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Autonomous Mission Operations Autonomous Mission Operations Jeremy Frank Lilijana Spirkovska Rob McCann NASA Ames Research Center NASA Ames Research Center NASA Ames Research Center Mail Stop N269-1 Mail Stop N269-1 Mail Stop N269-1 Moffett Field, CA 94035-1000 Moffett Field, CA 94035-1000 Moffett Field, CA 94035-1000 650 604 2524 650.604.4234 650.604.0052 [email protected] [email protected] [email protected] Lui Wang Kara Pohlkamp Lee Morin NASA Johnson Space Center NASA Johnson Space Center NASA Johnson Space Center Mail Code: ER61 Mail Code: DS34 Mail Code: CB 2101 NASA Parkway 2101 NASA Parkway 2101 NASA Parkway Houston, TX 77058 Houston, TX 77058 Houston, TX 77058 [email protected] [email protected] [email protected] 281 483 8074 281-483-2826 281 244 7970 Abstract—NASA’s Advanced Exploration Systems 6. TIME DELAY AND WORKLOAD ......................13 Autonomous Mission Operations (AMO) project 7. TEAM COORDINATION....................................14 conducted an empirical investigation of the impact of time delay on today’s mission operations, and of the 8. COMMUNICATIONS ANALYSIS........................16 effect of processes and mission support tools designed to 9. CONCLUSIONS AND FUTURE WORK...............17 mitigate time-delay related impacts. Mission operation 10. ACKNOWLEDGEMENTS.................................18 scenarios were designed for NASA’s Deep Space Habitat REFERENCES.......................................................19 (DSH), an analog spacecraft habitat, covering a range of BIOGRAPHIES......................................................20 activities including nominal objectives, DSH system failures, and crew medical emergencies. The scenarios were simulated at time delay values representative of 1. INTRODUCTION Lunar (1.2-5 sec), Near Earth Object (NEO) (50 sec) and For the last 50 years, NASA’s crewed missions have been Mars (300 sec) missions. Each combination of confined to the Earth-Moon system, where speed-of-light operational scenario and time delay was tested in a communications delays between crew and ground are Baseline configuration, designed to reflect present-day practically nonexistent. The close proximity of the crew to operations of the International Space Station, and a the Earth has enabled NASA to operate human space Mitigation configuration in which a variety of software missions primarily from the ground. This “ground-centered” tools, information displays, and crew-ground mode of operations has had several advantages: by having a communications protocols were employed to assist both large team of the people involved on the ground, the on- crews and Flight Control Team (FCT) members with the board crew could be smaller, the vehicles could be simpler long-delay conditions. Preliminary findings indicate: 1) and lighter, and the mission performed for a lower cost. Workload of both crewmembers and FCT members generally increased along with increasing time delay. 2) Table 1. Human spaceflight destinations in the Solar Advanced procedure execution viewers, caution and System, approximate distance from Earth, and warning tools, and communications protocols such as approximate one-way light time delay. text messaging decreased the workload of both flight controllers and crew, and decreased the difficulty of Destination Earth Distance 1-way Time coordinating activities. 3) Whereas crew workload (km) delay (s) ratings increased between 50 sec and 300 sec of time Lunar 38,400,000 1.3 delay in the Baseline configuration, workload ratings NEOs (close) variable variable decreased (or remained flat) in the Mitigation Mars (close) 545,000,000 181.6 configuration. Mars 4,013,000,000 1337.6 TABLE OF CONTENTS (opposition) 1. INTRODUCTION .................................................1 NASA is now investigating a range of future human 2. TEST ENVIRONMENT AND TIMELINE ...............4 spaceflight missions that includes a variety of Martian 3. EXPERIMENT DESIGN .......................................8 destinations and a range of Near Earth Object (NEO) targets. These possibilities are summarized in Table 1. The 4. MEASURES OF PERFORMANCE.......................11 table shows the approximate distance between the 5. TASK COMPLETION ANALYSIS.......................13 1 U.S. Government work not protected by U.S. copyright destination and the Earth, where the control center will be impact a remote guidance expert’s ability to guide non- located, and the one-way light-time delay between the ultrasound experts to collect high quality ultrasound images. destination and Earth. On next-generation deep-space missions, crews will have to As is evident from Table 1, future missions will be of much operate much more autonomously than they do today. A longer duration, and put crews much further from Earth, higher degree of crew autonomy represents a fundamental than today’s missions. Accordingly, NASA has recently change to mission operations. Enabling this new operations funded a number of projects to develop and test operations philosophy requires a host of protocol and technology concepts for these future missions. Table 2 summarizes development. To address these issues, NASA’s these projects, some of which have included studies of the Autonomous Missions Operations (AMO) project charter is impact of time delay. We will briefly describe the previous to provide operational guidelines and requirements for next- projects here, and refer the reader to the cited studies in the generation crewed missions that will experience significant table for more details. time delay between mission control and the flight crew. Specifically, AMO addresses the following question: How The NASA Extreme Environment Mission Operations should mission operations responsibilities be allocated (NEEMO) missions [3,8] are conducted at the Aquarius between ground and the spacecraft in the presence of undersea habitat with mixes of astronaut and scientist crews. significant light-time delay between the spacecraft and the Extra-vehicular activities (EVA) involve divers, Earth? submersibles, and spacecraft analogs; EVA objectives included construction and science tasks. The Desert To begin addressing this question, an experiment assessing Research and Technology Studies (DRATS) conduct field crew-ground interaction and operational performance was tests involving analog spacecraft and habitats; EVA performed in May and June of 2012 in NASA Johnson activities focus on science tasks such as gathering and Space Center’s Deep-Space Habitat (DSH) [10,18], an analyzing geological samples [1]. The Houghton Mars Earth-analog of a workspace and living area that might Project facility in Nunnavit Territory, Canada focuses on house a crew during the transport and surface phases of a activities ranging from science EVAs to robotic deep-space crewed mission. Crews consisting of a experimentation including drills and mobile robots [8]. commander and three flight engineers followed a two-hour Finally, the Mars 500 105 day experiment [8,9] was mission timeline populated with activities representative of primarily a living and working experiment with a brief those that might occur during a typical day in the quiescent simulated EVA. All experiments included some quiescent (cruise) phase of a long-duration space mission. Crews activities, but none involved systems failure simulations. were supported by a small flight control team (FCT) consisting of eight console positions located in the Table 2. Previously conducted investigations of the Operations Technology Facility (OTF) in the Christopher impact of time delay on spaceflight, compared to the Kraft Mission Control Center at Johnson Space Center. The AMO study. two-hour mission timeline was performed repeatedly under Analog Year Time delays Range of activity ; varying conditions: variations Haughton Mars 2008 N/A EVA, quiescent; • A simulated time delay between the ground and the Project nominal vehicle of low (1.2 or 5 seconds), medium (50 seconds), or long (300 seconds) duration. Mars 500 105 2009 0; EVA, quiescent; day study 20 minute nominal • Either no unexpected events (nominal), multiple spacecraft systems failures (off-nominal systems), NEEMO 13 2009 0; EVA, quiescent; or a crew medical emergency (off-nominal 20 minute nominal medical). NEEMO 14 2010 0; EVA, quiescent; Twice daily nominal • One of two mission operations configurations. In Desert RATS 2010 0; EVA, quiescent; the Baseline configuration, conducted first, the Twice daily nominal flight control team and crew performed their NEEMO 15 2011 0; EVA nominal and off-nominal tasks with support tools, 50 second interfaces, and communications protocols similar AMO 2012 1.5 sec, 5 sec, 50 Quiescent; nominal, to those in use for International Space Station sec, 5 minute systems failure, medical emergency operations today. In the Mitigation configuration, crews and FCT members had access to an While not an operations study, a study of remote medical advanced suite of operations support tools and operations [7] initial assessed whether a communication mission support technologies that we hypothesized delay can impact remotely guided collection of ultrasound would enable the crew to carry out nominal and images. Choosing a communication delay experienced off-nominal mission operations with greater during lunar missions, the investigators demonstrated that autonomy and with enhanced crew-ground increasing the communication delay up to 5 seconds did not coordination capability under time delay. 2 crew was doing, and how well they were doing it.
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