the approach in an operational system. The result is a demonstration of a mission rehearsal tool that allows aircrew users to not only fly the mission but also practice the verbal communications with air control agencies and tactical controllers on the ground. This work will be presented in a CAS mission planning example but has broad applicability across weapons systems, missions and tactical force compositions.

Bell, Benjamin↗

NASA NTRS2005

Trusted Autonomy for Space Flight Systems

NASA has long supported research on intelligent control technologies that could allow space systems to operate autonomously or with reduced human supervision. Proposed uses range from automated control of entire space vehicles to mobile robots that assist or substitute for astronauts to vehicle systems such as life support that interact with other systems in complex ways and require constant vigilance. The potential for pervasive use of such technology to extend the kinds of missions that are possible in practice is well understood, as is its potential to radically improve the robustness, safety and productivity of diverse mission systems. Despite its acknowledged potential, intelligent control capabilities are rarely used in space flight systems. Perhaps the most famous example of intelligent control on a spacecraft is the Remote Agent system flown on the Deep Space One mission (1998 - 2001). However, even in this case, the role of the intelligent control element, originally intended to have full control of the spacecraft for the duration of the mission, was reduced to having partial control for a two-week non-critical period. Even this level of mission acceptance was exceptional. In most cases, mission managers consider intelligent control systems an unacceptable source of risk and elect not to fly them. Overall, the technology is not trusted. From the standpoint of those who need to decide whether to incorporate this technology, lack of trust is easy to understand. Intelligent high-level control means allowing software io make decisions that are too complex for conventional software. The decision-making behavior of these systems is often hard to understand and inspect, and thus hard to evaluate. Moreover, such software is typically designed and implemented either as a research product or custom-built for a particular mission. In the former case, software quality is unlikely to be adequate for flight qualification and the functionality provided by the system is likely driven largely by the need to publish innovative work. In the latter case, the mission represents the first use of the system, a risky proposition even for relatively simple software.

Freed, Michael↗

NASA NTRS2001

Development of an advanced rocket propellant handler's suit

Most launch vehicles and satellites in the US inventory rely upon the use of hypergolic rocket propellants, many of which are toxic to humans. These fuels and oxidizers, such as hydrazine and nitrogen tetroxide have threshold limit values as low as 0.01 PPM. It is essential to provide space workers handling these agents whole body protection as they are universally hazardous not only to the respiratory system, but the skin as well. This paper describes a new method for powering a whole body protective garment to assure the safety of ground servicing crews. A new technology has been developed through the small business innovative research program at the Kennedy Space Center. Currently, liquid air is used in the environmental control unit (ECU) that powers the propellant handlers suit (PHE). However, liquid air exhibits problems with attitude dependence, oxygen enrichment, and difficulty with reliable quantity measurement. The new technology employs the storage of the supply air as a supercritical gas. This method of air storage overcomes all of three problems above while maintaining high density storage at relatively low vessel pressures (<7000 kPa or approximately 1000 psi). A one hour prototype ECU was developed and tested to prove the feasibility of this concept. This was upgraded by the design of a larger supercritical dewar capable of holding 7 Kg of air, a supply which provides a 2 hour duration to the PHE. A third version is being developed to test the feasibility of replacing existing air cooling methodology with a liquid cooled garment for relief of heat stress in this warm Florida environment. Testing of the first one hour prototype yielded data comparable to the liquid air powered predecessor, but enjoyed advantages of attitude independence and oxygen level stability. Thermal data revealed heat stress relief at least as good as liquid air supplied units. The application of supercritical air technology to this whole body protective ensemble marked an advancement in the state-of-the-art in personal protective equipment. Not only was long duration environmental control provided, but it was done without a high pressure vessel. The unit met human performance needs for attitude independence, oxygen stability and relief of heat stress. This supercritical air (and oxygen) technology is suggested for microgravity applications in life support such as the Extravehicular Mobility Unit. c 2001. Elsevier Science Ltd. All rights reserved.

Hazardous Substances↗

NASA NTRS1997

Teamwork in the Terminal Area: Organizational Issues and Solutions

Dynamic growth and technology advances in commercial aviation have turned the terminal area into a complex, multi-organization workplace which requires the smooth coordination of many operational teams. In addition to pilots, cabin crew, air traffic controllers, and dispatch (who nominally work together throughout a flight), surface operations additionally involve local, ground and ramp controllers, ramp agents, maintenance, dozens of service contractors, and any number of teams who are responsible for airport operations. Under abnormal or emergency conditions, even more teams become actively involved. In order to accommodate growth and to meet productivity and safety challenges, numerous changes are being made in surface operations. Unfortunately, it is often the case that changes in technologies, organizational roles, procedures, and training are developed and implemented in isolated and piecemeal fashion without regard to cross organizational impact. Thus, there is a need for evaluation methodologies which assure integrated system safety for all organizations. Such methodologies should aid the understanding of how organizations work together and how changes in one domain affects the next. In this study, we develop one approach toward addressing these organizational issues. Examples of surface operations in abnormal situations are examined in regard to their impact on personnel in the terminal area. Timelines are given for the responses to incidents, along with the necessary communication links, the specific roles that members of terminal teams have, and any overlapping responsibilities. Suggestions to improve cross-operational teamwork are given. Methods of graphic representation are explored, both in regards to human links and access to information. The outcome of such an approach should enhance the understanding which is critical for resolving organizational conflicts and maximizing system effectiveness.

Parke, Bonny K.↗

NASA NTRS2021

ATTRACTOR: Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability

Autonomous systems (AS) are crucial to realizing the vision of new, complex transportation modes, such as advanced air mobility (AAM) and urban air mobility (UAM). A chief barrier to induction of AS into aviation is insufficient understanding of AS reliability in time-critical and safety-critical environments—an obstacle to certification. ATTRACTOR is aimed at building a basis for certification of classes of autonomous cyber-physical-human systems (CPHS) via establishing metrics and models of trustworthiness and trust in multi-agent team interactions, analyzable trajectories, explainability of computational algorithms (explainable artificial intelligence, or XAI), and persistent modeling and simulation, in the context of missions planning and operation. By “building a basis for certification,” we mean acquiring an understanding of when a system is trustworthy and developing computable means to estimate trustworthiness and trust in order to eventually inform functional requirements that contribute to certification. The outcomes are applicable not just to aviation but to all domains that rely on autonomous systems.

Autonomy↗

NASA NTRS2001

Enabling Advanced Automation in Spacecraft Operations with the Spacecraft Emergency Response System

True autonomy is the Holy Grail of spacecraft mission operations. The goal of launching a satellite and letting it manage itself throughout its useful life is a worthy one. With true autonomy, the cost of mission operations would be reduced to a negligible amount. Under full autonomy, any problems (no matter the severity or type) that may arise with the spacecraft would be handled without any human intervention via some combination of smart sensors, on-board intelligence, and/or smart automated ground system. Until the day that complete autonomy is practical and affordable to deploy, incremental steps of deploying ever-increasing levels of automation (computerization of once manual tasks) on the ground and on the spacecraft are gradually decreasing the cost of mission operations. For example, NASA's Goddard Space Flight Center (NASA-GSFC) has been flying spacecraft with low cost operations for several years. NASA-GSFC's SMEX (Small Explorer) and MIDEX (Middle Explorer) missions have effectively deployed significant amounts of automation to enable the missions to fly predominately in 'light-out' mode. Under light-out operations the ground system is run without human intervention. Various tools perform many of the tasks previously performed by the human operators. One of the major issues in reducing human staff in favor of automation is the perceived increased in risk of losing data, or even losing a spacecraft, because of anomalous conditions that may occur when there is no one in the control center. When things go wrong, missions deploying advanced automation need to be sure that anomalous conditions are detected and that key personal are notified in a timely manner so that on-call team members can react to those conditions. To ensure the health and safety of its lights-out missions, NASA-GSFC's Advanced Automation and Autonomy branch (Code 588) developed the Spacecraft Emergency Response System (SERS). The SERS is a Web-based collaborative environment that enables secure distributed fault and resource management. The SERS incorporates the use of intelligent agents, threaded discussions, workflow, database connectivity, and links to a variety of communications devices (e.g., two-way paging, PDA's, and Internet phones) via commercial gateways. When the SERS detects a problem, it notifies on-call team members, who then can remotely take any necessary actions to resolve the anomalies.The SERS goes well beyond a simple '911' system that sends out an error code to everyone with a pager. Instead, SERS' software agents send detailed data (i.e., notifications) to the most appropriate team members based on the type and severity of the anomaly and the skills of the on-call team members. The SERS also allows the team members to respond to the notifications from their wireless devices. This unique capability ensures rapid response since the team members no longer have to go to a PC or the control center for every anomalous event. Most importantly, the SERS enables safe experimentation with various techniques for increasing levels of automation, leading to robust autonomy. For the MIDEX missions at NASA GSFC, the SERS is used to provide 'human-in-the-loop' automation. During lights-out operations, as greater control is given to the MIDEX automated systems, the SERS can be configured to page remote personnel and keep them informed regarding actions taking place in the control center. Remote off-duty operators can even be given the option of enabling or inhibiting a specific automated response in near real time via their two-way pagers. The SERS facilitates insertion of new technology to increase automation, while maintaining the safety and security of mission resources. This paper will focus on SERS' overall functionality and how SERS has been designed to handle the monitoring and emergency response for missions with varying levels of automation. The paper will also convey some of the key lessons learned from SERS' deployment across of variety of missions, highlighting this incremental approach to achieving 'robust autonomy'.

Breed, Julie↗