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At least 109 records · Page 6

Automation and robotics for Space Station in the twenty-first century

Space Station telerobotics will evolve beyond the initial capability into a smarter and more capable system as we enter the twenty-first century. Current technology programs including several proposed ground and flight experiments to enable development of this system are described. Advancements in the areas of machine vision, smart sensors, advanced control architecture, manipulator joint design, end effector design, and artificial intelligence will provide increasingly more autonomous telerobotic systems.

Willshire, K. F.↗

Conjunction Assessment and Deconfliction Paradigm for Co-located Satellite Constellations with On-Spacecraft “Autonomous” Flight Dynamics Control

Constellations that employ highly-automated satellite flight dynamics can operate safely from a collision avoidance (CA) perspective using current CA screening technology and communication paradigms—except when in proximity to other highly-automated constellations: there is no existing arrangement and concept of operations to allow the low-latency CA screenings, exchange of information, and assignment/acceptance of mitigation responsibility that co-location of highly-automated constellations requires. However, the serendipitous co-location of the NASA Starling mission—an autonomously-controlled technology demonstration constellation—and the SpaceX Starlink constellation has presented an opportunity (indeed, a requirement) to develop and build out a solution for safe operations of two (or more) co-located, highly-automated satellite constellations. Such a solution has been designed and constructed, including the required ground node; and it will be exercised as a dedicated, in-flight safety experiment between the two constellations from January to September 2024. Lessons learned from this experiment are expected to feed the design of the US Department of Commerce’s Tracking Control System for Space (TraCSS) space traffic coordination solution.

conjunction assessment↗

Expert system isssues in automated, autonomous space vehicle rendezvous

The problems involved in automated autonomous rendezvous are briefly reviewed, and the Rendezvous Expert (RENEX) expert system is discussed with reference to its goals, approach used, and knowledge structure and contents. RENEX has been developed to support streamlining operations for the Space Shuttle and Space Station program and to aid definition of mission requirements for the autonomous portions of rendezvous for the Mars Surface Sample Return and Comet Nucleus Sample return unmanned missions. The experience with REMEX to date and recommendations for further development are presented.

Goodwin, Mary Ann↗

Onboard Autonomous Rock Shape Analysis for Mars Rovers

In the quest to maximize the scientific return of future robotic missions, it is imperative that our rovers be capable of determining the importance of the science they collect so that they may prioritize the acquisition and relay of that data. As an important step in this process, we present an automated technique to allow a rover to classify the shape and other geologic characteristics of rocks from two-dimensional photographic images and three-dimensional stereographically produced data. Experiments were conducted in the Matlab environment using images returned by JPL's Mars Pathfinder mission. Our method begins by first segmenting the rocks from the background using a combination of image intensity and height data. Various metrics are then used to classify the region's sphericity, roundness, and other geometric properties. Preliminary experiments to determine the most useful metrics were conducted by characterizing the two-dimensional rock shape while the three-dimensional shape was later studied with metrics derived from these two-dimensional techniques. Seven measures were developed and implemented. The performance of each measure was characterized by analyzing imagesfrom the Pathfinder mission and ranking the rocks according to the measured properties. Combined, the measures would provide a tool by which an automated rover could discover a greater amount of information about the data it collects, leading to a more productive mission.

image segmentation↗

Experiments In Characterizing Vibrations Of A Structure

Report discusses experiments conducted to test methods of identification of vibrational and coupled rotational/vibrational modes of flexible structure. Report one in series that chronicle development of integrated system of methods, sensors, actuators, analog and digital signal-processing equipment, and algorithms to suppress vibrations in large, flexible structure even when dynamics of structure partly unknown and/or changing. Two prior articles describing aspects of research, "Autonomous Frequency-Domain Indentification" (NPO-18099), and "Automated Characterization Of Vibrations Of A Structure" (NPO-18141).

Yam, Yeung↗

In-time System-wide Safety Assurance (ISSA) Concept of Operations and Design Considerations for Urban Air Mobility (UAM)

Emerging operations involving Advanced Air Mobility (AAM), such as Urban Air Mobility (UAM), pose a challenge to safety assurance and to accessibility within the National Airspace System (NAS).In particular, the public has a low tolerance for risk in aviation and the current NAS tends to be labor-intensive with limited ability to scale up for UAM. In response to this landscape, NASA is collaborating with industry to define a Concept of Operations (ConOps) for In-time System-Wide Safety Assurance (ISSA) for scalable UAM involving a service-oriented architecture. This architecture focuses safety investments for technological solutions that can overcome safety related barriers for emerging operations. By working with industry, consensus can be reached on desirable system traits that are based on integration and fusion of data and leverage increasingly autonomous and automated systems. These complex systems can identify anomalies, precursors, and trends that together enable more proactive management of operational risks. AAM and UAM elevate the need for risk management in relation to increasing density and heterogeneity of vehicles and operations. Whereas safety in today’s NAS is built on a history of programs and technologies that react to incidents and accidents, AAM presents an opportunity to leverage that experience and its implications and proactively integrate safety into the earliest designs of vehicles and systems. In a perfect world AAM and UAM would not be inherently dangerous but until then ensuring the highest quality of safety requirements is the bridge to mitigating risks.

In-Time System-Wide Safety Assurance↗

Automating Maneuvers: Considerations for Collision Avoidance

As more space operators implement large constellations of spacecraft, automating orbit maintenance maneuvers becomes a key feature of their operations concept to ensure that the workload is manageable. However, the practice of performing a maneuver without sharing the plan with other nearby spacecraft causes a risk that two spacecraft will collide, not only destroying the spacecraft involved, but creating debris that will affect all other spacecraft using that orbit regime. In order to share the maneuver plan, a predicted ephemeris file containing the maneuver must be sent to a central authority to screen against predicted trajectories of all other on-orbit objects to determine where and when close approaches will occur that may need to be mitigated. Currently the screening authority used by US operators is the 19th Space Defense Squadron; screenings are performed once every 8 hours, meaning that spacecraft using automated maneuvering need to allow 16 hours to share their maneuver plan via the screening process in advance of maneuver execution in case one screening is missed and the next needs to be used. In an effort to speed up the screening process to benefit spacecraft using automated maneuvering, a prototype system for performing near-real-time screenings has been developed in support of the NASA Starling mission, a constellation of four cubesats that fly at the same altitude as the SpaceX Starlink constellation. Both of these constellations perform automated maneuvering, so without screening the planned maneuvers before execution, the two constellations would risk a collision. This paper describes the traditional conjunction assessment (CA) process, the prototype real-time CA screening capability, plans for the experiment to test the prototype, and next steps.

conjunction assessment↗

Automating Maneuvers: Considerations for Collision Avoidance

As more space operators implement large constellations of spacecraft, automating orbit maintenance maneuvers becomes a key feature of their operations concept to ensure that the workload is manageable. However, the practice of performing a maneuver without sharing the plan with other nearby spacecraft causes a risk that two spacecraft will collide, not only destroying the spacecraft involved, but creating debris that will affect all other spacecraft using that orbit regime. In order to share the maneuver plan, a predicted ephemeris file containing the maneuver must be sent to a central authority to screen against predicted trajectories of all other on-orbit objects to determine where and when close approaches will occur that may need to be mitigated. Currently the screening authority used by US operators is the 19th Space Defense Squadron; screenings are performed once every 8 hours, meaning that spacecraft using automated maneuvering need to allow 16 hours to share their maneuver plan via the screening process in advance of maneuver execution in case one screening is missed and the next needs to be used. In an effort to speed up the screening process to benefit spacecraft using automated maneuvering, a prototype system for performing near-real-time screenings has been developed in support of the NASA Starling mission, a constellation of four cubesats that fly at the same altitude as the SpaceX Starlink constellation. Both of these constellations perform automated maneuvering, so without screening the planned maneuvers before execution, the two constellations would risk a collision. This paper describes the traditional conjunction assessment (CA) process, the prototype real-time CA screening capability, plans for the experiment to test the prototype, and next steps.

conjunction assessment↗

On-Demand Mobility (ODM) Technical Pathway: Enabling Ease of Use and Safety

On-demand mobility (ODM) through aviation refers to the ability to quickly and easily move people or equivalent cargo without delays introduced by lack of, or infrequently, scheduled service. A necessary attribute of ODM is that it be easy to use, requiring a minimum of special training, skills, or workload. Fully-autonomous vehicles would provide the ultimate in ease-of-use (EU) but are currently unproven for safety-critical applications outside of a few, situationally constrained applications (e.g. automated trains operating in segregated systems). Applied to aviation, the current and near-future state of the art of full-autonomy, may entail undesirable trade-offs such as very conservative operational margins resulting in reduced trip reliability and transportation utility. Furthermore, acceptance by potential users and regulatory authorities will be challenging without confidence in autonomous systems in developed in less critical, but still challenging applications. A question for the aviation community is how we can best develop practical ease-of-use for aircraft that are sized to carry a small number of passengers (e.g. 1-9) or equivalent cargo. Such development is unlikely to be a single event, but rather a managed, evolutionary process where responsibility and authority transitions from human to automation agents as operational experience is gained with increasingly intelligent systems. This talk presents a technology road map being developed at NASA Langley, as part of an overall strategy to foster ODM, for the development of ease-of-use for ODM aviation.

Goodrich, Ken↗

From Sim to Real: A Pipeline for Training and Deploying Traffic Smoothing Cruise Controllers

Designing and validating controllers for connected and automated vehicles to enhance traffic flow presents significant challenges, from the complexity of replicating real-world stop-and-go traffic dynamics in simulation, to the intricacies involved in transitioning from simulation to actual deployment. In this work, we present a full pipeline from data collection to controller deployment. Specifically, we collect 772 km of driving data from the I-24 in Tennessee, and use it to build a one-lane simulator, placing simulated vehicles behind real-world trajectories. Using policy-gradient methods with an asymmetric critic, we improve fuel efficiency by over 10% when simulating congested scenarios. Our comprehensive approach includes reinforcement learning for controller training, software verification, hardware validation and setup, and navigating various sim-to-real challenges. Furthermore, we analyze the controller's behavior and wave-smoothing properties, and deploy it on four Toyota Rav4’s in a real-world validation experiment on the I-24. Lastly, we release the driving dataset, the simulator and the trained controller, to enable future benchmarking and controller design.

42 ENGINEERING↗

Playbook for UAS: UX of Goal-Oriented Planning & Execution

We are evaluating Playbook for CASAS (Connected Autonomous Smart Aerospace Systems), a tool designed to aid first responders in disaster relief efforts. We are adapting an existing tool, Playbook, to support a future unmanned aircraft system (UAS) swarm demonstration. Playbook for CASAS will be used to plan, edit, and monitor simulated UAS swarms, and we are interested in evaluating the user experience of this prototype as well as developing recommendations for future UAS interfaces. Allocation of roles and responsibilities between human-automation systems is key to promoting productive cooperation between users and automation. Future interfaces, however, must allow for adaptive management of the swarm not a constant split in human-automation control. Our early research indicates that when a single pilot is controlling swarms of robotic agents, such as UAS or ground rovers, operators require a higher level, goal-based interface with usability at its core. Along with that high-level control, users can leverage sensors within the swarm to be notified when lower level actions must be taken by the pilot. First responders working in disaster relief efforts require a high level of situational awareness (SA) and precise control at key moments within a mission. This balance in operator workload paired with SA can lead to improved safety and mission outcomes. Our research below outlines leverage points as well as the balance between human involvement and autonomy in UAS interfaces.

UAS↗

TechEdSat-11: Prototyping Autonomous Communications in Orbit

Cognitive Engine 1 (CE-1) is a state-of-the-art automated system designed to manage routine operations and respond to adverse events without requiring human operator input. CE-1 will optimize scheduling capabilities, detect and react to link failures, and ensure data delivery deadlines are met efficiently. Seamless roaming between government and commercial providers will allow for a robust and cost-effective network. TechEdSat-11 will demonstrate two key components of CE-1: User Initiated Services (UIS) and Delay Tolerant Networking (DTN). The first phase of the experiment will use UIS to automate on-demand scheduling of a commercial S-band ground station. Later phases of the experiment will demonstrate DTN store-and-forward and space internetworking capabilities through the TechEdSat-11 S-band radio. This paper will discuss the CE-1 main components relevant to the experiment, the flight and ground software architecture, experiment concept of operations and preliminary results.

Rachel Dudukovich↗

Effects on Task Performance and Psychophysiological Measures of Performance During Normobaric Hypoxia Exposure

Human-autonomous systems have the potential to mitigate pilot cognitive impairment and improve aviation safety. A research team at NASA Langley conducted an experiment to study the impact of mild normobaric hypoxia induction on aircraft pilot performance and psychophysiological state. A within-subjects design involved non-hypoxic and hypoxic exposures while performing three 10-minute tasks. Results indicated the effect of 15,000 feet simulated altitude did not induce significant performance decrement but did produce increase in perceived workload. Analyses of psychophysiological responses evince the potential of biomarkers for hypoxia onset. This study represents on-going work at NASA intending to add to the current knowledge of psychophysiologically-based input to automation to increase aviation safety. Analyses involving coupling across physiological systems and wavelet transforms of cortical activity revealed patterns that can discern between the simulated altitude conditions. Specifically, multivariate entropy of ECG/Respiration components were found to be significant predictors (p< 0.02) of hypoxia. Furthermore, in EEG, there was a significant decrease in mid-level beta (15.19-18.37Hz) during the hypoxic condition in thirteen of sixteen sites across the scalp. Task performance was not appreciably impacted by the effect of 15,000 feet simulated altitude. Analyses of psychophysiological responses evince the potential of biomarkers for mild hypoxia onset.The potential for identifying shifts in underlying cortical and physiological systems could serve as a means to identify the onset of deteriorated cognitive state. Enabling such assessment in future flightdecks could permit increasingly autonomous systems-supported operations. Augmenting human operator through assessment of cognitive impairment has the potential to further improve operator performance and mitigate human error in safety critical contexts. This study represents ongoing work at NASA intending to add to the current knowledge of psychophysiologically-based input to automation to increase aviation safety.

Stephens, Chad↗

Supervised Autonomous Assembly to Create and Evolve Persistent Assets

Supervised autonomous assembly (SAA) will create a paradigm shift in the planning and design of future persistent assets (PAs), both in near zero-g environments and on planetary surfaces. SAA refers to an autonomy approach that has the benefits of autonomous assembly as well as the benefits provided by a supervisor (operator) who is available to resolve unexpected situations. SAA provides both increased design freedom as well as reduced programmatic risk. SAA enables evolution of future PAs over decades as in-space operations transition from single purpose missions to creation of PAs, such as laboratories and experimental stations which more closely resembling terrestrial laboratories that can easily adapt and evolve to new missions leveraging repeated visits to the PA. The ability to evolve enables PAs to rapidly respond to changing objectives resulting from new questions as our understanding improves. A recently initiated National Aeronautics and Space Administration (NASA) project in the Space Technology Mission Directorate (STMD) Game Changing Development (GCD) Program called the Precision Assembled Space Structure (PASS), leverages the advantages of SAA to develop technologies that enable efficient creation and evolution of hexagonal topologies; both planar (example: fuel depots) and curved (examples: telescopes and shelters). PASS will be used to provide context for the philosophy and concepts discussed as well as the decision and selections made. PASS objectives are: a) Develop confidence in SAA and on-orbit servicing, assembly and manufacturing (OSAM) technologies by executing a test campaign that uses a path-to-flight autonomous precision assembly process directly applicable to future space telescopes. b) Test autonomous technologies including automated path planning and error recovery, to emphasize a robust approach that relies on generic robots and special purpose tools. c) Validate critical component models using a digital twin that includes the assembled primary mirror support structure and assembly process. A digital twin is a high-fidelity simulation of the asset capable of predicting the on-orbit performance. The paper concludes after identifying the critical need for a modest assembly flight experiment to validate and develop confidence in the SAA paradigm, thus accelerating adoption of the benefits described. SAA is a game changing paradigm that enhances the ability of an organization to infuse new technology through rapid evolution of PAs while leveraging OSAM technologies.

Structural Modeling↗

Conjunction Assessment and Deconfliction Paradigm for Co-Located Satellite Constellations With on-Spacecraft “Autonomous” Flight Dynamics Control

Satellite constellations that employ on-spacecraft flight dynamics and conjunction assessment (CA) approaches face particular challenges. First, they must arrange to obtain and upload to the constellation satellite close approach information, such as Conjunction Data Messages, so that their on-board systems will have the data they need to make informed CA decisions. Second, given current latencies in obtaining CA screening information, such systems often cannot obtain dedicated screenings of their proposed maneuvers before they are executed. Third, they usually cannot engage in real time with owner/operators (O/Os) with whom they may come into conjunction, relying instead on pre-arranged courses of action that may or may not fit a given situation well. Despite these difficulties, it is nonetheless possible, as operators such as SpaceX have demonstrated, to operate safely using on-board CA calculations, in the presence of a largely collaborative operating environment. The situation breaks down, however, when two constellations that operate with such a paradigm are placed in the same orbital region and will experience conjunctions with each other. Each may have a vague idea of where the other’s satellites are, or perhaps even a somewhat precise idea if they exchange O/O ephemerides, but neither will know the other’s more immediate maneuver intentions, especially for situations in which they are in a high-risk conjunction with each other and a mitigation maneuver is required. As there is no formalized way for these automated systems to ascertain each other’s intentions for this type of conjunction, it is quite possible that each spacecraft may choose a maneuver that results in the two objects’ colliding. An opportunity to develop a solution to this problem was presented by the NASA “Starling” project, a small experimental constellation developed to demonstrate autonomous satellite control and constellation reconfiguration and for which a launch was obtained that, serendipitously, will place this constellation close to the SpaceX Starlink constellation. Because the NASA constellation is experimental, an extended mission part of the mission has been negotiated to implement and test mechanisms for resolving the problem of co-located constellations with on-board flight dynamics control. For the last eighteen months, a consortium among NASA Ames (the Starling satellite providers), NASA CARA (the Agency organization responsible for conjunction assessment), Space X, and the Department of Commerce (in observer status) has met regularly to assemble a concept of operations for a robust solution to this problem and has developed a prototype ground node that will serve as a needed CA screening and information dispensary. The approach and methods, as well as the active employment of the developed ground node, will be tested both in simulation before actual use and then in actual spacecraft operations, which are anticipated to begin in January 2024. This paper will describe the co-located autonomously-controlled constellation problem and the developed solution in detail, outlining what ground node (i.e., government) infrastructure and features are required, what particular capabilities are needed by the constellations themselves in order to make use of this deconfliction paradigm, and the migration path forward to allow such a capability set to be incorporated by the Department of Commerce’s space traffic coordination system.

Conjunction Assessment↗

AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles

The NASA Johnson Space Center has developed a nanosatellite-class Free Flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam Free Flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35-pound, 14-inch diameter AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, power, propulsion, and imaging subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations, including automatic stationkeeping, point-to-point maneuvering, and waypoint tracking. The Mini AERCam Free Flyer is accompanied by a sophisticated control station for command and control, as well as a docking system for automated deployment, docking, and recharge at a parent spacecraft. Free Flyer functional testing has been conducted successfully on both an airbearing table and in a six-degree-of-freedom closed-loop orbital simulation with avionics hardware in the loop. Mini AERCam aims to provide beneficial on-orbit views that cannot be obtained from fixed cameras, cameras on robotic manipulators, or cameras carried by crewmembers during extravehicular activities (EVA s). On Shuttle or International Space Station (ISS), for example, Mini AERCam could support external robotic operations by supplying orthogonal views to the intravehicular activity (IVA) robotic operator, supply views of EVA operations to IVA and/or ground crews monitoring the EVA, and carry out independent visual inspections of areas of interest around the spacecraft. To enable these future benefits with minimal impact on IVA operators and ground controllers, the Mini AERCam system architecture incorporates intelligent systems attributes that support various autonomous capabilities. 1) A robust command sequencer enables task-level command scripting. Command scripting is employed for operations such as automatic inspection scans over a region of interest, and operator-hands-off automated docking. 2) A system manager built on the same expert-system software as the command sequencer provides detection and smart-response capability for potential system-level anomalies, like loss of communications between the Free Flyer and control station. 3) An AERCam dynamics manager provides nominal and off-nominal management of guidance, navigation, and control (GN&C) functions. It is employed for safe trajectory monitoring, contingency maneuvering, and related roles. This paper will describe these architectural components of Mini AERCam autonomy, as well as the interaction of these elements with a human operator during supervised autonomous control.

Fredrickson, Steven E.↗

Issues in advanced automation for manipulator control

This paper provides a brief description and analysis of the main issues in advanced autonomous control of manipulators as seen from a system point of view. The nature of manipulation is analyzed at some depth. A general multilevel structure is outlined for manipulator control organization which includes the human operator at the top level of the control structure. Different approaches to the development of advanced automation of mechanical arms are summarized. Recent work in the JPL teleoperator project is described, including control system, force/torque sensor, and control software development. Some results from control experiments are summarized.

Bejczy, A. K.↗

Use of Traffic Intent Information by Autonomous Aircraft in Constrained Operations

This paper presents findings of a research study designed to provide insight into the issue of intent information exchange in constrained en-route air-traffic operations and its effect on pilot decision-making and flight performance. The piloted simulation was conducted in the Air Traffic Operations Laboratory at the NASA Langley Research Center. Two operational modes for autonomous flight management were compared under conditions of low and high operational complexity (traffic and airspace hazard density). The tactical mode was characterized primarily by the use of traffic state data for conflict detection and resolution and a manual approach to meeting operational constraints. The strategic mode involved the combined use of traffic state and intent information, provided the pilot an additional level of alerting, and allowed an automated approach to meeting operational constraints. Operational constraints applied in the experiment included separation assurance, schedule adherence, airspace hazard avoidance, flight efficiency, and passenger comfort. The strategic operational mode was found to be effective in reducing unnecessary maneuvering in conflict situations where the intruder's intended maneuvers would resolve the conflict. Conditions of high operational complexity and vertical maneuvering resulted in increased proliferation of conflicts, but both operational modes exhibited characteristics of stability based on observed conflict proliferation rates of less than 30 percent. Scenario case studies illustrated the need for maneuver flight restrictions to prevent the creation of new conflicts through maneuvering and the need for an improved user interface design that appropriately focuses the pilot's attention on conflict prevention information. Pilot real-time assessment of maximum workload indicated minimal sensitivity to operational complexity, providing further evidence that pilot workload is not the limiting factor for feasibility of an en-route distributed traffic management system, even under highly constrained conditions.

Wing, David J.↗