Search NASA⌕ Search

SEARCH · Search NASA

Results for “autonomy software”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 163 records · Page 9
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Software Design for the Supervised Autonomous Assembly of a Tall Lunar Tower

Tall towers enable a wide-ranging set of capabilities on the lunar surface including communication, navigation, surveillance, power generation, and more. The Tall Lunar Tower project at NASA Langley Research Center is focused on the design, modeling, fabrication, and testing of an engineering development unit to assemble a tall tower through supervised autonomous operations. In this paper, the software design for the supervised autonomous assembly of a tall lunar tower is presented. The paper includes a high-level description of the concept of operations, the agents, and an overview of the software architecture.

Moon↗
NASA NTRS2017

Medical Systems Engineering to Support Mars Mission Crew Autonomy

Human spaceflight missions to Mars face exceptionally challenging resource limitations that far exceed those faced before. Increasing transit times, decreasing opportunity for resupply, communications challenges, and extended time to evacuate a crew to definitive medical care dictate a level of crew autonomy in medical care that is beyond the current medical model. To approach this challenge, a medical systems engineering approach is proposed that relies on a clearly articulated Concept of Operations and risk analysis tools that are in development at NASA. This paper proposes an operational clinical model with key terminology and concepts translated to a controls theory paradigm to frame a common language between clinical and engineering teams. This common language will be used for design and validation of an exploration medical system that is fully integrated into a Mars transit vehicle. This approach merges medical simulation, human factors evaluation techniques, and human-in-the-loop testing in ground based analogs to tie medical hardware and software subsystem performance and overall medical system functionality to metrics of operational medical autonomy. Merging increases in operational clinical autonomy with a more restricted vehicle system resource scenario in interplanetary spaceflight will require an unprecedented level of medical and engineering integration. Full integration of medical capabilities into a Mars vehicle system may require a new approach to integrating medical system design and operations into the vehicle Program structure. Prior to the standing-up of a Mars Mission Program, proof of concept is proposed through the Human Research Program.

Antonsen, Erik↗
NASA NTRS2001

Collaboration Between NASA Centers of Excellence on Autonomous System Software Development

Software for space systems flight operations has its roots in the early days of the space program when computer systems were incapable of supporting highly complex and flexible control logic. Control systems relied on fast data acquisition and supervisory control from a roomful of systems engineers on the ground. Even though computer hardware and software has become many orders of magnitude more capable, space systems have largely adhered to this original paradigm In an effort to break this mold, Kennedy Space Center (KSC) has invested in the development of model-based diagnosis and control applications for ten years having broad experience in both ground and spacecraft systems and software. KSC has now partnered with Ames Research Center (ARC), NASA's Center of Excellence in Information Technology, to create a new paradigm for the control of dynamic space systems. ARC has developed model-based diagnosis and intelligent planning software that enables spacecraft to handle most routine problems automatically and allocate resources in a flexible way to realize mission objectives. ARC demonstrated the utility of onboard diagnosis and planning with an experiment aboard Deep Space I in 1999. This paper highlights the software control system collaboration between KSC and ARC. KSC has developed a Mars In-situ Resource Utilization testbed based on the Reverse Water Gas Shift (RWGS) reaction. This plant, built in KSC's Applied Chemistry Laboratory, is capable of producing the large amount of Oxygen that would be needed to support a Human Mars Mission. KSC and ARC are cooperating to develop an autonomous, fault-tolerant control system for RWGS to meet the need for autonomy on deep space missions. The paper will also describe how the new system software paradigm will be applied to Vehicle Health Monitoring, tested on the new X vehicles and integrated into future launch processing systems.

Goodrich, Charles H.↗
NASA NTRS1993

International testing of a Mars rover prototype

Tests on a prototype engineering model of the Russian Mars 96 Rover were conducted by an international team in and near Death Valley in the United States in late May, 1992. These tests were part of a comprehensive design and testing program initiated by the three Russian groups responsible for the rover development. The specific objectives of the May tests were: (1) evaluate rover performance over different Mars-like terrains; (2) evaluate state-of-the-art teleoperation and autonomy development for Mars rover command, control and navigation; and (3) organize an international team to contribute expertise and capability on the rover development for the flight project. The range and performance that can be planned for the Mars mission is dependent on the degree of autonomy that will be possible to implement on the mission. Current plans are for limited autonomy, with Earth-based teleoperation for the nominal navigation system. Several types of television systems are being investigated for inclusion in the navigation system including panoramic camera, stereo, and framing cameras. The tests used each of these in teleoperation experiments. Experiments were included to consider use of such TV data in autonomy algorithms. Image processing and some aspects of closed-loop control software were also tested. A micro-rover was tested to help consider the value of such a device as a payload supplement to the main rover. The concept is for the micro-rover to serve like a mobile hand, with its own sensors including a television camera.

Kemurjian, Alexsandr Leonovich↗
NASA NTRS2014

Software Engineering for Human Spaceflight

The Spacecraft Software Engineering Branch of NASA Johnson Space Center (JSC) provides world‐class products, leadership, and technical expertise in software engineering, processes, technology, and systems management for human spaceflight. The branch contributes to major NASA programs (e.g. ISS, MPCV/Orion) with in‐house software development and prime contractor oversight, and maintains the JSC Engineering Directorate CMMI rating for flight software development. Software engineering teams work with hardware developers, mission planners, and system operators to integrate flight vehicles, habitats, robotics, and other spacecraft elements. They seek to infuse automation and autonomy into missions, and apply new technologies to flight processor and computational architectures. This presentation will provide an overview of key software‐related projects, software methodologies and tools, and technology pursuits of interest to the JSC Spacecraft Software Engineering Branch.

Fredrickson, Steven E.↗
NASA NTRS2023

An Overview of Distributed Spacecraft Autonomy at NASA Ames

Autonomous decision-making significantly increases mission effectiveness by mitigating the effects of communication constraints, like latency and bandwidth, and mission complexity on multi-spacecraft operations. To advance the state of the art in autonomous Distributed Space Systems (DSS), the Distributed Spacecraft Autonomy (DSA) team at NASA's Ames Research Center is developing within five relevant technical areas: distributed resource and task management, reactive operations, system modeling and simulation, human-swarm interaction, and ad hoc network communications. DSA is maturing these technologies - critical for future large autonomous DSS - from concept to launch via simulation studies and orbital deployments. A 100-node heterogenous Processor-in-the-Loop (PiL) testbed aids distributed autonomy capability development and verification of multi-spacecraft missions. The DSA software payload deployed to the D-Orbit SCV-004 spacecraft demonstrates multi-agent reconfigurability and reliability as part of an ESA-sponsored in-orbit technology demonstration. Finally, DSA's primary flight mission showcases collaborative resource allocation for multipoint science data collection with four small spacecraft as a payload on NASA's Starling 1.0 satellites.

Caleb Ashmore Adams↗
NASA NTRS2008

Virtual Satellite

Virtual Satellite (VirtualSat) is a computer program that creates an environment that facilitates the development, verification, and validation of flight software for a single spacecraft or for multiple spacecraft flying in formation. In this environment, enhanced functionality and autonomy of navigation, guidance, and control systems of a spacecraft are provided by a virtual satellite that is, a computational model that simulates the dynamic behavior of the spacecraft. Within this environment, it is possible to execute any associated software, the development of which could benefit from knowledge of, and possible interaction (typically, exchange of data) with, the virtual satellite. Examples of associated software include programs for simulating spacecraft power and thermal- management systems. This environment is independent of the flight hardware that will eventually host the flight software, making it possible to develop the software simultaneously with, or even before, the hardware is delivered. Optionally, by use of interfaces included in VirtualSat, hardware can be used instead of simulated. The flight software, coded in the C or C++ programming language, is compilable and loadable into VirtualSat without any special modifications. Thus, VirtualSat can serve as a relatively inexpensive software test-bed for development test, integration, and post-launch maintenance of spacecraft flight software.

Hammrs, Stephan R.↗
NASA NTRS2014

Avionics Architectures for Exploration: Ongoing Efforts in Human Spaceflight

The field of Avionics is advancing far more rapidly in terrestrial applications than in spaceflight applications. Spaceflight Avionics are not keeping pace with expectations set by terrestrial experience, nor are they keeping pace with the need for increasingly complex automation and crew interfaces as we move beyond Low Earth Orbit. NASA must take advantage of the strides being made by both space-related and terrestrial industries to drive our development and sustaining costs down. This paper describes ongoing efforts by the Avionics Architectures for Exploration (AAE) project chartered by NASA's Advanced Exploration Systems (AES) Program to evaluate new avionic architectures and technologies, provide objective comparisons of them, and mature selected technologies for flight and for use by other AES projects. The AAE project team includes members from most NASA centers, and from industry. It is our intent to develop a common core avionic system that has standard capabilities and interfaces, and contains the basic elements and functionality needed for any spacecraft. This common core will be scalable and tailored to specific missions. It will incorporate hardware and software from multiple vendors, and be upgradeable in order to infuse incremental capabilities and new technologies. It will maximize the use of reconfigurable open source software (e.g., Goddard Space Flight Center's (GSFC's) Core Flight Software (CFS)). Our long-term focus is on improving functionality, reliability, and autonomy, while reducing size, weight, and power. Where possible, we will leverage terrestrial commercial capabilities to drive down development and sustaining costs. We will select promising technologies for evaluation, compare them in an objective manner, and mature them to be available for future programs. The remainder of this paper describes our approach, technical areas of emphasis, integrated test experience and results as of mid-2014, and future plans. As a part of the AES Program, we are encouraged to set aggressive goals and fall short if necessary, rather than to set our sights too low. We are also asked to emphasize providing our personnel with hands-on experience in development, integration, and testing. That we have embraced both of these philosophies will be evident in the descriptions below.

Goforth, Montgomery B.↗
NASA NTRS2018

System Autonomy for Space Traffic Management

This paper proposes an initial architecture for a Space Traffic Management (STM) system, based on openApplication Programming Interfaces (APIs) and drawing on previous work by the NASA Ames Research Center (ARC) to develop an architecture for low-altitude Unmanned Aerial System Traffic Management (UTM). The authors explore how autonomy could be used to enhance an STM system, and how constraints inherent in STM complicate and challenge certain applications of autonomy. We conceptually explore how autonomy could be used within an STM architecture, with multiple non-authoritative catalogs of resident space objects, and to determine which oftwo conjuncting spacecraft moves. NASA ARC is developing a software research environment for STM, along with a physical laboratory and visualization space. We invite STM stakeholders to collaborate in our infrastructure, to help inform the design of the proposed STM architecture, and to participate in the refinement and validation of its concept of operations using the software research platform.

space situational awareness↗
NASA NTRSDate not supplied

Implementing Artificial Thinking Autonomy with Model-Based System Engineering

Complex autonomous systems capable of successfully operating independently under ‘known unknowns’ and harsh conditions require paradigm innovation in modern development strategies. In the field of autonomy, developing a system-of-systems which can ostensibly think for itself in the face of ‘unknown unknowns’ is still a field of ongoing research. Maturing the systems architecting and modeling methodologies for developing henceforth named Thinking Autonomous Systems, which are verified with digital mission simulation, can potentially usher in the next generation of artificial intelligence for space exploration. The concept presented in this paper incorporates multiple Model-Based Systems Engineering and simulation methodologies combined as a new paradigm to design a novel, biomimetic thinking autonomy strategy. Anachronistic concepts from classical Kantian philosophy will be leveraged to inspire architectural designs that could be used for complex distributed systems in deep space. To accomplish this, digital transformation of a document-based implementation plan for Thinking Autonomous Systems, generated by experienced NASA software engineers, is implemented for NASA’s Platform for Autonomous Systems by creating descriptive and executable software models in SysML to prototype real-time operating capabilities. This conceptual implementation has been developed by incorporating model-based digital simulations to theorize how a cyberphysical thinking system would achieve specific strategies without crew reliance, while simultaneously being resilient to all operating conditions and remaining functional when devoid of ground communication. Additionally, ensuring that an autonomous system framework is an ethical Artificial Intelligence requires careful consideration of system behavior and accountability, human factors for teaming with a thinking autonomous system, and comparison to other modern approaches used for implementing true autonomy. This paper presents the first steps in formalizing the metacognition required for instantiating a truly Thinking Autonomous System; the approach described symphonizes autonomy characteristics from classical philosophical into a unified software architecture describing human thought. In the future, the foundational models described in this paper can be further leveraged to help advance research into thinking autonomy requirements for future deep space missions as well as for current near-term applications, i.e., living aboard crewed spacecraft like a NASA Gateway cislunar habitat.

Artificial Thought↗
NASA NTRS2017

User Needs and Advances in Space Wireless Sensing and Communications

Decades of space exploration and technology trends for future missions show the need for new approaches in space/planetary sensor networks, observatories, internetworking, and communications/data delivery to Earth. The User Needs to be discussed in this talk includes interviews with several scientists and reviews of mission concepts for the next generation of sensors, observatories, and planetary surface missions. These observatories, sensors are envisioned to operate in extreme environments, with advanced autonomy, whereby sometimes communication to Earth is intermittent and delayed. These sensor nodes require software defined networking capabilities in order to learn and adapt to the environment, collect science data, internetwork, and communicate. Also, some user cases require the level of intelligence to manage network functions (either as a host), mobility, security, and interface data to the physical radio/optical layer. For instance, on a planetary surface, autonomous sensor nodes would create their own ad-hoc network, with some nodes handling communication capabilities between the wireless sensor networks and orbiting relay satellites. A section of this talk will cover the advances in space communication and internetworking to support future space missions. NASA's Space Communications and Navigation (SCaN) program continues to evolve with the development of optical communication, a new vision of the integrated network architecture with more capabilities, and the adoption of CCSDS space internetworking protocols. Advances in wireless communications hardware and electronics have enabled software defined networking (DVB-S2, VCM, ACM, DTN, Ad hoc, etc.) protocols for improved wireless communication and network management. Developing technologies to fulfil these user needs for wireless communications and adoption of standardized communication/internetworking protocols will be a huge benefit to future planetary missions, space observatories, and manned missions to other planets.

Kegege, Obadiah↗
NASA NTRS1997

The TSTAR Autonomy Test Tool

The new breed of autonomous goal-driven spacecraft contain much more onboard capability than their syquence-driven predecessors, demanding corresponding advances in software verification techniques. Although autonomous systems are deterministic, they are hightly sensitive to the environment, such that the response of a system in certain contexts must be explored in detail in order to prove confidence in both the design and implementaiton.

Autonomy↗
NASA NTRS2005

Apex Reference Manual 3.0 Beta

Apex is a toolkit for constructing software that behaves intelligently and responsively in demanding task environments. Reflecting its origin at NASA where Apex continues to be developed, current applications include: a) Providing autonomous mission management and tactical control capabilities for unmanned aerial vehicles including an autonomous surveillance helicopter and a simulation prototype of an unmanned fixed-wing aircraft to be used for wildfire mapping; b) Simulating human air traffic controllers, pilots and astronauts to help predict how people might respond to changes in equipment or procedures; and c) Predicting the precise duration and sequence of routine human behaviors based on a human-computer interaction engineering technique called CPM-GOMS. Among Apex s components are a set of implemented reasoning services, such as those for reactive planning and temporal pattern recognition; a software architecture that embeds and integrates these services and allows additional reasoning elements to be added as extensions; a formal language for specifying agent knowledge; a simulation environment to facilitate prototyping and analysis; and Sherpa, a set of tools for visualizing autonomy logic and runtime behavior. In combination, these are meant to provide a flexible and usable framework for creating, testing, and deploying intelligent agent software. Overall, our goal in developing Apex is to lower economic barriers to developing intelligent software agents. New ideas about how to extend or modify the system are evaluated in terms of their impact in reducing the time, expertise, and inventiveness required to build and maintain applications. For example, potential enhancements to the AI reasoning capabilities in the system are reviewed not only for usefulness and distinctiveness, but also for their impact on the readability and general usability of Apex s behavior representation language (PDL) and on the transparency of resulting behavior. A second central part of our approach is to iteratively refine Apex based on lessons learned from as diverse a set of applications as possible. Many applications have been developed by users outside the core development team including engineers, researchers, and students. Usability is thus a central concern for every aspect of Apex visible to a user, including PDL, Sherpa, the Apex installation process, APIs, and user documentation. Apex users vary in their areas of expertise and in their familiarity with autonomy technology. Focusing on usability, a development philosophy summarized by the project motto "Usable Autonomy," has been important part of enabling diverse users to employ Apex successfully and to provide feedback needed to guide iterative, user-centered refinement.

Freed, Michael A.↗
NASA NTRS1989

Autonomous dexterous end-effectors for space robotics

The development of a knowledge-based controller is summarized for the Belgrade/USC robot hand, a five-fingered end effector, designed for maximum autonomy. The biological principles of the hand and its architecture are presented. The conceptual and software aspects of the grasp selection system are discussed, including both the effects of the geometry of the target object and the task to be performed. Some current research issues are presented.

Bekey, George A.↗
NASA NTRS2008

SHINE Virtual Machine Model for In-flight Updates of Critical Mission Software

This software is a new target for the Spacecraft Health Inference Engine (SHINE) knowledge base that compiles a knowledge base to a language called Tiny C - an interpreted version of C that can be embedded on flight processors. This new target allows portions of a running SHINE knowledge base to be updated on a "live" system without needing to halt and restart the containing SHINE application. This enhancement will directly provide this capability without the risk of software validation problems and can also enable complete integration of BEAM and SHINE into a single application. This innovation enables SHINE deployment in domains where autonomy is used during flight-critical applications that require updates. This capability eliminates the need for halting the application and performing potentially serious total system uploads before resuming the application with the loss of system integrity. This software enables additional applications at JPL (microsensors, embedded mission hardware) and increases the marketability of these applications outside of JPL.

Plesea, Lucian↗
NASA NTRSDate not supplied

A Simulation Architecture for Air Traffic Over Urban Environments Supporting Autonomy Research in Advanced Air Mobility

NASA is conducting investigations into Advanced Air Mobility (AAM) concepts, aircraft, and operations. One of the most challenging scenarios for AAM will be enabling safe routine access into densely populated urban centers. To address challenges in the urban environment, a moderately high-fidelity simulation capability is needed to investigate AAM flight operations over a regional area for the development and evaluation of autonomy technologies. This paper describes a system to simulate flight operations around regions such as the San Francisco-Oakland Bay area at a moderately-high scale (10's-100's of flights) that incorporates detailed vehicle models and control necessary to support research in airborne autonomy. The flight vehicle utilizes NASA AAM concept vehicle dynamics integrated with a custom flight management system and flight control system to accurately simulate all phases of flight. Glass cockpit displays have been developed for monitoring aircraft operation over a detailed simulated urban environment. Simulation models have been integrated to simulate air and ground-based sensors, such as radar and LIDAR. The commercial X-Plane software package is used as a rendering engine to mimic vision-based sensors (such as onboard and ground-based cameras) at various times of day and in various weather conditions over a relatively detailed graphical model of the city. The paper presents a detailed illustration of the simulation and software architecture used for traffic over this urban region. This system is enabling the evaluation of NASA research concepts in autonomy for urban AAM operations on the path toward aircraft flight test evaluation.

Keerthana Kannan↗
NASA NTRS2004

Realtime Decision Making on EO-1 Using Onboard Science Analysis

Recent autonomy experiments conducted on Earth Observing 1 (EO-1) using the Autonomous Sciencecraft Experiment (ASE) flight software has been used to classify key features in hyperspectral images captured by EO-1. Furthermore, analysis is performed by this software onboard EO-1 and then used to modify the operational plan without interaction from the ground. This paper will outline the overall operations concept and provide some details and examples of the onboard science processing, science analysis, and replanning.

Sherwood, Robert↗