Autonomous and Autonomic Systems: With Applications to NASA Intelligent Spacecraft Operations and Exploration Systems

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1 Walt Truszkowski, Harold L. Hallock, Christopher Rouff, Jay Karlin, James Rash, Mike Hinchey, and Roy Sterritt Autonomous and Autonomic Systems: With Applications to NASA Intelligent Spacecraft Operations and Exploration Systems With 56 Figures

2 Contents Part I Background 1 Introduction Direction of New Space Missions New Millennium Program's Space Technology Solar Terrestrial Relations Observatory Magnetospheric Multiscale Tracking and Data Relay Satellites Other Missions Automation vs. Autonomy vs. Autonomic Systems Autonomy vs. Automation Autonomicity vs. Autonomy Using Autonomy to Reduce the Cost of Missions Multispacecraft Missions Communications Delays Interaction of Spacecraft Adjustable and Mixed Autonomy Agent Technologies Software Agents Robotics Immobots or Immobile Robots Summary 23 2 Overview of Flight and Ground Software Ground System Software Planning and Scheduling Command Loading Science Schedule Execution Science Support Activity Execution Onboard Engineering Support Activities 28

3 XII Contents Downlinked Data Capture Performance Monitoring Fault Diagnosis Fault Correction Downlinked Data Archiving Engineering Data Analysis/Calibration Science Data Processing/Calibration Flight Software Attitude Determination and Control, Sensor Calibration, Orbit Determination, Propulsion Executive and Task Management, Time Management, Command Processing, Engineering and Science Data Storage and Handling, Communications Electrical Power Management, Thermal Management, SI Commanding, SI Data Processing Data Monitoring, Fault Detection and Correction Safemode Flight vs. Ground Implementation 35 3 Flight Autonomy Evolution Reasons for Flight Autonomy Satisfying Mission Objectives Satisfying Spacecraft Infrastructure Needs Satisfying Operations Staff Needs Brief History of Existing Flight Autonomy Capabilities s and Prior Spacecraft s Spacecraft s Spacecraft Current Spacecraft Flight Autonomy Capabilities of the Future Current Levels of Flight Automation/Autonomy 66 4 Ground Autonomy Evolution Agent-Based Flight Operations Associate A Basic Agent Model in AFLOAT Implementation Architecture for AFLOAT Prototype The Human Computer Interface in AFLOAT Inter-Agent Communications in AFLOAT Lights Out Ground Operations System The LOGOS Architecture An Example Scenario Agent Concept Testbed Overview of the ACT Agent Architecture Architecture Components 83

4 Contents XIII ACT Operational Scenario Verification and Correctness 90 Part II Technology 5 Core Technologies for Developing Autonomous and Autonomic Systems Plan Technologies Planner Overview Symbolic Planners Reactive Planners Model-Based Planners Case-Based Planners Schedulers Collaborative Languages Reasoning with Partial Information Fuzzy Logic Bayesian Reasoning Learning Technologies Artificial Neural Networks Genetic Algorithms and Programming Act Technologies Perception Technologies Sensing Image and Signal Processing Data Fusion Testing Technologies Software Simulation Environments Simulation Libraries Simulation Servers Networked Simulation Environments Agent-Based Spacecraft Autonomy Design Concepts High Level Design Features Safemode Inertial Fixed Pointing Ground Commanded Slewing Ground Commanded Thruster Firing Electrical Power Management Thermal Management Health and Safety Communications Basic Fault Detection and Correction Diagnostic Science Instrument Commanding Engineering Data Storage 119

5 XIV Contents 6.2 Remote Agent Functionality Fine Attitude Determination Attitude Sensor/Actuator and Science Instrument Calibration Attitude Control Orbit Maneuvering Data Monitoring and Trending "Smart" Fault Detection, Diagnosis, Isolation, and Correction Look-Ahead Modeling Target Planning and Scheduling Science Instrument Commanding and Configuration Science Instrument Data Storage and Communications Science Instrument Data Processing Spacecraft Enabling Technologies Modern CCD Star Trackers Onboard Orbit Determination Advanced Flight Processor Cheap Onboard Mass Storage Devices Advanced Operating System Decoupling of Scheduling from Communications Onboard Data Trending and Analysis Efficient Algorithms for Look-Ahead Modeling AI Enabling Methodologies Operations Enabled by Remote Agent Design Dynamic Schedule Adjustment Driven by Calibration Status Target of Opportunity Scheduling Driven by Realtime Science Observations Goal-Driven Target Scheduling Opportunistic Science and Calibration Scheduling Scheduling Goals Adjustment Driven by Anomaly Response Adaptable Scheduling Goals and Procedures Science Instrument Direction of Spacecraft Operation Beacon Mode Communication Resource Management Advantages of Remote Agent Design Efficiency Improvement Reduced FSW Development Costs Mission Types for Remote Agents LEO Celestial Pointers GEO Celestial Pointers GEO Earth Pointers 141

6 Contents Survey Missions Lagrange Point Celestial Pointers Deep Space Missions Spacecraft Constellations Spacecraft as Agents 145 Cooperative Autonomy Need for Cooperative Autonomy in Space Missions Quantities of Science Data Complexity of Scientific Instruments Increased Number of Spacecraft General Model of Cooperative Autonomy Autonomous Agents Agent Cooperation Cooperative Actions Spacecraft Mission Management Science Planning Mission Planning Sequence Planning Command Sequencer Science Data Processing Spacecraft Mission Viewed as Cooperative Autonomy Expanded Spacecraft Mission Model Analysis of Spacecraft Mission Model Improvements to Spacecraft Mission Execution An Example of Cooperative Autonomy: Virtual Platform Virtual Platforms Under Current Environment Virtual Platforms with Advanced Automation Examples of Cooperative Autonomy The Mobile Robot Laboratory at Georgia Tech Cooperative Distributed Problem Solving Research Group at the University of Maine Knowledge Sharing Effort DIS and HLA IBM Aglets 171 Autonomic Systems Overview of Autonomic Systems What are Autonomic Systems? Autonomic Properties Necessary Constructs Evolution vs. Revolution Further Reading State of the Art Research Machine Design 180 XV

7 XVI Contents Prediction and Optimization Knowledge Capture and Representation Monitoring and Root-Cause Analysis Legacy Systems and Autonomic Environments Space Systems Agents for Autonomic Systems Policy-Based Management Related Initiatives Related Paradigms Research and Technology Transfer Issues 185 Part III Applications 9 Autonomy in Spacecraft Constellations Introduction Constellations Overview Advantages of Constellations Cost Savings Coordinated Science Applying Autonomy and Autonomicity to Constellations Ground-Based Constellation Autonomy Space-Based Autonomy for Constellations Autonomicity in Constellations Intelligent Agents in Space Constellations Levels of Intelligence in Spacecraft Agents Multiagent-Based Organizations for Satellites Grand View Agent Development Ground-Based Autonomy Space-Based Autonomy Swarms in Space Missions Introduction to Swarms Swarm Technologies at NASA SMART NASA Prospecting Asteroid Mission Other Space Swarm-Based Concepts Other Applications of Swarms Autonomicity in Swarm Missions Software Development of Swarms Programming Techniques and Tools Verification Future Swarm Concepts 220

8 Contents XVII 11 Concluding Remarks Factors Driving the Use of Autonomy and Autonomicity Reliability of Autonomous and Autonomic Systems Future Missions Autonomous and Autonomic Systems in Future NASA Missions 228 A Attitude and Orbit Determination and Control 231 B Operational Scenarios and Agent Interactions 235 B.I Onboard Remote Agent Interaction Scenario 235 B.2 Space-to-Ground Dialog Scenario 239 B.3 Ground-to-Space Dialog Scenario 240 B.4 Spacecraft Constellation Interactions Scenario 242 B.5 Agent-Based Satellite Constellation Control Scenario 246 B.6 Scenario Issues 247 C Acronyms 249 D Glossary 253 References 263 Index 277

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