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An intelligent robotic architecture that autonomously synthesizes goal-oriented behaviors, while connecting sensing and action in real-time, is presented with applications to loosely defined planetary sampling missions. This architecture is composed of perception and action nets interconneted in closed loops.
Robotic systems will play an increasingly important role in space operations. This paper describes the objective and design of a proposed goal-oriented telerobotic system for space operations. This design effort encompasses the elements of the system executive and user interface, and the distribution and general structure of the knowledge bases, the displays, and the task sequencing. The objective of the design effort is to provide an evolutionary structure for a telerobotic system, i.e., one that can progress from strictly teleoperated through phases of serving as an assistant, a colleague, and an expert, to eventually serve as a truly autonomous unit, requiring only minimal supervision. A preliminary design for such a system involving 'mixed initiative', or the flexible shared control between the human operator and the software system, is complete and described in this paper.
This paper describes the objective and design of a proposed goal-oriented knowledge-based telerobotic system for space operations. This design effort encompasses the elements of the system executive and user interface and the distribution and general structure of the knowledge base, the displays, and the task sequencing. The objective of the design effort is to provide an expandable structure for a telerobotic system that provides cooperative interaction between the human operator and computer control. The initial phase of the implementation provides a rule-based, goal-oriented script generator to interface to the existing control modes of a telerobotic research system, in the Intelligent Systems Research Lab at NASA Research Center.
The objective and design of a proposed goal-oriented knowledge-based telerobotic system for space operations is described. This design effort encompasses the elements of the system executive and user interface and the distribution and general structure of the knowledge base, the displays, and the task sequencing. The objective of the design effort is to provide an expandable structure for a telerobotic system that provides cooperative interaction between the human operator and computer control. The initial phase of the implementation provides a rule-based, goal-oriented script generator to interface to the existing control modes of a telerobotic research system, in the Intelligent Systems Research Lab at NASA Research Center.
Current qualitative device and process models represent only the structure and behavior of physical systems. However, systems in the real world include goal-oriented activities that generally cannot be easily represented using current modeling techniques. An extension of a qualitative modeling system, known as functional modeling, which captures goal-oriented activities explicitly is proposed and how they may be used to support intelligent automation and fault management is shown.
The objective of significantly advancing the state-of-the-art of white, spacecraft-radiator coatings has been realized in a comprehensive goal-oriented, pigmented-coatings research program. Considered were inorganic pigments and coatings, silicone polymers and coatings, the design and construction of a combined ultraviolet-plus-proton irradiation facility, the development of zinc orthotitanate pigment and coatings, and the effects on several low alpha sub s/epsilon paints of combined ultraviolet and proton irradiation.
Issues affecting human psychological adjustments to long space missions are discussed. Noting that the Shuttle flight crewmembers will not have extensive flight qualification requirements, the effects of a more heterogeneous crew mixture than in early space flights is considered to create possibilities of social conflicts. Routine space flight will decrease the novelty of a formerly unique experience, and the necessity of providing personal space or other mechanisms for coping with crowded, permanently occupied space habitats is stressed. Women are noted to display more permeable personal space requirements. The desirability of planning leisure activities is reviewed, and psychological test results for female and male characteristics are cited to show that individuals with high scores in both traditionally male and female attributes are most capable of effective goal-oriented behavior and interpersonal relationships. Finally, it is shown that competitiveness is negatively correlated with the success of collaborative work and the social climate of an environment.
Workers in many job categories tend to develop technical languages, which are restricted subjects of natural language. A better knowledge of these retrictions provides guidelines for the design of the restricted languages of interactive systems. Accordingly, a technical language used by air-traffic controllers in their communications with pilots was studied. A method of analysis is presented that allows the schemata underlying each category of messages to be identified. This schematic knowledge was implemented in programs, which assume that the goal-oriented aspect of technical languages (and particularly the restricted domain of discourse) limits the processes and the data necessary in order to understand the messages (monosemy, limited vocabulary, evocation of the schemata by some command words, absence of syntax). The programs can interpret, and translate into sequences of action, the messages emitted by the controllers.
The evidence accumulation proces of an image understanding system is described enabling the system to perform top-down(goal-oriented) picture processing as well as bottom-up verification of consistent spatial relations among objects.
The Software Engineering Laboratory (SEL) is a joint venture between NASA's Goddard Space Flight Center, the University of Maryland, and Computer Sciences Corporation. The use of a goal-oriented approach to measurement to establish a maintenance improvement program within the SEL is discussed. Differences are found to exist between the initial phase of the program and its routine application. This approach is demonstrated through concrete examples, and lessons learned in the establishment of a measurement based, maintenance improvement program are summarized.
This panel discussion convened in Houston, Texas, at the Lunar and Planetary Institute, on November 6 to 8, 1989, to review NASA's plans for microbiology on Space Station Freedom. A panel of distinguished scientists reviewed, validated, and recommended revisions to NASA's proposed acceptability standards for air, water, and internal surfaces on board Freedom. Also reviewed were the proposed microbiology capabilities and monitoring plan, disinfection procedures, waste management, and clinical issues. In the opinion of this advisory panel, ensuring the health of the Freedom's crews requires a strong goal-oriented research effort to determine the potential effects of microorganisms on the crewmembers and on the physical environment of the station. Because there are very few data addressing the fundamental question of how microgravity influences microbial function, the panel recommended establishing a ground-based microbial model of Freedom, with subsequent evaluation using in-flight shuttle data. Sampling techniques and standards will be affected by both technological advances in microgravity-compatible instrumentation, and by changes in the microbial population over the life of the station.
The Center for Space and Advanced Technology supported a planning exercise for the Microgravity Program management at the Marshall Space Flight Center. The effort focused on the status of microgravity work at MSFC and elsewhere with the objective of preparing a goal-oriented strategic planning document which could be used for informational/brochure purposes. The effort entailed numerous interactions and presentations with Field Center programmatic components and Headquarters personnel. Appropriate material was consolidated in a draft format for a MSFC Strategic Plan.
In this presentation, we will propose a strongly goal-oriented stereo vision system to establish proper docking approach motions for automated rendezvous and capture (AR&C). From an input sequence of stereo video image pairs, the system produces a current best estimate of: contact position; contact vector; contact velocity; and contact orientation. The processing demands imposed by this particular problem and its environment dictate a special case solution; such a system should necessarily be, in some sense, minimalist. By this we mean the system should construct a scene description just sufficiently rich to solve the problem at hand and should do no more processing than is absolutely necessary. In addition, the imaging resolution should be just sufficient. Extracting additional information and constructing higher level scene representations wastes energy and computational resources and injects an unnecessary degree of complexity, increasing the likelihood of malfunction. We therefore take a departure from most prior stereopsis work, including our own, and propose a system based on associative memory. The purpose of the memory is to immediately associate a set of motor commands with a set of input visual patterns in the two cameras. That is, rather than explicitly computing point correspondences and object positions in world coordinates and trying to reason forward from this information to a plan of action, we are trying to capture the essence of reflex behavior through the action of associative memory. The explicit construction of point correspondences and 3D scene descriptions, followed by online velocity and point of impact calculations, is prohibitively expensive from a computational point of view for the problem at hand. Learned patterns on the four image planes, left and right at two discrete but closely spaced instants in time, will be bused directly to infer the spacecraft reaction. This will be a continuing online process as the docking collar approaches.
A survey and an evaluation are conducted for the Rosenbloom et al. (1991) 'SOAR' model of intelligence, both as found in humans and in prospective AI systems, which views it as a representational system for goal-oriented symbolic activity based on a physical symbol system. Attention is given to SOAR's implications for semantic and episodic memory, symbol processing, and search within a uniform problem space; also noted are the relationships of SOAR to competing AI schemes, and its potential usefulness as a theoretical tool for cognitive psychology.
We are interested in developing effective performance-oriented training for the operation of systems that are used for monitor and control purposes. We have focused on one such system, the communications Link Monitor and Control (LMC) system used in NASA's Deep Space Network (DSN), which is a worldwide system for navigating, tracking and communicating with unmanned interplanetary spacecraft. The tasks in this domain are procedural in nature and require reactive, goal-oriented skills; we have previously described a cognitive model for problem solving that accounts for both novice and expert levels of behavior as well as how skill is acquired. Our cognitive modeling work in this task domain led us to make a number of predictions about tutoring that have influenced the design of the system described in this paper.
NASA is planning to send numerous unmanned planetary missions to explore the space. This requires autonomous robotic vehicles which can navigate in an unstructured, unknown, and uncertain environment. Landmark based navigation is a new area of research which differs from the traditional goal-oriented navigation, where a mobile robot starts from an initial point and reaches a destination in accordance with a pre-planned path. The landmark based navigation has the advantage of allowing the robot to find its way without communication with the mission control station and without exact knowledge of its coordinates. Current algorithms based on landmark navigation however pose several constraints. First, they require large memories to store the images. Second, the task of comparing the images using traditional methods is computationally intensive and consequently real-time implementation is difficult. The method proposed here consists of three stages, First stage utilizes a heuristic-based algorithm to identify significant objects. The second stage utilizes a neural network (NN) to efficiently classify images of the identified objects. The third stage combines distance information with the classification results of neural networks for efficient and intelligent navigation.
Intelligent control of complex multi-variable systems can be a challenge for single fuzzy rule-based controllers. This class of problems cam often be managed with less difficulty by distributing intelligent decision-making amongst a collection of rule-bases. Such an approach requires that a mechanism be chosen to ensure goal-oriented interaction between the multiple rule-bases. In this paper, a hierarchical rule-based approach is described. Decision-making mechanisms based on generalized concepts from single-rule-based fuzzy control are described. Finally, the effects of different aggregation operators on multi-rule-base decision-making are examined in a navigation control problem for mobile robots.
The NASA Goddard Space Flight Center is working to develop a revolutionary new system architecture concept in support of fully autonomous missions. As part of GSFC's contribution to the New Millenium Program (NMP) Space Technology 7 Autonomy and on-Board Processing (ST7-A) Concept Definition Study, the system incorporates the latest commercial Internet and software development ideas and extends them into NASA ground and space segment architectures. The unique challenges facing the exploration of remote and inaccessible locales and the need to incorporate corresponding autonomy technologies within reasonable cost necessitate the re-thinking of traditional mission architectures. A measure of the resiliency of this architecture in its application to a broad range of future autonomy missions will depend on its effectiveness in leveraging from commercial tools developed for the personal computer and Internet markets. Specialized test stations and supporting software come to past as spacecraft take advantage of the extensive tools and research investments of billion-dollar commercial ventures. The projected improvements of the Internet and supporting infrastructure go hand-in-hand with market pressures that provide continuity in research. By taking advantage of consumer-oriented methods and processes, space-flight missions will continue to leverage on investments tailored to provide better services at reduced cost. The application of ground and space segment architectures each based on Local Area Networks (LAN), the use of personal computer-based operating systems, and the execution of activities and operations through a Wide Area Network (Internet) enable a revolution in spacecraft mission formulation, implementation, and flight operations. Hardware and software design, development, integration, test, and flight operations are all tied-in closely to a common thread that enables the smooth transitioning between program phases. The application of commercial software development techniques lays the foundation for delivery of product-oriented flight software modules and models. Software can then be readily applied to support the on-board autonomy required for mission self-management. An on-board intelligent system, based on advanced scripting languages, facilitates the mission autonomy required to offload ground system resources, and enables the spacecraft to manage itself safely through an efficient and effective process of reactive planning, science data acquisition, synthesis, and transmission to the ground. Autonomous ground systems in turn coordinate and support schedule contact times with the spacecraft. Specific autonomy software modules on-board include mission and science planners, instrument and subsystem control, and fault tolerance response software, all residing within a distributed computing environment supported through the flight LAN. Autonomy also requires the minimization of human intervention between users on the ground and the spacecraft, and hence calls for the elimination of the traditional operations control center as a funnel for data manipulation. Basic goal-oriented commands are sent directly from the user to the spacecraft through a distributed internet-based payload operations "center". The ensuing architecture calls for the use of spacecraft as point extensions on the Internet. This paper will detail the system architecture implementation chosen to enable cost-effective autonomous missions with applicability to a broad range of conditions. It will define the structure needed for implementation of such missions, including software and hardware infrastructures. The overall architecture is then laid out as a common thread in the mission life cycle from formulation through implementation and flight operations.