Demonstrating Autonomy for Complex Space Missions: A Europa Lander Mission Autonomy Prototype
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Caleb Wagner↗
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Useful Sensor Web Capabilities to Enable Progressive Mission Autonomy
This viewgraph presentation reviews using the Sensor Web capabilities as an enabling technology to allow for progressive autonomy of NASA space missions. The presentation reviews technical challenges for future missions, and some of the capabilities that exist to meet those challenges. To establish the ability of the technology to meet the challenges, experiments were conducted on three missions: Earth Observing 1 (EO-1), Cosmic Hot Interstellar Plasma Spectrometer (CHIPS) and Space Technology 5 (ST-5). These experiments are reviewed.
Mandl, Dan↗
Adapting a Trusted AI Framework to Space Mission Autonomy
As artificial intelligence (AI) is increasingly pro- posed for new and future capabilities in space missions, the question of how to trust AI-enabled space autonomy has been explored. Recently, a collaboration between The Aerospace Corporation (Aerospace) and NASA’s Jet Propulsion Labora- tory (JPL) investigated how Aerospace’s Trusted AI Frame- work could be applied to two JPL projects that planned on lev- eraging AI for critical autonomous tasks. This combined effort led to many insights in the practical implementation of trusted AI along with considerable updates to the Trusted AI Frame- work that tailored its topic threads to space exploration. This document cohesively summarizes the enhanced framework as tailored to space missions as well as estimation of the level of trust required as a function of mission criticality and key stakeholders. The goal of this work is to provide a set of best practices to inform autonomy researchers, flight engineers, mission and proposal reviewers, and instrument and mission principal investigators (PI’s) to drive AI-based autonomy that maximizes trust and lowers the barriers to mission adoption for both science and engineering applications.
Amini, Rashied↗
Results from the ASTERIA CubeSat Extended Mission Autonomy Experiments
No abstract provided
Fesq, Lorraine M↗
A New Simulation Framework for Autonomy in Robotic Missions
Autonomy is a key factor in remote robotic exploration and there is significant activity addressing the application of autonomy to remote robots. It has become increasingly important to have simulation tools available to test the autonomy algorithms. While indus1;rial robotics benefits from a variety of high quality simulation tools, researchers developing autonomous software are still dependent primarily on block-world simulations. The Mission Simulation Facility I(MSF) project addresses this shortcoming with a simulation toolkit that will enable developers of autonomous control systems to test their system s performance against a set of integrated, standardized simulations of NASA mission scenarios. MSF provides a distributed architecture that connects the autonomous system to a set of simulated components replacing the robot hardware and its environment.
Flueckiger, Lorenzo↗
2018 Workshop on Autonomy for Future NASA Science Missions
Autonomy is changing our world; commercial enterprises and academic institutions are developing and deploying drones, robots, self-driving vehicles and other autonomous capabilities to great effect here on Earth. Autonomous technologies will also play a critical and enabling role in future NASA science missions, and the Agency requires a specific strategy to leverage these advances and infuse them into its missions. To address this need, NASA sponsored the 2018 Workshop on Autonomy for NASA Science Missions, held at Carnegie Mellon University, October 10-11, 2018.
Florence W Tan↗
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↗
Linking Satellites Via Earth "Hot Spots" and the Internet to Form Ad Hoc Constellations
As more assets are placed in orbit, opportunities emerge to combine various sets of satellites in temporary constellations to perform collaborative image collections. Often, new operations concepts for a satellite or set of satellites emerge after launch. To the degree with which new space assets can be inexpensively and rapidly integrated into temporary or "ad hoc" constellations, will determine whether these new ideas will be implemented or not. On the Earth Observing 1 (EO-1) satellite, a New Millennium Program mission, a number of experiments were conducted and are being conducted to demonstrate various aspects of an architecture that, when taken as a whole, will enable progressive mission autonomy. In particular, the target architecture will use adaptive ground antenna arrays to form, as close as possible, the equivalent of wireless access points for low earth orbiting satellites. Coupled with various ground and flight software and the Internet. the architecture enables progressive mission autonomy. Thus, new collaborative sensing techniques can be implemented post-launch. This paper will outline the overall operations concept and highlight details of both the research effort being conducted in <he area of adaptive antenna arrays and some of the related successful autonomy software that has been implemented using EO-1 and other operational satellites. Keywords: collaborative remote sensing smart antennas, adaptive antenna arrays, sensor webs. ad hoc constellations, mission autonomy and
Mandl, Dan↗
Mission Level Autonomy for USSV
On-water demonstration of a wide range of mission-proven, advanced technologies at TRL 5+ that provide a total integrated, modular approach to effectively address the majority of the key needs for full mission-level autonomous, cross-platform control of USV s. Wide baseline stereo system mounted on the ONR USSV was shown to be an effective sensing modality for tracking of dynamic contacts as a first step to automated retrieval operations. CASPER onboard planner/replanner successfully demonstrated realtime, on-water resource-based analysis for mission-level goal achievement and on-the-fly opportunistic replanning. Full mixed mode autonomy was demonstrated on-water with a seamless transition between operator over-ride and return to current mission plan. Autonomous cooperative operations for fixed asset protection and High Value Unit escort using 2 USVs (AMN1 & 14m RHIB) were demonstrated during Trident Warrior 2010 in JUN 2010
maritime autonomy↗
Grand Challenge Problems in Real-Time Mission Control Systems for NASA's 21st Century Missions
Space missions of the 21st Century will be characterized by constellations of distributed spacecraft, miniaturized sensors and satellites, increased levels of automation, intelligent onboard processing, and mission autonomy. Programmatically, these missions will be noted for dramatically decreased budgets and mission development lifecycles. Current progress towards flexible, scaleable, low-cost, reusable mission control systems must accelerate given the current mission deployment schedule, and new technology will need to be infused to achieve desired levels of autonomy and processing capability. This paper will discuss current and future missions being managed at NASA's Goddard Space Flight Center in Greenbelt, MD. It will describe the current state of mission control systems and the problems they need to overcome to support the missions of the 21st Century.
Pfarr, Barbara B.↗
Mission Operations of EO-1 with Onboard Autonomy
Space mission operations are extremely labor and knowledge-intensive and are driven by the ground and flight systems. Inclusion of an autonomy capability can have dramatic effects on mission operations. We describe the prior, labor and knowledge intensive mission operations flow for the Earth Observing-1 (EO-1) spacecraft as well as the new autonomous operations as part of the Autonomous Sciencecraft Experiment.
Earth Observing - 1 (EO-1)↗
An Architecture to Enable Future Sensor Webs
A sensor web is a coherent set of distributed 'nodes', interconnected by a communications fabric, that collectively behave as a single dynamic observing system. A 'plug and play' mission architecture enables progressive mission autonomy and rapid assembly and thereby enables sensor webs. This viewgraph presentation addresses: Target mission messaging architecture; Strategy to establish architecture; Progressive autonomy with onboard sensor web; EO-1; Adaptive array antennas (smart antennas) for satellite ground stations.
Mandl, Dan↗
Mission Operations of Earth Observing-1 with Onboard Autonomy
Space mission operations are extremely labor and knowledge-intensive and are driven by the ground and flight systems. Inclusion of an autonomy capability can have dramatic effects on mission operations. We describe the past mission operations flow for the Earth Observing-1 (EO-1) spacecraft as well as the more autonomous operations to which we transferred as part of the Autonomous Sciencecraft Experiment (ASE).
hyperspectral images↗
SEPS guidance and navigation autonomy selection via mission analysis
A systematic rationale for selecting a cost-effective guidance and navigation (G & N) autonomy level for the solar electric propulsion stage (SEPS) vehicle is developed. After a definition of autonomy levels, a mission analysis is performed for representative SEPS missions using realistic G & N sensor hardware. Cost data for fabricating, integrating and refurbishing onboard avionics hardware and the ground costs corresponding to each autonomy level are generated. Results are presented that indicate performance of various G & N sensor hardware sets and the dominating factors which influence G & N autonomy level selection.
Causey, W.↗
Evidence Report: Risk of Performance Errors Due to Training Deficiencies
Substantial evidence supports the claim that inadequate training leads to performance errors. Barshi and Loukopoulos (2012) demonstrate that even a task as carefully developed and refined over many years as operating an aircraft can be significantly improved by a systematic analysis, followed by improved procedures and improved training (see also Loukopoulos, Dismukes, & Barshi, 2009a). Unfortunately, such a systematic analysis of training needs rarely occurs during the preliminary design phase, when modifications are most feasible. Training is often seen as a way to compensate for deficiencies in task and system design, which in turn increases the training load. As a result, task performance often suffers, and with it, the operators suffer and so does the mission. On the other hand, effective training can indeed compensate for such design deficiencies, and can even go beyond to compensate for failures of our imagination to anticipate all that might be needed when we send our crew members to go where no one else has gone before. Much of the research literature on training is motivated by current training practices aimed at current training needs. Although there is some experience with operations in extreme environments on Earth, there is no experience with long-duration space missions where crews must practice semi-autonomous operations, where ground support must accommodate significant communication delays, and where so little is known about the environment. Thus, we must develop robust methodologies and tools to prepare our crews for the unknown. The research necessary to support such an endeavor does not currently exist, but existing research does reveal general challenges that are relevant to long-duration, high-autonomy missions. The evidence presented here describes issues related to the risk of performance errors due to training deficiencies. Contributing factors regarding training deficiencies may pertain to organizational process and training programs for spaceflight, such as when training programs are inadequate or unavailable. Furthermore, failure to match between tasks on the one hand, and learning and memory abilities on the other hand is a contributing factor, especially when individuals' relative efficiency with which new information is acquired, and adjustments made in behavior or thinking, are inconsistent with mission demands. Thus, if training deficiencies are present, the likelihood of errors or of the inability to successfully complete a task increases. What's more, the overall risk to the crew, the vehicle, and the mission increases.
Barshi, Immanuel↗