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In this paper we focus on the network routing problem, and survey swarm intelligent approaches for its efficient solution, after a brief overview of power-aware routing schemes, which are important in the network examples outlined above.
The growing popularity of small cost effective satellites (SmallSats, CubeSats, etc.) creates the potential for a variety of new science applications involving multiple nodes functioning together or independently to achieve a task, such as swarms and constellations. As this technology develops and is deployed for missions in Low Earth Orbit and beyond, the use of delay tolerant networking (DTN) techniques may improve communication capabilities within the network. In this paper, a network hierarchy is developed from heterogeneous networks of SmallSats, surface vehicles, relay satellites and ground stations which form an integrated network. There is a tradeoff between complexity, flexibility, and scalability of user defined schedules versus autonomous routing as the number of nodes in the network increases. To address these issues, this work proposes a machine learning classifier based on DTN routing metrics. A framework is developed which will allow for the use of several categories of machine learning algorithms (decision tree, random forest and deep learning) to be applied to a dataset of historical network statistics, which allows for the evaluation of algorithm complexity versus performance to be explored. We develop the emulation of a hierarchical network, consisting of tens of nodes which form a cognitive network architecture. CORE (Common Open Research Emulator) is used to emulate the network using bundle protocol and DTN IP neighbor discovery.
Shared autonomous vehicles (SAVs) bring competition to traditional transit services but redesigning multimodal transit network can utilize SAVs as feeders to enhance service efficiency and coverage. This paper presents an optimization framework for the joint multimodal transit frequency and SAV fleet size problem, a variant of the transit network frequency setting problem. The objective is to maximize total transit ridership (including SAV-fed trips and subtracting boarding rejections) across multiple time periods under budget constraints, considering endogenous mode choice (transit, point-to-point SAVs, driving) and route selection, while allowing for strategic route removal by setting frequencies to zero. Due to the problem’s non-linear, non-convex nature and the computational challenges of large-scale networks, we develop a hybrid solution approach that combines a metaheuristic approach (particle swarm optimization) with nonlinear programming for local solution refinement. To ensure computational tractability, the framework integrates analytical approximation models for SAV waiting times based on fleet utilization, multimodal network assignment for route choice, and multinomial logit mode choice behavior, bypassing the need for computationally intensive simulations within the main optimization loop. Applied to the Chicago metropolitan area’s multimodal network, our method illustrates a 33.3% increase in transit ridership through optimized transit route frequencies and SAV integration, particularly enhancing off-peak service accessibility and strategically reallocating resources.
NASA's future vision for interplanetary networking includes a lunar network, Cube Satellite (CubeSat) constellations, and deep space robotic missions, comprising what could be viewed as a network of networks. Delay-tolerant networking (DTN) architecture and protocols provide a standard network layer among these varying scenarios and mitigate many challenges of the space environment, such as long delays, unplanned service interruptions, and asymmetric links. The Cognitive Space Gateway (CSG) is a routing method in a DTN architecture that uses spiking neural networks as the learning element to optimize routing decisions in a complex environment. This work aims to further develop cognitive networking technologies in several critical areas, including DTN, the CSG algorithm, CubeSat swarm topologies, and cloud services. To test the algorithm in a realistic scenario, the emulated network topology is based on a CubeSat swarm. The swarm may function as a mesh of nodes or as a hub-and-spoke network. An emulation environment will be built upon a commercial cloud service, such as Amazon Web Services (AWS) Elastic Compute Cloud. The cloud environment may enable a flexible, lower maintenance approach versus a multi-hop network based in a physical laboratory. The cloud platform will provide a secure environment allowing for collaboration among government and academic entities.
The Distributed Spacecraft Autonomy project is developing a suite of software tools that enable an operator to command and receive data from a swarm as a single entity, enable a swarm to autonomously coordinate its actions via distributed decision making and reactive closed-loop control, and model swarm behavior in the presence of anomalies or failures. Our use case is the mapping of the electron density of the ionosphere using radio tomography by coordinating the selection of appropriate GPS channels, and by recording Total Electron Count (TEC) measurements. DSA will be demonstrated onboard the NASA Ames Starling mission – a swarm of four small, LEO spacecraft, scheduled to launch in 2021. We will also perform a ground demonstration with simulated and hardware-in-the-loop elements, to validate the tools for controlling swarms of up to 100 assets. The capability to communicate autonomously between the swarm satellites is demonstrated via a sophisticated simulation architecture. Historical Plasmasphere TEC data obtained via dual-band Novatel GPS Receivers are utilized as a representative input dataset for the swarm. The representative TEC data and GPS satellite observability information is fed to the autonomous software package in place of a true real-time ground data collection process. The swarm satellites actively share status updates amongst one another and utilize multi-agent decision making to optimally identify regions of interest in the TEC distribution. The software, aware of the bandwidth limitations of the swarm satellites, prioritizes explorative measurements, which define the range of observability for the satellites, as well as exploitative measurements, which focus on maximizing the observance potential of regions with prolonged, elevated TEC density. The science of this study can ultimately be used to determine the dynamics and coupling of Earth’s magnetosphere, ionosphere, and atmosphere and their response to solar and terrestrial inputs. The findings can be applied to the imaging of critical, transient phenomena in the magnetosphere in later missions. Meanwhile, the swarm autonomy capabilities have far reaching potential in future satellite missions. As an experimental demonstration of the autonomous capabilities of the network, a message is first printed within a core Flight Executive (cFE) application. Two cFE applications that communicate with one another within the same core Flight System (cFS) are shown. Communication between mission applications on the internal cFE bus is extended to utilize Data Distribution Service (DDS) for vehicle-to-vehicle networking. The DDS middleware provides reliable delivery, routing, and topic subscription features over User Datagram Protocol (UDP). Leveraging Linux containerization, a networked set of satellite instances are generated by script to simulate swarm behavior. Swarm commanding and synchronization through the network is demonstrated under various topologies and data-loss conditions. Finally, autonomous swarm scalability from 2 satellites to 100 satellites is shown.
The Distributed Spacecraft Autonomy project is developing a suite of software tools that enable an operator to command and receive data from a swarm as a single entity, enable a swarm to autonomously coordinate its actions via distributed decision making and reactive closed-loop control, and model swarm behavior in the presence of anomalies or failures. Our use case is the mapping of the electron density of the ionosphere using radio tomography by coordinating the selection of appropriate GPS channels, and by recording Total Electron Count (TEC)measurements. DSA will be demonstrated on board the NASA Ames Starling mission a swarm of four small, LEO spacecraft, scheduled to launch in 2021. We will also perform a ground demonstration with simulated and hardware-in-the-loop elements, to validate the tools for controlling swarms of up to 100 assets.The capability to communicate autonomously between the swarm satellites is demonstrated via a sophisticated simulation architecture. Historical Plasma sphere TEC data obtained via dual-band Novatel GPS Receivers are utilized as a representative input data set for the swarm. The representative TEC data and GPS satellite observability information is fed to the autonomous software package in place of a true real-time ground data collection process. The swarm satellites actively share status updates amongst one another and utilize multi-agent decision making to optimally identify regions of interest in the TEC distribution. The software,aware of the bandwidth limitations of the swarm satellites, prioritizes explorative measurements,which define the range of observability for the satellites, as well as exploitative measurements,which focus on maximizing the observance potential of regions with prolonged, elevated TEC density. The science of this study can ultimately be used to determine the dynamics and coupling of Earth's magnetosphere, ionosphere, and atmosphere and their response to solar and terrestrial inputs. The findings can be applied to the imaging of critical, transient phenomena in the magnetosphere in later missions. Meanwhile, the swarm autonomy capabilities have far reaching potential in future satellite missions.As an experimental demonstration of the autonomous capabilities of the network, a message is first printed within a core Flight Executive (cFE) application. Two cFE applications that communicate with one another within the same core Flight System (cFS) are shown.Communication between mission applications on the internal cFE bus is extended to utilize Data Distribution Service (DDS) for vehicle-to-vehicle networking. The DDS middle ware provides reliable delivery, routing, and topic subscription features over User Data gram Protocol (UDP).Leveraging Linux containerization, a networked set of satellite instances are generated by script to simulate swarm behavior. Swarm commanding and synchronization through the network is demonstrated under various topologies and data-loss conditions. Finally, autonomous swarms calability from 2 satellites to 100 satellites is shown.
NASA’s future vision for interplanetary networking includes a lunar network, Cube Satellite (CubeSat) constellations, and deep space robotic missions, comprising what could be viewed as a network of networks. Delay-tolerant networking (DTN) architecture and protocols provide a standard network layer among these varying scenarios and mitigate many challenges of the space environment, such as long delays, unplanned service interruptions, and asymmetric links. The Cognitive Space Gateway (CSG) is a routing method in a DTN architecture that uses spiking neural networks as the learning element to optimize outing decisions in a complex environment. This work aims to further develop cognitive networking technologies in several critical areas, including DTN, the CSG algorithm, SmallSat swarm topologies, and cloud services. The CSG algorithm is tested in a realistic scenario in which the emulated network topology is based on a SmallSat swarm. The emulation environment will be built upon a commercial cloud service, such as Amazon Web Services (AWS) Elastic Compute Cloud. This work investigates the ability of such a platform to enable a flexible, lower maintenance approach to creating a multihop network outside of a physical laboratory. The cloud platform will provide a secure environment allowing for collaboration among government and academic entities.
Topics covered include: Situational Awareness from a Low-Cost Camera System; Data Acquisition System for Multi-Frequency Radar Flight Operations Preparation; Mercury Toolset for Spatiotemporal Metadata; Social Tagging of Mission Data; Integrating Radar Image Data with Google Maps; Demonstration of a Submillimeter-Wave HEMT Oscillator Module at 330 GHz; Flexible Peripheral Component Interconnect Input/Output Card; Interface Supports Lightweight Subsystem Routing for Flight Applications; MMIC Amplifiers and Wafer Probes for 350 to 500 GHz; Public Risk Assessment Program; Particle Swarm Optimization Toolbox; Telescience Support Center Data System Software; Update on PISCES; Ground and Space Radar Volume Matching and Comparison Software; Web-Based Interface for Command and Control of Network Sensors; Orbit Determination Toolbox; Distributed Observer Network; Computer-Automated Evolution of Spacecraft X-Band Antennas; Practical Loop-Shaping Design of Feedback Control Systems; Fully Printed High-Frequency Phased-Array Antenna on Flexible Substrate; Formula for the Removal and Remediation of Polychlorinated Biphenyls in Painted Structures; Integrated Solar Concentrator and Shielded Radiator; Water Membrane Evaporator; Modeling of Failure for Analysis of Triaxial Braided Carbon Fiber Composites; Catalyst for Carbon Monoxide Oxidation; Titanium Hydroxide - a Volatile Species at High Temperature; Selective Functionalization of Carbon Nanotubes: Part II; Steerable Hopping Six-Legged Robot; Launchable and Retrievable Tetherobot; Hybrid Heat Exchangers; Orbital Winch for High-Strength, Space-Survivable Tethers; Parameterized Linear Longitudinal Airship Model; and Physics of Life: A Model for Non-Newtonian Properties of Living Systems.
Autonomous decision-making is crucial for enhancing mission effectiveness in Distributed Space Systems (DSS), particularly in multi-spacecraft operations where communication constraints and mission complexity pose challenges. The Distributed Spacecraft Autonomy (DSA) team at NASA’s Ames Research Center is advancing autonomy in DSS through five key technical areas: distributed resource and task management, reactive operations, system modeling and simulation, human-swarm interaction, and ad hoc network communications. The DSA experiment onboard the Starling 1.0 Mission showcases collaborative resource allocation for multi-point science data collection with four small spacecraft. Autonomy in decision-making is highlighted as a crucial factor for multi-spacecraft missions, enabling spacecraft to operate independently, reducing reliance on ground control. This capability is particularly significant for future deep-space missions, where communication delays and limited data transmission capacity make traditional command and control approaches impractical. This demonstration focuses on a GPS Channel Selection Experiment, leveraging emergent capabilities like "shared sampling" and "simultaneous sampling" to optimize channel selection across the spacecraft swarm. The experiment aims to capture ionospheric phenomena such as the Equatorial Ionization Anomaly and Polar Patches. The DSA system's autonomous reconfiguration ability is showcased, emphasizing its adaptability to natural phenomena without significant integration efforts. The GPS Channel Selection Experiment utilizes a dual-band GPS receiver to estimate plasma density in the ionosphere. Explorative and exploitative channel selections are employed based on the nature of observed phenomena. The performance of DSA algorithms is evaluated in terms of optimal channel allocations and responsiveness to changes in observed features. The DSA Flight Software utilizes the Core Flight System (cFS) framework, ensuring compatibility with the Starling 1.0 flight mission software. DSA showcases results from RTI’s Connext DDS Micro communication middleware, enabling message routing over the Ad-Hoc Network of Starling 1.0. This paper provides a comprehensive overview of the DSA experiment's initial results, emphasizing the advancements in autonomy for Distributed Space Systems and the successful collaboration with the Starling 1.0 mission.
The growing complexity of spacecraft constellations, communication relay offerings, and mission architectures drives the need for the development of autonomous communication systems. NASA has traditionally launched single spacecraft missions that are served by the Space Communication and Navigation (SCaN) program. Operations on SCaN networks are typically scheduled weeks in advance, and often each asset serves a single user spacecraft at a time. Recent movement towards swarm missions could make the current approach unsustainable. Additionally, the integration of commercial communication service providers will substantially increase the data transfer options available to new missions. NASA science missions have found benefit in launching swarms of spacecraft, allowing coordinated simultaneous observations from different perspectives. Inter-spacecraft communication (mesh networking) is an enabler for this architecture, as are CubeSats that allow cost-effective provisioning of distributed mission assets. As more complex swarm missions launch, one challenge is coordinating communication within the swarm and choosing the appropriate mechanism for telemetry, tracking, control, and data services to and from Earth. Cognitive communications research conducted by SCaN aims to mitigate the increasing communication complexity for mission users by increasing the autonomy of links, networks, and service scheduling. By considering automation techniques including recent advances in artificial intelligence and machine learning, cognitive algorithms and related approaches enable increased mission science return, improved resource utilization for service provider networks, and resiliency in unpredictable or unplanned environments. The Cognitive Communications Project at the NASA Glenn Research Center develops applications of data-driven, non-deterministic methods to improve the autonomy of space communication. The project emphasizes development of decentralized space networks with artificial intelligence agents optimizing communication link throughput, data routing, and system-wide asset management. This paper discusses the objectives, approaches, and opportunities of the research to address growing needs of the space communications community.
This program has been funded by DoE/BES for twenty years. It has moved into and out of various subjects as it has developed, but it has retained its focus on complexity and complex systems. The project has evolved in the following way: Self-Assembly and Biomimetic Self-Assembly: All self-assembling systems depend upon a minimum of two types of interaction: a repulsion and an attraction. For the familiar molecular systems, attractive interactions are typically hydrogen bonds and electrostatic interactions. Repulsive interactions include steric effects, hydrophobic effects (in biological systems), and charge-charge repulsion. We have expanded this repertoire to include surface interactions, magnetic interactions, and others. I list these systems in the order in which we have explored them: i) A key emphasis in current work is in understanding how the movement of ions in a magnetic field (the Lorentz effect) interacts with catalytic systems. We have demonstrated that an acceleration in rate of reduction of CO 2 to CO can be accomplished by applying an external magnetic field. This acceleration is largely due to the application of the Lorentz effect on mass transport at the catalyst’s surface. ii) We have also extensively explored the influence of electrostatics, as exhibited in self-assembling systems, by tribocharging. iii) Another key system involves surface tension effects; examples include interactions between heavy particles floating at a liquid-air interface, and interacting by changes in surface area; interactions of bubbles and bubble rafts, behaviors of bubble trains in microfluidic networks, and behaviors of microorganisms in constraining environments. iv) This work has intentionally de-emphasized biological systems; but it does include some work on protein-ligand interactions and interactions among microorganisms. v) We have also explored applications of some of these effects, these explorations include bubble rafts as diffraction gratings, exploration of the structures that can be obtained by tribocharging and uses of these structures in exploring nucleation and melting of crystals. vi) Although not a major focus of this work, several other topics have emerged and offer opportunities for future work. These include the behavior of bubble trains and bubble rafts in microfluidic systems. A particularly interesting example is the formation of bubble trains that repeat in the alteration of large and small bubbles according to rules we do not presently understand, but are uniquely large-period oscillating systems. These systems offer a new route into understanding the instabilities of the type represented by oscillations. vii) We have also begun exploratory projects on magnetic levitation (especially to determine molecular density), and information storage (in molecules). Magnetic Levitation: Self-assembling and biomimetic systems require both attraction and repulsion. We have used electrostatics (tribocharging), interfacial free-energies (surface tension and related forces) and others. Potential uses include reconfigurable diffraction gratings and liquid lenses; exploration of mechanisms in tribocharging; tunneling in EGaIn junctions; and bubble trains (especially in micro-fluidic systems). Examples of systems representing these topics is included in the following papers: Complexity: Disks rotating at a water-air interface; Benard-Marangoni effects; Vortex-Crystals from spinning magnetic disks (Marangoni effects); EGaIn Electrode to study quantum tunneling; Self-Assembly of electrostatically-charged metallic spheres (electrets); Dynamically reconfigurable lens; Using computational designs of ligands for enzymes; Electrostatic self-assembly by tribocharging; Monodisperse bubble trains in microchannel systems; Inverted dripping faucet; Flames; Printing of micro-organisms to regenerate the “ink” of printing device; Using micro-organisms to move loads (“microoxen”); Motion of bacterial swarms near surfaces; Making monodisperse particles in microfluidic systems; Coding/decoding of information stored in droplet trains in microfluidic networks; Magnetic levitation; and Information storage. i) Tribocharging. The change in focus of this work on electrets from the fundamentals of charging to applications of these materials in studying self-assembly using electrostatic interactions. ii) Bubbles in Microchannels. The realization that systems of bubbles in microchannels represented a major opportunity to study complexity in a very tractable system, and the development of a semi-quantitative theory of this subject. iii) Flames. The growth of “flames” remains an exploratory subject for the research, although their currently relatively little active work involving it ongoing. iv) Systems with Microorganisms. The removal of work in biological systems from this project. Based on work supported in this program, we now have a significant project on the development of microfluidic tools for studying C. elegans (a nematode), but this work was not appropriate for a program focused on complexity, and we developed separate support for it. (It is, however, an example of successful seeding of a new area by BES.) The work on electrets has gone through a period in which a part of the program was the subject of a MURI; the focus of this work was to develop materials that did not charge electrostatically on friction or contact. The MURI is now over, and the work on dynamic self-assembly (supported by BES) is the major focus. “Flames” has also enjoyed synergistic support, in terms of a project supported by DARPA on flame suppression (in the absence of extinguishing agents, using acoustic and electrostatic interactions). This work was helpful in understanding some of the basics of flames, but is entirely distinct from the BES focus in complexity. A growing interest is in the Lorentz effect. The Lorentz effect is the force exerted on charged particles (electrons, ions, charged molecules) when they move through a perpendicular magnetic field. The Lorentz effect is almost ubiquitous in modern technology: examples of applications include electric motors, dynamos, cathode ray tubes, many batteries, and most systems that control electrical currents with magnetic forces. We have begun to explore the Lorentz effect in electrochemical systems and heterogeneous catalytic systems involving charged organic species and inorganic ions. This work is still at an early stage, but initial studies that Lorentz effects can be large when ions move through magnetic fields, or magnetic fields move in the presence of ions.
We present a benchmarking study of active learning (AL) schemes for designing planar multilayer nanophotonic metamaterials, where the design tasks are formulated as binary optimization problems. Different surrogate models, including factorization machine (FM), Gaussian process regression (GPR), and convolutional neural network (CNN), combined with different optimization methods, including exhaustive enumeration, discrete particle swarm optimization (DPSO), quantum annealing (QA), hybrid QA, and simulated annealing are studied. The benchmark cases investigated range from small problems with short binary lengths (N = 25) to large problems with N up to 100, focusing on the design of two classes of photonic structures, including antireflective coatings for the long-wavelength infrared region and transparent radiative coolers. For small problems, CNN coupled with DPSO in AL achieves the best performance. As N increases, FM with QA outperforms GPR and CNN. For FM-based AL, hybrid QA yields the best optimization results, particularly in high-dimensional cases (N = 100). These results demonstrate that the optimization method can significantly affect in AL performance as N increases, and that QA-based optimization can provide practical routes for mitigating the optimization bottleneck in high-dimensional problems.