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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Defining Collaborative Control Interactions Using Systems Theory

Human teams collaborate by establishing roles, changing functional authorities, maintaining team cognition, coordinating, and mutually helping one another close control loops. These complex inter-actions are inspiring novel concepts to improve human-machine and multi-machine collaboration. However, these new systems face engineering gaps in modeling, analysis, design, and assurance. As such, few have been fielded in safety-critical domains like aerospace. To analyze safety, this paper introduces a system-theoretic framework to describe interactions that are—or are planned to be—used in multi-controller systems. It outlines a taxonomy of seven structural dimensions that influence controller interactions and nine dynamics observed in collaborative control that are defined using Systems Theory. An analyzed set of 101 controller interactions in aerospace systems demonstrates how to apply the framework and that designers are trying to create more sophisticated systems. This framework provides the foundation to extend system-theoretic hazard analysis techniques to systematically find collabora-tive-control causal factors.

Human machine teaming↗
NASA NTRSDate not supplied

System-Theoretic Analysis of Unsafe Collaborative Control in Teaming Systems

The interactions that occur in human-teaming are inspiring novel aerospace designs aimed at improving how humans and machines, or multiple machines, work together. Unfortunately, current Systems Engineering processes are ill-equipped to handle these complex relationships and are unable to design and assure the safety for these systems. To close part of this gap, this paper introduces a novel system-theoretic analytical process to identify unsafe collaborative control actions. It is part of a broader set of techniques that extend the state-of-the-art in hazard analysis, System Theoretic Process Analysis (STPA), to systematically address collaboration. The method rigorously expresses the different ways multiple commands may be unsafe together. Using Systems Theory, it employs abstraction to manage the combinatorial complexity in enumerating control contributions from multiple collaborating components. An algorithm integrates these concepts into an end-to-end process and is supported by automation to enumerate, refine, prune, and prioritize unsafe combinations of control actions. The output of the method feeds the specification of system requirements to implement safety-guided design starting early in concept development. The process is demonstrated on a manned-unmanned aircraft teaming case study and finds new causal factors that were not previously found in a past hazard analysis of the same system.

System Safety↗
NASA NTRS2016

Systems and Methods for Collaboratively Controlling at Least One Aircraft

An unmanned vehicle management system includes an unmanned aircraft system (UAS) control station controlling one or more unmanned vehicles (UV), a collaborative routing system, and a communication network connecting the UAS and the collaborative routing system. The collaborative routing system being configured to receive flight parameters from an operator of the UAS control station and, based on the received flight parameters, automatically present the UAS control station with flight plan options to enable the operator to operate the UV in a defined airspace.

Estkowski, Regina I.↗
NASA NTRS2002

Simulation and Flight Control of an Aeroelastic Fixed Wing Micro Aerial Vehicle

Micro aerial vehicles have been the subject of continued interest and development over the last several years. The majority of current vehicle concepts rely on rigid fixed wings or rotors. An alternate design based on an aeroelastic membrane wing has also been developed that exhibits desired characteristics in flight test demonstrations, competition, and in prior aerodynamics studies. This paper presents a simulation model and an assessment of flight control characteristics of the vehicle. Linear state space models of the vehicle associated with typical trimmed level flight conditions and which are suitable for control system design are presented as well. The simulation is used as the basis for the design of a measurement based nonlinear dynamic inversion control system and outer loop guidance system. The vehicle/controller system is the subject of ongoing investigations of autonomous and collaborative control schemes. The results indicate that the design represents a good basis for further development of the micro aerial vehicle for autonomous and collaborative controls research.

Waszak, Martin↗
NASA NTRS2005

Robust Load-Sharing Control of Spacecraft Formations

This paper focuses on the design of autonomous and collaborative control strategies to govern the relative distances among multiple spacecraft in formation with no ground intervention. A coordinate load-sharing control structure for formation flying and a methodology to control their dynamic models with slow time-varying and uncertain parameters are the main objectives of this work. The method is applied to a deep space formation example, where the uncertainty in spacecraft fuel masses is also considered.

multi spacecraft↗
NASA NTRSDate not supplied

HAT m:N Activity Overview

Since 2020, researchers from the Human Autonomy Teaming (HAT) Laboratory at NASA Ames Research Center have conducted human-in-the-loop (HITL) simulation research to study a new control paradigm for operations involving multiple remotely piloted aircraft systems (RPAS). Colloquially referred to as "m:N," this paradigm is characterized by multiple operators collaboratively controlling multiple vehicles between them. The m:N name expresses a ratio whereby m is the number of operators and N is the number of vehicles shared between them. In this presentation, HAT Lab researchers provide a high-level overview of the m:N studies that have been performed to-date. These include a study of the m:N concept of operations (CONOPS) and the attending roles and responsibilities ("ConOps/R&R Sim"), a study focused on contingency management involving dynamic, inter-operator transfers of vehicles ("Handoff Sim"), and a study examining the effects of pilot-ATC communication systems on workload ("UAM Comms Sim"). A selection of key results are provided. The presentation concludes with a brief discussion of planned research into m:N operations.

m:N↗
NASA NTRSDate not supplied

Promoting Astronaut Autonomy in Human Spaceflight Missions

Mission operations will have to adapt for long duration, long distance human spaceflight missions. This change is driven mainly by the significantly different communication availability between Earth and space. As astronauts travel farther from Earth, the one-way communication latency increases; the amount of bandwidth will be limited; and there will be period of long and/or no communication. Currently, ground flight controllers collaborate and cooperate with astronauts in space to accomplish essential operational functions. Astronaut autonomy, i.e., the crew’s ability to work more independently from mission control, will be a key enabler in future exploration missions. Over the last several years, the NASA Ames Human-Computer Interaction (HCI) Group has investigated various ways to promote and support astronaut autonomy in human spaceflight missions. Software prototypes are researched, designed, implemented, and assessed for their ability to enable astronaut autonomy. From integrated Internet of Thing for Space, advanced procedures interfaces, comm-delayed chats, and self-scheduling tools, the HCI Group has explored different aspects of astronaut autonomy. Specifically, the self-scheduling tool Playbook has been evaluated in analog extreme environments and onboard the International Space Station, successfully paving the way for future autonomous astronauts.

crew autonomy↗
NASA NTRS1994

Collaboration in Controller-Pilot Communication

Like other forms of dialogue, air traffic control (ATC) communication is an act of collaboration between two or more people. Collaboration progresses more or less smoothly depending on speaker and listener strategies. For example, we have found that the way controllers organize and deliver messages influences how easily pilots understand these messages, which in turn determines how much time and effort is needed to successfully complete the transaction. In this talk, I will introduce a collaborative framework for investigating controller-pilot communication and then describe a set of studies that investigate ATC communication from two complementary directions. First, we focused on the impact of ATC message factors (e.g., length, speech rate) on the cognitive processes involved in ATC: communication. Second, we examined pilot factors that influence the amount of cognitive resources available for these communication processes. These studies also illustrate how the collaborate framework can help analyze the impact of proposed visual data link systems on ATC communication. Examining the joint effects of communication medium, message factors, and pilot/controller factors on performance should help improve air safety and communication efficiency. Increased efficiency is important for meeting the growing demands on the National Air System.

Morrow, Daniel↗
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↗
NASA NTRS1983

NASA/RAE collaboration on nonlinear control using the F-8C digital fly-by-wire aircraft

A cooperative advanced digital research experiment (CADRE) was established by the National Aeronautics and Space Administration (NASA) and the Royal Aircraft Establishment (RAE), in which nonlinear control algorithms developed by the RAE were tested on the F-8C digital fly-by-wire (DFBW) aircraft based at the Dryden Flight Research Facility. In the initial phase of the collaboration, some variable-gain algorithms, referred to collectively as variable integral control to optimize response (VICTOR) algorithms, were fight tested. With VICTOR, various measures available within the control system are used to vary gains and time-constants within the closed loop and thereby enhance the control capability of the system, while reducing the adverse effects of sensor noise on the control surfaces. A review of design procedures for VICTOR and results of preliminary flight tests are presented. the F-8C aircraft is operated in the remotely augmented vehicle (RAV) mode, with the control laws implemented as FORTRAN programs on a ground-based computer. Pilot commands and sensor information are telemetered to the ground, where the data are processed to form surface commands which are then telemetered to the ground, where the data are processed to form surface commands which are then telemetered back to the aircraft. The RAV mode represents a single-string (simplex) system and is therefore vulnerable to a hardover since comparison monitoring is not possible. Hence, extensive error checking is conducted on both the ground and airborne computers to prevent the development of potentially hazardous situations. Experience with the RAV monitoring and validation procedures is described.

Butler, G. F.↗
NASA NTRS1983

NASA/RAE collaboration on nonlinear control using the F-8C digital fly-by-wire aircraft

Design procedures are reviewed for variable integral control to optimize response (VICTOR) algorithms and results of preliminary flight tests are presented. The F-8C aircraft is operated in the remotely augmented vehicle (RAV) mode, with the control laws implemented as FORTRAN programs on a ground-based computer. Pilot commands and sensor information are telemetered to the ground, where the data are processed to form surface commands which are then telemetered back to the aircraft. The RAV mode represents a singlestring (simplex) system and is therefore vulnerable to a hardover since comparison monitoring is not possible. Hence, extensive error checking is conducted on both the ground and airborne computers to prevent the development of potentially hazardous situations. Experience with the RAV monitoring and validation procedures is described.

Butler, G. F.↗
NASA NTRS1992

Collaborative research on V/STOL control system/cockpit display tradeoffs under the NASA/MOD joint aeronautical program

Summarized here are activities that have taken place from 1979 to the present in a collaborative program between NASA Ames Research Center and the Royal Aerospace Establishment (now Defence Research Agency), Bedford on flight control system and cockpit display tradeoffs for low-speed and hover operations of future V/STOL aircraft. This program was created as Task 8A of the Joint Aeronautical Program between NASA in the United States and the Ministry of Defence (Procurement Executive) in the United Kingdom. The program was initiated based on a recognition by both parties of the strengths of the efforts of their counterparts and a desire to participate jointly in future simulation and flight experiments. In the ensuing years, teams of NASA and RAE engineers and pilots have participated in each other's simulation experiments to evaluate control and display concepts and define design requirements for research aircraft. Both organizations possess Harrier airframes that have undergone extensive modification to provide in-flight research capabilities in the subject areas. Both NASA and RAE have profited by exchanges of control/display concepts, design criteria, fabrication techniques, software development and validation, installation details, and ground and flight clearance techniques for their respective aircraft. This collaboration has permitted the two organizations to achieve jointly substantially more during the period than if they had worked independently. The two organizations are now entering the phase of flight research for the collaborative program as currently defined.

Franklin, J. A.↗
NASA NTRSDate not supplied

Streamlining Tactical Operator Handoffs During Multi-Vehicle Applications

Increased automation has shifted the operator control paradigm from a single operator controlling a single vehicle, to multiple operators collaborating to control multiple vehicles; this paradigm is known as m:N. Many questions remain unanswered in this new operational paradigm about the division of assets as workload for individual operators varies overtime. This paper explores the management of workload by enabling operators to temporarily handoff vehicles among each other. A study was conducted to explore both a manual and assisted method for performing handoffs during manipulated contingency scenarios. The assisted handoff method allowed subjects to easily choose and group nominal and/or contingency vehicles. The number of contingencies was also manipulated to determine the effect workload had on how pilots utilized the ability to handoff vehicles. Results show subjects performed handoffs more often when there were more contingencies and when the assisted handoff tool was available. In addition, the assisted tool make subjects feel more comfortable, enabling them to feel like they could take longer to resolve contingency situations. Lastly, even during contingencies, subjects were able to successfully complete secondary tasks.

M:N operations↗
NASA NTRSDate not supplied

Streamlining Tactical Operator Handoffs During Multi-Vehicle Operations

Increased automation has shifted the operator control paradigm from a single operator controlling a single vehicle, to multiple operators collaborating to control multiple vehicles; this paradigm is known as m:N. Many questions remain unanswered in this new operational paradigm about the division of assets as workload for individual operators varies over time. This paper explores the management of workload by enabling operators to temporarily handoff vehicles among each other. A study was conducted to explore both a manual and assisted method for performing handoffs during manipulated contingency scenarios. The assisted handoff method allowed subjects to easily choose and group nominal and/or contingency vehicles. The number of contingencies was also manipulated to determine the effect workload had on how pilots utilized the ability to handoff vehicles. Results show subjects performed handoffs more often when there were more contingencies and when the assisted handoff tool was available. In addition, the assisted tool made subjects feel more comfortable, enabling them to feel like they could take longer to resolve contingency situations. Lastly, even during contingencies, subjects were able to successfully complete secondary tasks.

m:N operations↗
NASA NTRS1991

Collaboration in pilot-controller communication

A field study of pilot-controller communication that is expected to improve communication accuracy and efficiency in at least two ways is presented. Types of problems that disrupt routine communication and how often they occur during operations are identified. By identifying factors associated with problems, it is suggested why they occur and how to eliminate them.

Morrow, Daniel↗
NASA NTRS2020

Human-in-the-loop Robotic Control for Human-Robot Collaboration

The prospect of a collaborative work environment between humans and robotic automation in a manufacturing setting [1] provides the motivation for finding innovative solutions to human-in-the-loop control for safe, efficient, and trustworthy human-robot collaboration (HRC), or HR interaction (HRI), in cyberphysical human systems (CPHSs) [2], [3]. Studies in [4] show that collaborative automation can be beneficial to 90% of approximately 300,000 small-to-medium-scale enterprises in the United States. In the paradigm of human-centered automation [5], human safety, ergonomics, and the collaborative efficiency of the work are given the utmost importance. Traditional methods to ensure the safety of humans around factory robots involve the use of cages. Recent work looked beyond cage-based safety to provide robot control and sensing-driven solutions for human safety around robots [6]-[8].

Ashwin P. Dani↗
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 NTRS2004

Future Concepts for Realtime Data Interfaces for Control Centers

Existing methods of exchanging realtime data between the major control centers in the International Space Station program have resulted in a patchwork of local formats being imposed on each Mission Control Center. This puts the burden on a data customer to comply with the proprietary data formats of each data supplier. This has increased the cost and complexity for each participant, limited access to mission data and hampered the development of efficient and flexible operations concepts. Ideally, a universal format should be promoted in the industry to prevent the unnecessary burden of each center processing a different data format standard for every external interface with another center. With the broad acceptance of XML and other conventions used in other industries, it is now time for the Aerospace industry to fully engage and establish such a standard. This paper will briefly consider the components that would be required by such a standard (XML schema, data dictionaries, etc.) in order to accomplish the goal of a universal low-cost interface, and acquire broad industry acceptance. We will then examine current approaches being developed by standards bodies and other groups. The current state of CCSDS panel work will be reviewed, with a survey of the degree of industry acceptance. Other widely accepted commercial approaches will be considered, sometimes complimentary to the standards work, but sometimes not. The question is whether de facto industry standards are in concert with, or in conflict with the direction of the standards bodies. And given that state of affairs, the author will consider whether a new program establishing its Mission Control Center should implement a data interface based on those standards. The author proposes that broad industry support to unify the various efforts will enable collaboration between control centers and space programs to a wider degree than is currently available. This will reduce the cost for programs to provide realtime access to their data, hence reducing the cost of access to space, and benefiting the industry as a whole.

Kearney, Mike W., III↗