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NASA NTRS1992

Artificial Intelligence Research Branch future plans

This report contains information on the activities of the Artificial Intelligence Research Branch (FIA) at NASA Ames Research Center (ARC) in 1992, as well as planned work in 1993. These activities span a range from basic scientific research through engineering development to fielded NASA applications, particularly those applications that are enabled by basic research carried out in FIA. Work is conducted in-house and through collaborative partners in academia and industry. All of our work has research themes with a dual commitment to technical excellence and applicability to NASA short, medium, and long-term problems. FIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at the Jet Propulsion Laboratory (JPL) and AI applications groups throughout all NASA centers. This report is organized along three major research themes: (1) Planning and Scheduling: deciding on a sequence of actions to achieve a set of complex goals and determining when to execute those actions and how to allocate resources to carry them out; (2) Machine Learning: techniques for forming theories about natural and man-made phenomena; and for improving the problem-solving performance of computational systems over time; and (3) Research on the acquisition, representation, and utilization of knowledge in support of diagnosis design of engineered systems and analysis of actual systems.

Stewart, Helen↗
NASA NTRS1994

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications.

Erickson, Jon D.↗
NASA NTRS1994

An intelligent robot for helping astronauts

This paper describes the development status of a prototype supervised intelligent robot for space application for purposes of (1) helping the crew of a spacecraft such as the Space Station with various tasks, such as holding objects and retrieving/replacing tools and other objects from/into storage, and (2) for purposes of retrieving detached objects, such as equipment or crew, that have become separated from their spacecraft. In addition to this set of tasks in this low-Earth-orbiting spacecraft environment, it is argued that certain aspects of the technology can be viewed as generic in approach, thereby offering insight into intelligent robots for other tasks and environments. Candidate software architectures and their key technical issues which enable real work in real environments to be accomplished safely and robustly are addressed. Results of computer simulations of grasping floating objects are presented. Also described are characterization results on the usable reduced gravity environment in an aircraft flying parabola (to simulate weightlessness) and results on hardware performance there. These results show it is feasible to use that environment for evaluative testing of dexterous grasping based on real-time vision of freely rotating and translating objects.

Erickson, J. D.↗
NASA NTRS1994

Call sign intelligibility improvement using a spatial auditory display

A spatial auditory display was designed for separating the multiple communication channels usually heard over one ear to different virtual auditory positions. The single 19 foot rack mount device utilizes digital filtering algorithms to separate up to four communication channels. The filters use four different binaural transfer functions, synthesized from actual outer ear measurements, to impose localization cues on the incoming sound. Hardware design features include 'fail-safe' operation in the case of power loss, and microphone/headset interfaces to the mobile launch communication system in use at KSC. An experiment designed to verify the intelligibility advantage of the display used 130 different call signs taken from the communications protocol used at NASA KSC. A 6 to 7 dB intelligibility advantage was found when multiple channels were spatially displayed, compared to monaural listening. The findings suggest that the use of a spatial auditory display could enhance both occupational and operational safety and efficiency of NASA operations.

Begault, Durand R.↗
NASA NTRS1994

The 1994 Goddard Conference on Space Applications of Artificial Intelligence

This publication comprises the papers presented at the 1994 Goddard Conference on Space Applications of Artificial Intelligence held at the NASA/GSFC, Greenbelt, Maryland, on 10-12 May 1994. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed.

Hostetter, Carl F.↗
NASA NTRS1994

Mission Evaluation Room Intelligent Diagnostic and Analysis System (MIDAS)

The role of Mission Evaluation Room (MER) engineers is to provide engineering support during Space Shuttle missions, for Space Shuttle systems. These engineers are concerned with ensuring that the systems for which they are responsible function reliably, and as intended. The MER is a central facility from which engineers may work, in fulfilling this obligation. Engineers participate in real-time monitoring of shuttle telemetry data and provide a variety of analyses associated with the operation of the shuttle. The Johnson Space Center's Automation and Robotics Division is working to transfer advances in intelligent systems technology to NASA's operational environment. Specifically, the MER Intelligent Diagnostic and Analysis System (MIDAS) project provides MER engineers with software to assist them with monitoring, filtering and analyzing Shuttle telemetry data, during and after Shuttle missions. MIDAS off-loads to computers and software, the tasks of data gathering, filtering, and analysis, and provides the engineers with information which is in a more concise and usable form needed to support decision making and engineering evaluation. Engineers are then able to concentrate on more difficult problems as they arise. This paper describes some, but not all of the applications that have been developed for MER engineers, under the MIDAS Project. The sampling described herewith was selected to show the range of tasks that engineers must perform for mission support, and to show the various levels of automation that have been applied to assist their efforts.

Pack, Ginger L.↗
NASA NTRS1993

Advancing satellite operations with intelligent graphical monitoring systems

For nearly twenty-five years, spacecraft missions have been operated in essentially the same manner: human operators monitor displays filled with alphanumeric text watching for limit violations or other indicators that signal a problem. The task is performed predominately by humans. Only in recent years have graphical user interfaces and expert systems been accepted within the control center environment to help reduce operator workloads. Unfortunately, the development of these systems is often time consuming and costly. At the NASA Goddard Space Flight Center (GSFC), a new domain specific expert system development tool called the Generic Spacecraft Analyst Assistant (GenSAA) has been developed. Through the use of a highly graphical user interface and point-and-click operation, GenSAA facilitates the rapid, 'programming-free' construction of intelligent graphical monitoring systems to serve as real-time, fault-isolation assistants for spacecraft analysts. Although specifically developed to support real-time satellite monitoring, GenSAA can support the development of intelligent graphical monitoring systems in a variety of space and commercial applications.

Hughes, Peter M.↗
NASA NTRS1993

Facilitating access to information in large documents with an intelligent hypertext system

Retrieving specific information from large amounts of documentation is not an easy task. It could be facilitated if information relevant in the current problem solving context could be automatically supplied to the user. As a first step towards this goal, we have developed an intelligent hypertext system called CID (Computer Integrated Documentation) and tested it on the Space Station Freedom requirement documents. The CID system enables integration of various technical documents in a hypertext framework and includes an intelligent context-sensitive indexing and retrieval mechanism. This mechanism utilizes on-line user information requirements and relevance feedback either to reinforce current indexing in case of success or to generate new knowledge in case of failure. This allows the CID system to provide helpful responses, based on previous usage of the documentation, and to improve its performance over time.

Mathe, Nathalie↗
NASA NTRS1994

Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Volume 2

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservations can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed the following topics: (1) vision systems integration and architecture; (2) selective perception and human robot interaction; (3) robotic systems technology; (4) military and other field applications; (5) dual-use precommercial robotic technology; (6) building operations; (7) planetary exploration applications; (8) planning; (9) new directions in robotics; and (10) commercialization.

Erickson, Jon D.↗
NASA NTRS1994

Sensor Fault Detection and Diagnosis Simulation of a Helicopter Engine in an Intelligent Control Framework

This paper presents an application of a fault detection and diagnosis scheme for the sensor faults of a helicopter engine. The scheme utilizes a model-based approach with real time identification and hypothesis testing which can provide early detection, isolation, and diagnosis of failures. It is an integral part of a proposed intelligent control system with health monitoring capabilities. The intelligent control system will allow for accommodation of faults, reduce maintenance cost, and increase system availability. The scheme compares the measured outputs of the engine with the expected outputs of an engine whose sensor suite is functioning normally. If the differences between the real and expected outputs exceed threshold values, a fault is detected. The isolation of sensor failures is accomplished through a fault parameter isolation technique where parameters which model the faulty process are calculated on-line with a real-time multivariable parameter estimation algorithm. The fault parameters and their patterns can then be analyzed for diagnostic and accommodation purposes. The scheme is applied to the detection and diagnosis of sensor faults of a T700 turboshaft engine. Sensor failures are induced in a T700 nonlinear performance simulation and data obtained are used with the scheme to detect, isolate, and estimate the magnitude of the faults.

Litt, Jonathan↗
NASA NTRS1994

An intelligent automated command and control system for spacecraft mission operations

The Intelligent Command and Control (ICC) System research project is intended to provide the technology base necessary for producing an intelligent automated command and control (C&C) system capable of performing all the ground control C&C functions currently performed by Mission Operations Center (MOC) project Flight Operations Team (FOT). The ICC research accomplishments to date, details of the ICC, and the planned outcome of the ICC research, mentioned above, are discussed in detail.

Stoffel, A. William↗
NASA NTRS1994

Knowledge based translation and problem solving in an intelligent individualized instruction system

An Intelligent Individualized Instruction I(sup 3) system is being built to provide computerized instruction. We present the roles of a translator and a problem solver in an intelligent computer system. The modular design of the system provides for easier development and allows for future expansion and maintenance. CLIPS modules and classes are utilized for the purpose of the modular design and inter module communications. CLIPS facts and rules are used to represent the system components and the knowledge base. CLIPS provides an inferencing mechanism to allow the I(sup 3) system to solve problems presented to it in English.

Jung, Namho↗
NASA NTRS1994

An intelligent ground operator support system

This paper presents first results of the project 'Technologien fuer die intelligente Kontrolle von Raumfahrzeugen' (TIKON). The TIKON objective was the demonstration of feasibility and profit of the application of artificial intelligence in the space business. For that purpose a prototype system has been developed and implemented for the operation support of the Roentgen Satellite (ROSAT), a scientific spacecraft designed to perform the first all-sky survey with a high-resolution X-ray telescope and to investigate the emission of specific celestial sources. The prototype integrates a scheduler and a diagnosis tool both based on artificial intelligence techniques. The user interface is menu driven and provides synoptic displays for the visualization of the system status. The prototype has been used and tested in parallel to an already existing operational system.

Goerlach, Thomas↗
NASA NTRS1994

POINTER: Portable Intelligent Trainer for External Robotics

Intelligent tutoring systems (ITS's) play an increasing role in training and education of people with different levels of skill and knowledge. As compared to conventional computer based training (CBT) an ITS provides more tailored instruction by trying to mimic the teaching behavior of a human instructor as much as possible and is therefore much more flexible. This paper starts with an introduction to ITS's, followed by the description of an ITS for training of an (astronaut) operator in monitoring and controlling robotic arm procedures. The robotic arm will be used for exchange of equipment between a space station and a space plane involving critical and accurate movements of the robotic arm. The ITS for this application, called Pointer, is developed by TNO Physics and Electronics Laboratory and is based upon an existing ITS that includes procedural training. Pointer has been developed on a workstation whereas the target platform was a portable computer. Therefore, a lot of attention had to be paid to scaling effects and keeping up with user friendliness of the much smaller user interface. Although the learning domain was the control of a robotic arm, it is clear that use of intelligent training technologies on a portable computer has many other applications (payload operations, operation control rooms, etc.). Training can occur at any time and place in an attractive and cost effective way.

Kuiper, Hilbert↗
NASA NTRS1994

Intelligent monitoring system applied to super long distance telerobotic tasks

Time delay and small capacity of communication are the primary constraint in super long distance telerobotic systems such as astronautical robotic tasks. Intelligent telerobotics is thought to break this constraint. We aim to realize this super long distance telerobotic system with object handling knowledge base and intelligent monitoring. We will discuss physical and technical factors for this purpose.

Wakita, Yujin↗
NASA NTRS1995

The 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies

This publication comprises the papers presented at the 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies held at the NASA/Goddard Space Flight Center, Greenbelt, Maryland, on May 9-11, 1995. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed.

Hostetter, Carl F.↗
NASA NTRS1995

A fuzzy logic intelligent diagnostic system for spacecraft integrated vehicle health management

Due to the complexity of future space missions and the large amount of data involved, greater autonomy in data processing is demanded for mission operations, training, and vehicle health management. In this paper, we develop a fuzzy logic intelligent diagnostic system to perform data reduction, data analysis, and fault diagnosis for spacecraft vehicle health management applications. The diagnostic system contains a data filter and an inference engine. The data filter is designed to intelligently select only the necessary data for analysis, while the inference engine is designed for failure detection, warning, and decision on corrective actions using fuzzy logic synthesis. Due to its adaptive nature and on-line learning ability, the diagnostic system is capable of dealing with environmental noise, uncertainties, conflict information, and sensor faults.

Wu, G. Gordon↗
NASA NTRS1994

Operator modeling in commerical aviation: Cognitive models, intelligent displays, and pilot's assistants

One of the goals of the National Aviation Safety/Automation program is to address the issue of human-centered automation in the cockpit. Human-centered automation is automation that, in the cockpit, enhances or assists the crew rather than replacing them. The Georgia Tech research program focused on this general theme, with emphasis on designing a computer-based pilot's assistant, intelligent (i.e, context-sensitive) displays, and an intelligent tutoring system for understanding and operating the autoflight system. In particular, the aids and displays were designed to enhance the crew's situational awareness of the current state of the automated flight systems and to assist the crew's situational awareness of the current state of the automated flight systems and to assist the crew in coordinating the autoflight system resources. The activities of this grant included: (1) an OFMspert to understand pilot navigation activities in a 727 class aircraft; (2) an extension of OFMspert to understand mode control in a glass cockpit, Georgia Tech Crew Activity Tracking System (GT-CATS); (3) the design of a training system to teach pilots about the vertical navigation portion of the flight management system -VNAV Tutor; and (4) a proof-of-concept display, using existing display technology, to facilitate mode awareness, particularly in situations in which controlled flight into terrain (CFIT) is a potential.

Govindaraj, T.↗