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NASA NTRS2019

NASA Platform for Autonomous Systems (NPAS)

NASA Platform for Autonomous Systems (NPAS) is a disruptive software platform and processes being developed by the NASA Stennis Space Center (SSC) Autonomous Systems Laboratory (ASL). Autonomous operations are critical for the success, safety and crew survival of NASA deep space missions beyond low Earth orbit, including the Gateway, and for the future of cost-effective ground mission operations. NPAS represents the embodiment of an innovative paradigm for “thinking” autonomy in contrast to brute-force autonomy. NPAS uniquely addresses the requirements and integrates the primary functionalities for autonomous operations, in one platform that includes: (1) Integrated System Health Management (ISHM); (2) autonomy strategies, guided by system health and concepts of operations; (3) domain objects (system elements) and infrastructure to create complete application domain knowledge models (4) infrastructure to create, schedule, and execute mission plans; (5) infrastructure to develop user interfaces for comprehensive awareness; and (6) infrastructure to integrate distributed autonomous applications across networks. NPAS is a single platform that can be used to make any system operate with any desirable degree of autonomy, as well as provide comprehensive system awareness to operators and users.

Figueroa, Fernando↗
NASA NTRS2019

NASA Platform for Autonomous Systems (NPAS)

NASA Platform for Autonomous Systems (NPAS) is a disruptive software platform and processes being developed by SSC Autonomous Systems Laboratory (ASL). Autonomous operations are critical for the success, safety and crew survival of NASA deep space missions beyond low Earth orbit, including Lunar Orbital Platform-Gateway, and for the future of cost-effective ground mission operations. NPAS represents the embodiment of an innovative implementation for "thinking" autonomy in contrast to brute-force autonomy. It also uniquely addresses the requirements and integrates five primary functionalities for autonomous operations including: (1) Integrated System Health Management (ISHM), (2) autonomy, guided by health and system concepts of operations; (3) knowledge models of applications; (4) infrastructure to create, schedule, and execute mission plans; and (5) infrastructure to integrate distributed autonomous applications across networks.

Figueroa, Fernando↗
NASA NTRSDate not supplied

Autonomy Voice Assistant for NPAS (NASA Platform for Autonomous Systems)

A prototype voice interaction system, Autonomy Voice Assistant (AVA), is described in this paper. AVA is designed to seamlessly integrate into the NASA Platform for Autonomous Systems (NPAS), an autonomy software platform, and to enable an operator to interact with NPAS autonomy applications through voice conversations. By integrating VA with NPAS, a major enhancement to NPAS applications is facilitated, enabling interaction through natural language expressions. An AVA prototype has been designed incorporating two principles:(1) self-containment (no external data or computations required), and (2) a readily modifiable, reconfigurable, and flexible architecture. By using voice messages in an NPAS application, an additional layer of user interface capability is enabled, thereby enhancing a user’s overall experience. Advancements, over the past several decades in speech recognition and natural language processing technologies has made it possible for AVA to implement robust messaging capabilities while still being lightweight. The main objective of incorporating a voice assistant like AVA is to augment the number and effectiveness of interactions a user has with a system that typically uses mouse-based interaction, while simultaneously enriching the user experience and providing heightened system awareness.

Lucian Murdock↗
NASA NTRS2019

Impact of the CIF Program on NASA’s Autonomy Capability: the NASA Platform for Autonomous Systems (NPAS)

The CIF (Center Innovation Fund) Program provided support to advance the autonomous operation technology that was at a low TRL (Technological Readiness Level) scale to push the technology to a higher TRL where then other programs could sponsor further advances and infusion of the capability into other projects. This is the case with NPAS (NASA Platform for Autonomous Systems). Autonomy capability encompasses technologies that enable a system to function independent from operators, except for times of low frequency high level interactions. With this degree of autonomy, the system has to be able to determine its condition (Integrated System Health Management - ISHM), and apply autonomy strategies that permit progression towards achieving a mission, in spite of anomalies or external unforeseen disturbances.

Armstrong, Curtis D.↗
NASA NTRS2019

NASA Platform for Autonomous Systems (NPAS)

Autonomous operations are critical for the success, safety and crew survival of NASA deep space missions beyond low Earth orbit, including Gateway. For the past 10 years, Stennis Space Center (SSC) has been developing, and has demonstrated an innovative software platform, along with expertise and processes for implementation of autonomous operations.

Integrated Power Avionics and Software↗
NASA NTRS2017

Work Experience Report

The NASA Platform for Autonomous Systems (NPAS) toolkit is currently being used at the NASA John C. Stennis Space Center (SSC) to develop the INSIGHT program, which will autonomously monitor and control the Nitrogen System of the High Pressure Gas Facility (HPGF) on site. The INSIGHT program is in need of generic timing capabilities in order to perform timing based actions such as pump usage timing and sequence step timing. The purpose of this project was to develop a timing module that could fulfill these requirements and be adaptable for expanded use in the future. The code was written in Gensym G2 software platform, the same as INSIGHT, and was written generically to ensure compatibility with any G2 program. Currently, the module has two timing capabilities, a stopwatch function and a countdown function. Although the module has gone through some functionality testing, actual integration of the module into NPAS and the INSIGHT program is contingent on the module passing later checks.

Guo, Daniel↗
NASA NTRSDate not supplied

Autonomy Technologies for Systems of a Moon Base

The aim of the workshop is to “explore emerging autonomy technologies that could enable or enhance mission capabilities, reduce mission risk, and reduce mission cost.” Enhancing mission capabilities will depend on how capable and trustworthy the autonomy implemented is. As systems increase in complexity, and also with multiple interdependent/interacting systems, current autonomy capability and trustworthiness is very low. A paradigm and technology from NASA that addresses this shortcoming will be discussed, the NASA Platform for Autonomous Systems (NPAS). NPAS also happens to address reduction of mission risk and cost. NPAS will be discussed as a capability that is reaching readiness for space use, but also serves as a reference to develop technologies suitable for integrated autonomous operations of lunar systems; encompassing autonomous systems, situational awareness, and reasoning and acting.

Autonomous systems↗
NASA NTRSDate not supplied

A Thinking System and Thinking Autonomy

There are many definitions of what a “Thinking System” (TS) is. The literature primarily addresses what is called “Systems Thinking.” Dr. Marie Morganelli from Southern New Hampshire University states that “Systems thinking is a holistic way to investigate factors and interactions that could contribute to a possible outcome. A mindset more than a prescribed practice, systems thinking provides an understanding of how individuals can work together in different types of teams and through that understanding, create the best possible processes to accomplish just about anything.” So, a TS is a system that is capable of “systems thinking,” as it should be able to “ … create [utilize] the best possible processes [and intelligence] to accomplish just about anything.” To achieve this capability, human-like thinking is required. A truly autonomous system must be one that is capable of human-like thinking. This paper will address “Thinking Autonomy” (TA) enabled by a “Thinking System.” It will describe an architecture with the elements required to achieve the “thinking” behavior: understanding, intellect, reason, decision, will. The paper will further describe the contents and functionality of these elements and how to implement them, including software capabilities needed. Finally, the paper will provide details of a software platform that enables TA, the NASA Platform for Autonomous Systems (NPAS), and describe implementations of thinking systems. Thinking systems will enable a fundamental change how AI and autonomy are implemented. It will change from a “brute force” approach that results in one-time implementations that are minimally intelligent or autonomous to a “thinking” approach where implementations evolve continuously and enable powerful intelligence and autonomy on systems of high complexity as well as on systems-of-systems.

Thinking systems↗
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 NTRSDate not supplied

Model-Based Systems Engineering, Real-Time Operations, and Autonomy

Model-Based Systems Engineering has been enabled by the development of the SysML language and software tools to create systems models. Systems models described in SysML incorporate frames (Diagrams) that represent behaviors (activities, sequences, state machines, use cases), requirements, and structure (definitions, internal structure, parametric formulation, and packaging). The SysML models are, in turn, used by applications to do analysis and studies of the designs and operational capabilities. These uses of the model are based on simulations, and do not include hardware. This paper presents a software environment and processes that enables more comprehensive systems models for MBSE, and use of these rich models for real-time operations. The paper describes a software platform that enables creation of comprehensive models, beyond what is now possible with SysML and related software tools, called the NASA Platform for Autonomous Systems (NPAS). The platform encapsulates a paradigm and infrastructure for creating systems models with complexity levels comparable to the ones handled by SysML software tools, but with additional fidelity that includes detailed design diagrams encompassing sensors, components, and design topologies. Furthermore, NPAS enables incorporation of data, information, and knowledge (DIaK) to implement autonomy and Integrated System Health Management (ISHM) and the inherent integration of content encompassing SysML structure and behavior diagrams throughout the NPAS modelAnd lastly, the NPAS models are used in real-time operations, taking advantage of the fidelity and complexity encompassed in the models in order to implement “thinking” ISHM and/or autonomous operations. . Incorporation of SysML model content into an NPAS model is briefly discussed.

MBSE↗
NASA NTRSDate not supplied

Enabling a Voice Management System for Space Applications

The sustainable missions beyond Low Earth Orbit (LEO) envisioned for NASA’s Artemis program will require autonomous capabilities. Moreover, Artemis mission crews will need a means to efficiently interact with a spacecraft’s autonomous systems. This interaction can be facilitated by voice and speech communications because voice-based controls enable users to interact hands- and eyes-free, allowing the user to better focus on critical tasks. The goal of our project was to explore the knowledge and technology needed to successfully design effective Voice User Interfaces (VUIs) for autonomous systems utilizing Human Centered Design (HCD) principles. The focus of the human factors’ aspect of engineering, pays close attention to psychological and physiological principles in the development of autonomous crew operation systems. A main objective was to understand how a crew member, through voice interaction, could efficiently and intuitively communicate with a notional autonomous vehicle system manager. This project was a part of the NASA Moon to Mars eXploration Systems and Habitation (M2M X-Hab) 2020 Academic Innovation Challenge. The work from the BLiSS Team, at the University of Michigan, resulted in the design of a system persona, Diego, to which an astronaut may quickly build trust with autonomous systems, to alleviate known stressors on mental health expected during long duration space missions. Optimal software to facilitate integration of the system persona into a reference Lunar orbiting Gateway station was defined. Additionally, a Speech to Text (STT) system and a Graphical User Interface (GUI) that could be implemented in future missions was developed on an Internet of Things (IOT) platform. The Voice User Interface (VUI) design for the M2M X-Hab 2020 project leveraged previous technology developed by the BLiSS team to incorporate a voice-based interface into NASA’s Platform for Autonomous Systems (NPAS) software. This required technologies to convert voice to text, conduct semantic interpretations, and convert responses from the autonomous system to text and to speech; additionally, the spacecraft background noise environment was assessed, a noise mitigation technique was developed, and a relatable personality for the autonomous system was developed in order to facilitate human-like conversations. The success of our effort was largely due to the diversity of the team that included expertise in Space Systems Engineering, Human Computer Interaction, Aerospace Engineering, Computer Science, Biomedical Engineering, and Applied Physics. The diverse perspectives fostered elaborate discussions, resulting in the conception of three main subsystems: (1) User-System, (2) NPAS-System, and (3) Environment-System. The VUI was unique and had to be efficient and intuitive. For this project, 5 subteams were formed, each with a separate objective, Voice Design team, Background Noise Mitigation team, Software Integration team and Graphical User Interface team. The BLiSS team crafted a personality for the VUI to enable human-like conversation and drive user adoption and trust. User surveys were completed and used to help determine the required VUI system personality traits by capturing perspectives and expectations of prospective “Artemis Generation Astronauts”. To further simulate human-like conversations, the system had to be able to quickly interpret user speech and be able to integrate with NASA’s NPAS platform for quick and reliable information transfer. The outcomes of our research were: (1) a working prototype user interface, that is compatible with NASA’s NPAS platform; (2) software that demonstrates the ability of the VUI system to interpret user requests and respond appropriately; (3) the capability to implement fully expanded conversations between user and system using intuitive communication in four request categories; and (4) software and hardware recommendations that optimize the system’s ability to operate in a noisy environment. Our research has laid the foundation for the development of VUI’s for autonomy, and provides a baseline for future VUI developments.

Voice user interface↗
NASA NTRSDate not supplied

Enabling a Voice Management System for Space Applications, Design and Software Development

Sustainable missions, beyond low Earth orbit, will require autonomous capabilities in order to achieve NASA’s Artemis program objectives. Correspondingly, the crew must have a means to efficiently interact with these autonomous systems; this can be facilitated via voice and speech communications. Voice-based controls enable the user to access autonomous systems hands-free/eyes-free, allowing the user to better focus on critical tasks. The goal of this project was to explore the knowledge and technology needed to successfully design effective voice interfaces for autonomous systems. The main objective was to understand how a crew member, through voice interaction, could most efficiently and intuitively communicate with a notional autonomous vehicle system manager. This project leveraged prior research conducted by the University of Michigan’s Bioastronautics and Life Support System (BLiSS) team as part of a NASA Moon to Mars eXploration Systems and Habitation (M2M X-Hab) 2020 Academic Innovation Challenge. The X-Hab 2020 work from the BliSS Team resulted in an intuitive graphical user interface/user experience that was built on an Internet of Things (IOT) platform. The Voice User Interface (VUI) design for the M2M X-Hab 2021 project leveraged this technology and incorporated a voice-based assistant and NASA’s Platform for Autonomous Systems (NPAS) software. This required technologies to convert voice to text, conduct semantic interpretations, and convert responses from the autonomous system to text and to speech; additionally, the background noise environment of spacecraft was assessed, and a relatable personality for the autonomous system to facilitate human-like conversations was created. This work’s success was largely due to the diverse team that included expertise in Space Systems Engineering, Human Computer Interaction, Aerospace Engineering, Computer Science, Biomedical Engineering, and Applied Physics. The differing perspectives fostered elaborate discussions, resulting in the conception of three main interactions: (1) User-System, (2) NPAS-System, and (3) Environment-System. The system developed, i.e. the VUI, had to be unique, efficient, and intuitive; thus, the team crafted a personality for the system to enable human-like conversation. User surveys sent to students and young professionals were used to help determine these personality traits by capturing perspectives and expectations of the “Artemis Generation Astronauts”. To further simulate human-like conversations, the system had to be able to quickly interpret user speech and be able to integrate with NASA’s NPAS system for quick and reliable information transfer. Results of this research include (1) a working prototype user interface, that is compatible with NASA’s NPAS system; (2) software that demonstrates the ability to interpret user requests and respond appropriately; (3) the capability to implement fully expanded conversations between user and system using intuitive communication in four request categories; and (4) software and hardware recommendations that optimize the system’s ability to operate, i.e. be heard, in a noisy environment. The technologies chosen for this project’s demonstrations included the following: Raspberry Pi, RASA, Mozilla Deep Speech, Coqui, RTX Voice and Adobe XD. This work has laid the foundation for the development of VUI’s used for autonomy, and is intended to provide guidance for future VUI development.

Tara Vega↗
NASA NTRS2007

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

Wong, Edmond↗