DOCSLIB.ORG

(PLEXIL) for Executable Plans and Command Sequences”, International Symposium on Artificial Intelligence, Robotics and Automation in Space (Isairas), 2005

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
(PLEXIL) for Executable Plans and Command Sequences”, International Symposium on Artificial Intelligence, Robotics and Automation in Space (Isairas), 2005 V. Verma, T. Estlin, A. Jónsson, C. Pasareanu, R. Simmons, K. Tso, “Plan Execution Interchange Language (PLEXIL) for Executable Plans and Command Sequences”, International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), 2005 PLAN EXECUTION INTERCHANGE LANGUAGE (PLEXIL) FOR EXECUTABLE PLANS AND COMMAND SEQUENCES Vandi Verma(1), Tara Estlin(2), Ari Jónsson(3), Corina Pasareanu(4), Reid Simmons(5), Kam Tso(6) (1)QSS Inc. at NASA Ames Research Center, MS 269-1 Moffett Field CA 94035, USA, Email:[email protected] (2)Jet Propulsion Laboratory, M/S 126-347, 4800 Oak Grove Drive, Pasadena CA 9110, USA , Email:[email protected] (3) USRA-RIACS at NASA Ames Research Center, MS 269-1 Moffett Field CA 94035, USA, Email:[email protected] (4)QSS Inc. at NASA Ames Research Center, MS 269-1 Moffett Field CA 94035, USA, Email:[email protected] (5)Robotics Institute, Carnegie Mellon University, Pittsburgh PA 15213, USA, Email:[email protected] (6)IA Tech Inc., 10501Kinnard Avenue, Los Angeles, CA 9002, USA, Email: [email protected] ABSTRACT this task since it is impossible for a small team to manually keep track of all sub-systems in real time. Space mission operations require flexible, efficient and Complex manipulators and instruments used in human reliable plan execution. In typical operations command missions must also execute sequences of commands to sequences (which are a simple subset of general perform complex tasks. Similarly, a rover operating on executable plans) are generated on the ground, either Mars must autonomously execute commands sent from manually or with assistance from automated planning, Earth and keep the rover safe in abnormal situations. and sent to the spacecraft. For more advanced operations more expressive executable plans may be Execution systems realize pre-planned actions in the used; the plans might also be generated automatically real world. Execution systems are particularly useful in on board the spacecraft. In all these cases, the the presence of uncertainty. Classical execution executable plans are received by a software system that functions include selecting an action from a set of executes the plan. This software system, often called possibilities based on the current state of the robot and an executive, must ensure that the execution of the environment and on the outcome of previous actions. commands and response of the fault protection system The capabilities of an execution system typically conforms to pre-planned behaviour. This paper include hierarchical task decomposition, coordinating presents a language, called PLEXIL, that is designed simultaneous actions, resource management, specifically for flexible and reliable command monitoring of states, relaying command status, and execution. It is designed to be portable, lightweight, exception handling. One way to view an execution predictable, and verifiable, and at the same time it is system is as an onboard system that takes a plan that more expressive than command sequencing languages assumes a certain level of certainty and expected currently used on space missions. outcomes and executes it in a possibly uncertain and dynamic environment. 1. INTRODUCTION An execution language is a representation of commands and plans that provides a representation for All space missions require execution systems that reasoning about required robot and environment state execute commands and monitor the environment. Such as well as the effects of executed commands. It takes execution systems vary in sophistication, from those into account the interdependence between actions, in that execute linear sequences of commands at fixed terms of temporal precedence and other constraints, times, to those that can plan and schedule in reaction to such as resource contention. An execution language unexpected changes in the environment. also provides a representation for monitoring mission constraints and encoding appropriate responses if these The level of autonomy and type of control that constraints are violated. execution systems are designed for varies greatly [13]. A spacecraft controlled primarily by humans must Plan execution frameworks vary greatly, due both to continuously monitor critical systems and report different capabilities of the execution systems and due important events. An execution system is needed for _____________________________________________________ Proc. ‘ISAIRAS 2005 Conference’, Munich, Germany, 5-8 September 2005 (ESA SP-603, September 2005) 2 to relationships with associated decision-making As test cases for the general PLEXIL execution engine, frameworks. The latter dependency has made the reuse two different types of planners will be utilized for of execution and planning frameworks difficult, and generating PLEXIL plans and re-planning based on has all but precluded information sharing between feedback information. One is a constructive planner, different execution and decision-making systems. called PICO [6], that generates long-term contingent plans, which are flexible.Since plans contain As a step in the direction of addressing these issues, we contingencies, PICO can be used off-board the rover. are developing a general plan execution language, The other is an iterative repair-based planner, called called the Plan Execution Interchange Language CASPER [5], which generates fixed plan instances but (PLEXIL). PLEXIL extends many execution control can easily re-plan in the face of changes. CASPER is capabilities of other systems. It is capable of typically used as an on-board planner. Currently, each expressing concepts used by many high-level planner interacts with the hardware using different automated planners and hence provides an interface to executives. The executive used with CASPER is based multiple planners. on TDL [11], which is an extension of the C++ programming language that includes syntax for task The key characteristics of PLEXIL are that it is definition, task expansion, temporal constraints, compact, semantically clear, and deterministic given concurrent execution, monitoring, and fault recovery. the same sequence of inputs. At the same time, the PICO uses the Contingent Rover Language (CRL) [3] language is quite expressive and can represent simple executive which uses a hierarchical representation to branches, floating branches, loops, time and event represent simple and floating branches, nesting, driven activities, concurrent activities, sequences, and flexible time, and state and resource conditions, but temporal constraints. The core syntax of the language does not support loops and periodic tasks, or have a is simple and uniform, making plan interpretation mechanism for providing feedback to planners. simple and efficient, while enabling the application of validation and testing techniques. On-board planner Off-board planner (CASPER planner) (PICO Contingent Planner) PLEXIL includes a domain description that specifies command types, task expansions, constraints, etc., as Interface Interface well as feedback to the higher-level decision-making capabilities. In addition, PLEXIL includes a graphical Plan Execution user interface that builds upon the Eclipse framework Interchange [10] that can be used to manually create PLEXIL plans. Language (PLEXIL) This paper provides an overview of the grammar and Universal Executive semantics of PLEXIL. Further details may be found in CLARAty Functional Layer [7]. It also outlines ongoing work on implementing a universal execution system, based on PLEXIL, using state-of-the-art rover functional interfaces and planners as test cases. Figure 1: Architectural design where PLEXIL is shown to interface with the CASPER and PICO planners 2. BACKGROUND We are using several existing implementations of rover 3. TRADITIONAL SPACECRAFT control systems to drive the design of PLEXIL. One of OPERATIONS these is the Coupled Layer Architecture for Robotic Autonomy (CLARAty) [14], which is a two layered In traditional spacecraft operations control commands software architecture that was developed to enable both are translated into simple sequences and uploaded to a plug-and-play capability and a tighter coupling of the remote spacecraft. high level decision making planners and the interface to hardware. The CLARAty architecture has An example of this mode of operations is the Mars successfully enabled interoperability at the functional Exploration Rover (MER) mission [12]. In the MER layer, which is the interface to the hardware. The mission, plans are built in a mixed-initiative fashion on development of the PLEXIL-based execution system in Earth. In this process, tools such as the Science the CLARAty architecture will provide a level of Activity Planner (SAP) [9] and Mixed-initiative interchangeability for the decision layer. activity planner for the Mars Exploration Rover mission (MAPGEN) [2] combine automated 3 capabilities and interfaces for human plan construction. The execution language should be amenable to mixed- The resulting plans are translated into command initiative planning. In other words, it should be sequences and uploaded to the Mars rovers. possible to translate plans from an automated planner into plans in the execution language and in addition it The on-board flight software on the rovers then should be possible to manually edit these plans if executes the command sequences. In cases where the necessary. outcome of complex commands, such as an arm placement, is uncertain, the command sequence is One important aspect
Load more

Recommended publications
  • Refactoring the Curiosity Rover's Sample Handling Architecture on Mars
    Refactoring the Curiosity Rover's Sample Handling Architecture on Mars Vandi Verma Stephen Kuhn (abstracting the shared development effort of many) The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. Copyright 2018 California Institute of Technology. U.S. Government sponsorship acknowledged. Introduction • The Mars Science Laboratory (“MSL”) hardware was architected to enable a fixed progression of activities that essentially enforced a campaign structure. In this structure, sample processing and analysis conflicted with any other usage of the robotic arm. • Unable to stow the arm and drive away • Unable to deploy arm instruments for in-situ engineering or science • Unable to deploy arm instruments or mechanisms on new targets • Sampling engineers developed and evolved a refactoring of this architecture in order to have it both ways Turn the hardware into a series of caches and catchments that could service all arm orientations. Enable execution of other arm activities with one “active” sample Page 2 11/18/20preserved such that additional portions could be delivered. The Foundational Risk Page 3 11/18/20 The Original Approach Page 4 11/18/20 Underpinnings of the original approach • Fundamentally, human rover planners simply could not keep track of sample in CHIMRA as it sluiced, stick- slipped, fell over partitions, pooled in catchments, etc. Neither could we update the Flight Software to model this directly. • But, with some simplifying abstraction of sample state and preparation of it into confined regimes of orientation, ground tools could effectively track sample. Rover planners’ use of Software Simulator was extended to enforce a chain of custody in commanded orientation, creating a faulted breakpoint upon violation that could be used to fix it.
    [Show full text]
  • Real-Time Fault Detection and Situational Awareness for Rovers: Report on the Mars Technology Program Task
    Real-time Fault Detection and Situational Awareness for Rovers: Report on the Mars Technology Program Task Richard Dearden, Thomas Willeke Frank Hutter fRIACS, QSS Group Inc.g / NASA Ames Research Center Fachbereich Informatik M.S. 269-3, Moffett Field, CA 94035, USA Technische Universitat¨ Darmstadt, Germany fdearden,[email protected] [email protected] Reid Simmons, Vandi Verma Sebastian Thrun Carnegie Mellon University Computer Science Department, Stanford University Pittsburg, PA 15213, USA 353 Serra Mall, Gates Bldg 154 freids,[email protected] Stanford, CA 94305, USA [email protected] Abstract— An increased level of autonomy is critical for 1. INTRODUCTION meeting many of the goals of advanced planetary rover mis- This paper reports the results from a study done as part of sions such as NASA’s 2009 Mars Science Lab. One impor- NASA’s Mars Technology Program entitled “Real-time Fault tant component of this is state estimation, and in particular Detection and Situational Awareness for Rovers”. The main fault detection on-board the rover. In this paper we describe goal of this project was to develop and demonstrate a fault- the results of a project funded by the Mars Technology Pro- detection technology capable of operating on-board a Mars gram at NASA, aimed at developing algorithms to meet this rover in real-time. requirement. We describe a number of particle filtering-based algorithms for state estimation which we have demonstrated Fault diagnosis is a critical task for autonomous operation of successfully on diagnosis problems including the K-9 rover systems such as spacecraft and planetary rovers.
    [Show full text]
  • Enabling and Enhancing Astrophysical Observations with Autonomous Systems
    Enabling and Enhancing Astrophysical Observations with Autonomous Systems Rashied Amini1;a, Steve Chien1, Lorraine Fesq1, Jeremy Frank2 , Ksenia Kolcio3, Bertrand Mennsesson1, Sara Seager4, Rachel Street5 July 10, 2019 Endorsements Patricia Beauchamp1, John Day1, Russell Genet6, Jason Glenn7, Ryan Mackey1, Marco Quadrelli1, Rebecca Ringuette8, Daniel Stern1, Tiago Vaquero1 1NASA Jet Propulsion Laboratory 2NASA Ames Research Center 3Okean Solutions 4 arXiv:2009.07361v1 [astro-ph.IM] 15 Sep 2020 Massachusetts Institute of Technology 5Las Cumbres Observatory 6California Polytechnic State University 7University of Colorado at Boulder 8University of Iowa a [email protected] c 2019 California Institute of Technology. Government sponsorship acknowledged. 1 Executive Summary Servicing is a legal requirement for WFIRST Autonomy is the ability of a system to achieve and the Flagship mission of the 2030s [5], yet goals while operating independently of exter- past and planned demonstrations may not pro- nal control [1]. The revolutionary advantages vide sufficient future heritage to confidently meet of autonomous systems are recognized in nu- this requirement. In-space assembly (ISA) is cur- merous markets, e.g. automotive, aeronautics. rently being evaluated to construct large aper- Acknowledging the revolutionary impact of au- ture space telescopes [6]. For both servicing and tonomous systems, demand is increasing from ISA, there are questions about how nominal op- consumers and businesses alike and investments erations will be assured, the feasibility of teleop- have grown year-over-year to meet demand. In eration in deep space, and response to anomalies self-driving cars alone, $76B has been invested during robotic operation. from 2014 to 2017 [2]. In the previous Planetary The past decade has seen a revolution in Science Decadal, increased autonomy was identi- the access to space, with low cost launch ve- fied as one of eight core multi-mission technolo- hicles, commercial off-the-shelf technology, and gies required for future missions [3].
    [Show full text]
  • Intelligence for Space Robotics
    INTELLIGENCE FOR SPACE ROBOTICS Edited By Ayanna M. Howard Edward W. Tunstel Georgia Institute of Technology NASA Jet Propulsion Laboratory FOR SPACE CONNOISSEURS AND RESEARCHERS ALIKE Space exploration missions employ robots, instrumented with a variety of sensors and tools, on remote planetary surfaces, on orbit, or as assistants to astronauts. The utility of space robots is a function of their ability to move about, perform work, and explore intelligently without frequent contact with, or strong reliance on, human operators. This requires capabilities for sensing and perception of surrounding unstructured or uncharted environments. It also requires intelligent reasoning about CHAPTERS perceptions to perform tasks in a purposeful and reliable manner in such CHALLENGES OF SPACE ROBOTICS environments. As such, robotic intelligence or autonomy is closely Robotics Challenges for Space and Planetary Robot Systems, related to success of space missions involving robots and automated JPL, USA space systems. With the increasing successes of robotic missions by Space Computing Challenges and Future Directions, JPL, space agencies worldwide, robot autonomy technology has boldly USA confronted the challenging proving grounds of space and its planetary PLANETARY SURFACE ROBOTICS surfaces, further demonstrating its utility and practicality with each Surface Navigation and Mobility Intelligence on the Mars mission. The need for intelligent space robots has increased as well, and Exploration Rovers, JPL, USA will continue to increase with the ever-challenging pursuits of the Vision-Based Localization and Terrain Modeling for international space agencies requiring teams of humans and smart robots. Planetary Rovers, MDA Space Missions, CANADA Design Methodologies for a Colony of Autonomous Space Robot Explorers, Politecnico di Milano, ITALY Space missions present unique robotics challenges.
    [Show full text]
  • Survey of Command Execution Systems for NASA Spacecraft and Robots
    V. Verma, A. Jónsson, R. Simmons, T. Estlin, R. Levinson, “Survey of Command Execution Systems for NASA Robots and Spacecraft”, “Plan Execution: A Reality Check” Workshop at The International Conference on Automated Planning & Scheduling (ICAPS), 2005 Survey of Command Execution Systems for NASA Spacecraft and Robots Vandi Verma, Ari Jónsson, Reid Simmons, Tara Estlin, Rich Levinson QSS / NASA Ames Research Center USRA-RIACS / NASA Ames Research Center Carnegie Mellon University Jet Propulsion Lab Attention Control Systems Inc. MS 269-1 NASA Ames, Moffett Field CA 94035 MS 269-2 NASA Ames, Moffett Field CA 94035 3205 Newell-Simon Hall, Carnegie Mellon University, Pittsburgh, PA 15213 M/S 126-347, JPL, Pasadena CA 91109-8099 650 Castro St., Ste 120 PMB 197, Mountain View CA 94041 [email protected], [email protected], [email protected], [email protected], [email protected] Abstract generally only partially known and may even be dynamic. NASA spacecraft and robots operate at long distances from To account for uncertainty even a simple deterministic Earth. Command sequences generated manually, or by sequence of commands needs to use worst-case estimates automated planners on Earth, must eventually be executed of action duration and resource use. In some cases even this autonomously on-board the spacecraft or robot. Software suboptimal sequence may not be robust to the uncertainty. systems that execute commands on-board are known variously as execution systems, virtual machines, or This paper presents a survey of execution systems that have sequence engines. Every robotic system requires some sort been developed for various applications.
    [Show full text]
  • Ad Astra Academy: Using Space Exploration to Promote Student Learning and Motivation in the City of God, Rio De Janeiro, Brazil
    Ad Astra Academy: Using Space Exploration to Promote Student Learning and Motivation in the City of God, Rio de Janeiro, Brazil Practice Best Wladimir Lyra Ana Pantelic Paul Hayne New Mexico State University University of Belgrade University of Colorado Boulder [email protected] [email protected] [email protected] Melissa Rice Karolina Garcia Jeffrey Marlow Western Washington University University of Florida Boston University [email protected] [email protected] [email protected] Dhyan Adler-Belendez Leonardo Sattler Cassara Harvard Graduate School of Education (alumnus) Federal University of Rio de Janeiro [email protected] [email protected] Keywords Neil Jacobson Carolyn Crow Astronomy education; Student motivation; Mars University of Southern California University of Colorado Boulder exploration; Astrobiology; Outreach for [email protected] [email protected] Development Motivation is a primary determinant of a student’s academic success, but in many under-resourced educational contexts around the world, opportunities to develop motivation are lacking. In the City of God neighborhood of Rio de Janeiro, Brazil, we, a group of scientists and science educators, enacted the Ad Astra Academy, a brief, interactive intervention targeting teenage students at risk of dropping out of school. Students participated in an immersive five-day programme, followed by a six-month lecture series, before completing the second, immersive three-day programme. Participants learned how to use the scientific method in real-world settings to generate new knowledge. In order to consolidate these knowledge gains and bolster the inspirational power of the programme, capstone projects empowered participants to speak with NASA mission managers and, in some cases, acquire never-before-seen images of Mars.
    [Show full text]
  • Development of Autonomous Actions to Enable the Next Decade of Ocean World Exploration
    Ocean Worlds Exploration and Autonomy Decadal Survey 2023-2032 Development of Autonomous Actions to Enable the Next Decade of Ocean World Exploration Corresponding Author: Glenn E. Reeves, Jet Propulsion Laboratory (JPL), California Institute of Technology, [email protected] Co-Authors: Brett A. Kennedy (JPL), Grace H. Tan-Wang (JPL), Paul G. Backes (JPL), Steve A. Chien (JPL), Vandi Verma (JPL), Kevin P. Hand (JPL), Cynthia B. Phillips (JPL) This work was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004). © 2020. California Institute of Technology. Government sponsorship acknowledged Pre-Decisional Information — For Planning and Discussion Purposes Only CL#20-3666 Ocean Worlds Exploration and Autonomy Decadal Survey 2023-2032 1. Executive Summary The development of autonomous actions aboard surface systems is of great value to the exploration of ocean worlds, and the in situ exploration of much of our solar system. The ability of landers to operate with more autonomy than current landers and rovers will enable more and better science, with an overall reduction in cost for comparable missions. In this paper we identify the array of challenges that confront in situ exploration on an ocean world and how many of these challenges are, and have been, addressed (and in some cases resolved) in the early development work for NASA’s Europa Lander mission concept. We identify the pathway for constructing a highly autonomous surface system that enables ocean worlds exploration across an array of targets. Our key developments include: • A system-wide architecture effort to identify the mission activities, and the onboard decisions, that will be required for time- and resource-efficient missions.
    [Show full text]
  • Hyde-A General Purpose Framework For
    HyDE – A General Framework for Stochastic and Hybrid Model-based Diagnosis Sriram Narasimhan1 and Lee Brownston2 1University of California, Santa Cruz and 2Perot Systems Government Services, Inc. M/S 269-3, NASA Ames Research Center, Moffett Field, CA-94035 1sriram,[email protected] Abstract diagnosis reasoning (e.g., pure consistency-based, purely In recent years several approaches have been proposed for stochastic and different kinds of search algorithms). model-based diagnosis of hybrid systems. These approaches deal with discrete or parametric faults, and perform In this paper we present the Hybrid Diagnostic Engine consistency-based, stochastic or mixed reasoning. The (HyDE), a general framework for stochastic and hybrid major restriction that a diagnosis application designer faces model-based diagnosis of discrete faults, that is, is that each technique uses its own modeling paradigm and spontaneous changes in operating modes of components. the reasoning algorithms implement a single strategy. HyDE combines ideas from consistency-based [Hamscher, Diagnosis application designers would like to have the et al., 1992; De Kleer and Williams, 1987] and stochastic flexibility of building models that are suitable for the task [Hofbaur and Williams, 2002; Dearden and Clancy, 2002] (e.g., appropriate abstraction level, appropriate details, type of modeling paradigm used). They would also like to have approaches to model-based diagnosis using discrete the flexibility in choosing the strategies used in the [Williams and Nayak, 1996; Kurien and Nayak, 2000], diagnostic reasoning process. continuous [Gertler, 1988; Mosterman and Biswas, 1999] and hybrid [Narasimhan and Biswas, 2003; Hofbaur and We propose a general framework for stochastic and hybrid Williams, 2002; Dearden and Clancy, 2002] models to model-based diagnosis called Hybrid Diagnosis Engine create a flexible and extensible architecture for stochastic (HyDE) that offers this flexibility to the diagnosis and hybrid diagnosis.
    [Show full text]
  • 2020 Mars Society Convention Schedule
    2020 Mars Society Convention Schedule Thursday October 15th All Times PDT Morning Plenaries 9:00 AM Dr. Robert Zubrin, President, The Mars Society 9:30 AM Dr. Chris McKay, NASA Ames, Prerequisites to Human Activity on Mars 10:00 AM Dr. Carol Stoker, NASA Ames, Potential Habitats for Life on Mars 10:30 AM Dr. Michael Hecht, PI, MOXIE, Mars Perseverance 11:00 AM Dr. Abigail Fraeman, Deputy Project Scientist, Mars Curiosity 11:30 AM Dr. Mark Panning, Project Scientist & Co-Investigator, Mars InSight 12:00 PM Dr. Adrian Brown: Mars 2020 and Mars Sample Return 12:30 PM Dr. Anna Yusupova, IBMP Russia: confinement experiments Afternoon Sessions Tech A Tech B Settlement A Medical TA-1 Romanko et a:l TB-1 Gilbert: Nuclear Fuel SA-1 Bhuiyan: Mars City M-1 Kir: Medicine on Oasis Mars Project Cycle for Mars Design for 1,000,000 Mars after 2050 1:00 PM TA-2 Lee Roberts: SA-2 Haeupli- M-2 Gardiner: Towards TB-2 Nikitaev: Seeding Underwater Mars Meusburger: Mars Healthy Living on Mars in H2 in NTP Engines Habitats Science City a Time of CV19 on Earth 1:30 PM SA-3 Jus Ad Astra: TB-3 Tan, Rezende et al Human Rights as a M-3 Jobin: Martian Operations of a Power foundation for a Mars Bill Mental Health Station on Mars 2:00 PM of rights M-4 Lordos: Large Scale TA-4 Pelc, Suscicka et al; TB-4 Kumar, Sharma et SA-4 Mayes: Utopian Space Settlements: A Evolution of a Mars al: Power Generation for Colonies on Mars New Frontier for Space Colony Mars using CO2 2:30 PM Psychology M-5 Kommareddy and TA-5 Lebedev: TB-5 Kumar, Adlakha et SA-5 Calanchi: A cultural Rezende:
    [Show full text]
  • Autonomous Science Restart for the Planned Europa Mission with Lightweight Planning and Execution
    Autonomous Science Restart for the Planned Europa Mission with Lightweight Planning and Execution Vandi Verma, Dan Gaines, Gregg Rabideau, Steve Schaffer, Rajeev Joshi Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive Pasadena, California 91109 firstname.lastname @jpl.nasa.gov { } Abstract In this paper we present MEXEC - a lightweight on-board Periodic Instrument planning and execution system that monitors spacecraft state calibration Periodic observations Periodic Engineering to robustly respond to current conditions. In addition it Maintenance projects the remaining plan forward in time to detect con- flicts and revise the plan. Most current planetary missions use sequence based com- manding from the ground, which limits the ability to respond Instrument to on-board state varying from planned for state. This re- calibration Periodic/continuous observations Manuvers GNC Attain Periodic Targeting sults in planning for worst-case execution time, power uti- UVS Scan Init Europa Closest Approach lization, data volume and other resources and leads to under- Flyby Periodic utilization of the spacecraft capability. It also limits the abil- Instrument DSN Tracks calibration GNC Attain ity to respond to faults. Earth Due to the high radiation environment at Jupiter the prob- ability of flight software resets is high. Therefore, of partic- ular interest to the planned Europa Mission is the capability to restart the science plan after flight software resets. In this Figure 1: Simplified Jovian Orbit and Flyby Segment. paper we present results from running Europa flyby scenar- ios with flight software resets in the Europa flight software test environment. Preliminary results with the prototype sce- nario show MEXEC takes less than a tenth of a second to Sequencing Approach and Related Work respond to resets.
    [Show full text]
  • Ssim: NASA Mars Rover Robotics Flight Software Simulation
    SSim: NASA Mars Rover Robotics Flight Software Simulation Vandi Verma, Chris Leger Mobility and Robotics Systems Section NASA Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive, Pasadena California, USA [email protected], [email protected] Abstract—Each new Mars rover has pursued increasingly richer 10. CONCLUSIONS .....................................9 science while tolerating a wider variety of environmental condi- ACKNOWLEDGMENTS ................................ 10 tions and hardware degradation over longer mission operation duration. Sojourner operated for 83 sols (Martian days), Spirit REFERENCES ......................................... 10 for 2208 sols, and Opportunity is at 5111 sols, and Curiosity BIOGRAPHY .......................................... 11 operation is ongoing at 2208 sols. To handle this increase in ca- pability, the complexity of onboard flight software has increased. MSL (also known as Curiosity), uses more flight software lines of code than all previous missions to Mars combined, including 1. INTRODUCTION both successes and failures[1]. MSL has more than 4,200 com- mands with as many as dozens of arguments, 54,000 parameters, Mars science is an active area of research, and there are and tens of thousands of additional state variables. A single 500 planetary scientists that participate in MSL operations. high-level command may perform hours of configurable robotic Analysis and discussion of observations made by the rover arm and sampling behavior. Incorrect usage can result in the typically impact the goals for subsequent observations. Un- loss of an activity or the loss of the mission. Surface Simulation like most deep space and Earth orbiting missions for which (“SSim”) was developed to address the challenge of making full operations are typically planned weeks, months and even and effective use of many capabilities of MSL, while managing years in advance, Mars rover operations are planned daily complexity and risk.
    [Show full text]
  • So You Passed an Earned Value Management Government Validation - Now What?
    2019 IEEE Aerospace Conference (AERO 2019) Big Sky, Montana, USA 2-9 March 2019 Pages 1-820 IEEE Catalog Number: CFP19AAC-POD ISBN: 978-1-5386-6855-9 1/6 Copyright © 2019 by the Institute of Electrical and Electronics Engineers, Inc. All Rights Reserved Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For other copying, reprint or republication permission, write to IEEE Copyrights Manager, IEEE Service Center, 445 Hoes Lane, Piscataway, NJ 08854. All rights reserved. *** This is a print representation of what appears in the IEEE Digital Library. Some format issues inherent in the e-media version may also appear in this print version. IEEE Catalog Number: CFP19AAC-POD ISBN (Print-On-Demand): 978-1-5386-6855-9 ISBN (Online): 978-1-5386-6854-2 ISSN: 1095-323X Additional Copies of This Publication Are Available From: Curran Associates, Inc 57 Morehouse Lane Red Hook, NY 12571 USA Phone: (845) 758-0400 Fax: (845) 758-2633 E-mail: [email protected] Web: www.proceedings.com TABLE OF CONTENTS SO YOU PASSED AN EARNED VALUE MANAGEMENT GOVERNMENT VALIDATION - NOW WHAT? ..................................................................................................................................................................................1 William Liggett ; Howard Hunter ; Matthew Jones AUTOMATED SPACECRAFT OPERATIONS DURING SOIL MOISTURE ACTIVE PASSIVE PRIME MISSION................................................................................................................................................................ 11 Masashi Mizukami ; Christopher G.
    [Show full text]