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At least 1,045 records · Page 58

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NASA NTRS1989

A prototype autonomous agent for crew and equipment retrieval in space

The ground-based demonstration of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The software architecture incorporates a hierarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: perception, world model, reasoning, sensing, and acting. The design provides for supervised autonomy as the primary mode of operation with teleoperation as the backup mode. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable operation.

Erickson, J. D.↗

NASA NTRS1989

Mars Rover and Sample Return Mission design

The current reference Mars Rover and Sample Return mission is described. Technical issues are outlined, including high-resolution image acquisition and reconstruction, approach navigation, ground and flight systems operational complexity, rover autonomy, autonomous rendezvous and docking in Mars orbit, aerocapture and aeromaneuver, estimating the probability of mission success, and end-to-end information system design. Focus is placed on lander hazard identification and avoidance, pinpoint landing guidance and control, Mars ascent vehicle guidance and control, planetary protection and quarantine, sample acquisition and preservation, project management and control, systems requirements and interface control, and costing. In addition, program issues such as international participation, fiscal constraints, and launch-vehicle availability are considered.

Kwok, Johnny H.↗

NASA NTRS1990

Attached shuttle payload carriers: Versatile and affordable access to space

The shuttle has been primarily designed to be a versatile vehicle for placing a variety of scientific and technological equipment in space including very large payloads; however, since many large payloads do not fill the shuttle bay, the space and weight margins remaining after the major payloads are accommodated often can be made available to small payloads. The Goddard Space Flight Center (GSFC) has designed standardized mounting structures and other support systems, collectively called attached shuttle payload (ASP) carriers, to make this additional space available to researchers at a relatively modest cost. Other carrier systems for ASP's are operated by other NASA centers. A major feature of the ASP carriers is their ease of use in the world of the Space Shuttle. ASP carriers attempt to minimized the payload interaction with Space Transportation System (STS) operations whenever possible. Where this is not possible, the STS services used are not extensive. As a result, the interfaces between the carriers and the STS are simplified. With this near autonomy, the requirements for supporting documentation are considerably lessened and payload costs correspondingly reduced. The ASP carrier systems and their capabilities are discussed in detail. The range of available capabilities assures that an experimenter can select the simplest, most cost-effective carrier that is compatible with his or her experimental objectives. Examples of payloads which use ASP basic hardware in nonstandard ways are also described.

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NASA NTRS1991

Parallel processing and expert systems

Whether it be monitoring the thermal subsystem of Space Station Freedom, or controlling the navigation of the autonomous rover on Mars, NASA missions in the 90's cannot enjoy an increased level of autonomy without the efficient use of expert systems. Merely increasing the computational speed of uniprocessors may not be able to guarantee that real time demands are met for large expert systems. Speed-up via parallel processing must be pursued alongside the optimization of sequential implementations. Prototypes of parallel expert systems have been built at universities and industrial labs in the U.S. and Japan. The state-of-the-art research in progress related to parallel execution of expert systems was surveyed. The survey is divided into three major sections: (1) multiprocessors for parallel expert systems; (2) parallel languages for symbolic computations; and (3) measurements of parallelism of expert system. Results to date indicate that the parallelism achieved for these systems is small. In order to obtain greater speed-ups, data parallelism and application parallelism must be exploited.

Yan, Jerry C.↗

NASA NTRS1991

Sharing intelligence: Decision-making interactions between users and software in MAESTRO

By combining the best of automated and human decision-making in scheduling many advantages can accrue. The joint performance of the user and system is potentially much better than either alone. Features of the MAESTRO scheduling system serve to illustrate concepts of user/software cooperation. MAESTRO may be operated at a user-determinable and dynamic level of autonomy. Because the system allows so much flexibility in the allocation of decision-making responsibilities, and provides users with a wealth of information and other support for their own decision-making, better overall schedules may result.

Geoffroy, Amy L.↗

NASA NTRS1991

Applications of fuzzy logic to control and decision making

Long range space missions will require high operational efficiency as well as autonomy to enhance the effectivity of performance. Fuzzy logic technology has been shown to be powerful and robust in interpreting imprecise measurements and generating appropriate control decisions for many space operations. Several applications are underway, studying the fuzzy logic approach to solving control and decision making problems. Fuzzy logic algorithms for relative motion and attitude control have been developed and demonstrated for proximity operations. Based on this experience, motion control algorithms that include obstacle avoidance were developed for a Mars Rover prototype for maneuvering during the sample collection process. A concept of an intelligent sensor system that can identify objects and track them continuously and learn from its environment is under development to support traffic management and proximity operations around the Space Station Freedom. For safe and reliable operation of Lunar/Mars based crew quarters, high speed controllers with ability to combine imprecise measurements from several sensors is required. A fuzzy logic approach that uses high speed fuzzy hardware chips is being studied.

Lea, Robert N.↗

NASA NTRS1991

Parallel processing and expert systems

Whether it be monitoring the thermal subsystem of Space Station Freedom, or controlling the navigation of the autonomous rover on Mars, NASA missions in the 1990s cannot enjoy an increased level of autonomy without the efficient implementation of expert systems. Merely increasing the computational speed of uniprocessors may not be able to guarantee that real-time demands are met for larger systems. Speedup via parallel processing must be pursued alongside the optimization of sequential implementations. Prototypes of parallel expert systems have been built at universities and industrial laboratories in the U.S. and Japan. The state-of-the-art research in progress related to parallel execution of expert systems is surveyed. The survey discusses multiprocessors for expert systems, parallel languages for symbolic computations, and mapping expert systems to multiprocessors. Results to date indicate that the parallelism achieved for these systems is small. The main reasons are (1) the body of knowledge applicable in any given situation and the amount of computation executed by each rule firing are small, (2) dividing the problem solving process into relatively independent partitions is difficult, and (3) implementation decisions that enable expert systems to be incrementally refined hamper compile-time optimization. In order to obtain greater speedups, data parallelism and application parallelism must be exploited.

Lau, Sonie↗

NASA NTRS1990

Collaboration technology and space science

A summary of available collaboration technologies and their applications to space science is presented as well as investigations into remote coaching paradigms and the role of a specific collaboration tool for distributed task coordination in supporting such teleoperations. The applicability and effectiveness of different communication media and tools in supporting remote coaching are investigated. One investigation concerns a distributed check-list, a computer-based tool that allows a group of people, e.g., onboard crew, ground based investigator, and mission control, to synchronize their actions while providing full flexibility for the flight crew to set the pace and remain on their operational schedule. This autonomy is shown to contribute to morale and productivity.

Leiner, Barry M.↗

NASA NTRS1990

A control architecture for a Mars walking vehicle

A design framework for a Mars Rover, intended for missions where a high degree of autonomy is dictated, is presented. The framework provides a logical computing architecture for rover mobility and local navigation subsystem design by defining a set of functional modules and interfaces to facilitate software and hardware specification. The similarities and dissimilarities between the present approach and related architectures for autonomous navigation and robotic control are discussed. An approach is presented for specifying actions to be taken by the mobility and local navigation subsystems of the rover.

Spiessbach, Andrew J.↗

NASA NTRS1990

Demonstrating artificial intelligence for space systems - Integration and project management issues

As part of its Systems Autonomy Demonstration Project (SADP), NASA has recently demonstrated the Thermal Expert System (TEXSYS). Advanced real-time expert system and human interface technology was successfully developed and integrated with conventional controllers of prototype space hardware to provide intelligent fault detection, isolation, and recovery capability. Many specialized skills were required, and responsibility for the various phases of the project therefore spanned multiple NASA centers, internal departments and contractor organizations. The test environment required communication among many types of hardware and software as well as between many people. The integration, testing, and configuration management tools and methodologies which were applied to the TEXSYS project to assure its safe and successful completion are detailed. The project demonstrated that artificial intelligence technology, including model-based reasoning, is capable of the monitoring and control of a large, complex system in real time.

Hack, Edmund C.↗

NASA NTRS1990

Plants and men in space - A new field in plant physiology

Results are presented on a comparison of nutritional values of and human psychological responses to algae and of higher plants considered for growth as food on long-term missions in space, together with the technological complexities of growing these plants. The comparison shows the advantages of higher plants, with results suggesting that a high level of material recycling can be obtained. It is noted that the issue of space gravity may be not a major problem for plants because of the possibility that phototropism can provide an alternative sense of direction. Problems of waste recycling can be solved in association with plant cultivation, and a high degree of autonomy of food production can be obtained.

Andre, M.↗

NASA NTRS1991

Automating a spacecraft electrical power system using expert systems

Since Skylab, Marshall Space Flight Center (MSFC) has recognized the need for large electrical power systems (EPS's) in upcoming Spacecraft. The operation of the spacecraft depends on the EPS. Therefore, it must be efficient, safe, and reliable. In 1978, as a consequence of having to supply a large number of EPS personnel to monitor and control Skylab, the Electrical power Branch of MSFC began the autonomously managed power system (AMPS) project. This project resulted in the assembly of a 25-kW high-voltage dc test facility and provided the means of getting man out of the loop as much as possible. AMPS includes several embedded controllers which allow a significant level of autonomous operation. More recently, the Electrical Division at MSFC has developed the space station module power management and distribution (SSM/PMAD) breadboard to investigate managing and distributing power in the Space Station Freedom habitation and laboratory modules. Again, the requirement for a high level of autonomy for the efficient operation over the lifetime of the station and for the benefits of enhanced safety has been demonstrated. This paper describes the two breadboards and the hierarchical approach to automation which was developed through these projects.

Lollar, L. F.↗

NASA NTRS1991

Space Communications Technology Conference: Onboard Processing and Switching

Papers and presentations from the conference are presented. The topics covered include the following: satellite network architecture, network control and protocols, fault tolerance and autonomy, multichanned demultiplexing and demodulation, information switching and routing, modulation and coding, and planned satellite communications systems.

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NASA NTRS1992

Automatic learning rate adjustment for self-supervising autonomous robot control

Described is an application in which an Artificial Neural Network (ANN) controls the positioning of a robot arm with five degrees of freedom by using visual feedback provided by two cameras. This application and the specific ANN model, local liner maps, are based on the work of Ritter, Martinetz, and Schulten. We extended their approach by generating a filtered, average positioning error from the continuous camera feedback and by coupling the learning rate to this error. When the network learns to position the arm, the positioning error decreases and so does the learning rate until the system stabilizes at a minimum error and learning rate. This abolishes the need for a predetermined cooling schedule. The automatic cooling procedure results in a closed loop control with no distinction between a learning phase and a production phase. If the positioning error suddenly starts to increase due to an internal failure such as a broken joint, or an environmental change such as a camera moving, the learning rate increases accordingly. Thus, learning is automatically activated and the network adapts to the new condition after which the error decreases again and learning is 'shut off'. The automatic cooling is therefore a prerequisite for the autonomy and the fault tolerance of the system.

Arras, Michael K.↗

NASA NTRS1991

Operational design factors for NASP derived vehicles

The factors that significantly affect the operability of aerospace planes are identified and considered in terms of the development of the National Aerospace Plane (NASP). The aircraftlike vehicle can be affected by variables related to the structure, propulsion, and mechanical elements of the design. The requirements to control the factors are listed including robustness, fuels and propellants, maintainability, autonomy, and development testing. The details of the requirements indicate critical factors such as the strength-to-weight ratios of the materials, propellant-system components that can withstand 5000 consecutive cycles, and low vehicle-failure probabilities. The NASP program is concluded to require: (1) models for quantitative operational assessments; (2) a modular design for the NASP structure; (3) computer-technology integration; and (4) technologies to support and normalize cryogenic operations.

Hickman, R. A.↗

NASA NTRS1990

Fundamental research in artificial intelligence at NASA

This paper describes basic research at NASA in the field of artificial intelligence. The work is conducted at the Ames Research Center and the Jet Propulsion Laboratory, primarily under the auspices of the NASA-wide Artificial Intelligence Program in the Office of Aeronautics, Exploration and Technology. The research is aimed at solving long-term NASA problems in missions operations, spacecraft autonomy, preservation of corporate knowledge about NASA missions and vehicles, and management/analysis of scientific and engineering data. From a scientific point of view, the research is broken into the categories of: planning and scheduling; machine learning; and design of and reasoning about large-scale physical systems.

Friedland, Peter↗

NASA NTRS1992

Strategic approaches to planetary base development

The evolutionary development of a planetary expansionary outpost is considered in the light of both technical and economic issues. The outline of a partnering taxonomy is set forth which encompasses both institutional and temporal issues related to establishing shared interests and investments. The purely technical issues are discussed in terms of the program components which include nonaerospace technologies such as construction engineering. Five models are proposed in which partnership and autonomy for participants are approached in different ways including: (1) the standard customer/provider relationship; (2) a service-provider scenario; (3) the joint venture; (4) a technology joint-development model; and (5) a redundancy model for reduced costs. Based on the assumed characteristics of planetary surface systems the cooperative private/public models are championed with coordinated design by NASA to facilitate outside cooperation.

Roberts, Barney B.↗

NASA NTRS1992

Supervisory telerobotics testbed for unstructured environments

A telerobotics testbed for performing tasks such as assembly and repair of spacecraft in unstructured environments is described. This fully operational multiarm system can operate in teleoperated or supervisory control modes, as well as mixed shared-control modes, thus enabling operations in totally to partially unstructured environments. Various sources of uncertainty are identified and approaches to minimize their effects are presented. In the teleoperated mode, the system uses two force-reflecting hand controllers to operate two manipulator arms. A third arm is utilized to position four cameras to view the scene. In the supervisory mode, the system can be operated from three different levels: task, process, and servo levels, providing different levels of autonomy and performance. Various tools are provided so that an operator can perform tasks even when objects are partially occluded or their positions are not known a priori.

Hayati, S.↗