715-32 Machine Intelligence and Robotics: Report of the NASA Study Group FINAL REPORT March 1980 National Aeronautics and Space Administration Jet Propulsion Laboratory California Institute of Technology Pasadena, California Some Text for Senator Byrd’s Introduction [WVU, CMU, and other background material] I have been impressed with current ongoing research in Artificial Intelligence and Robotics at CMU and WVU and proposed activities in Space Robotics. Many of these have their origins in the Sagan-Reddy report on Machine Intelligence for Space. This report, published in 1980, stresses the importance of Al and Robotics for space many years before the Challenger disaster. It is clear to me that space based activities must increasingly use Al and Robotics, minimizing the danger to human life. The scope for such activities seems unlimited. It appears that rescue and repair robots in space can help in increasing the useful life of our communication satellites and knowledge-based simulation may eliminate costly errors in deployment of space systems. It appears that space exploration and space manufacturing types of activities are greatly enhanced through the use of Al and Robotics. The CMU-WVU Center will also have significant capabilities for research in man-machine systems, and software engineering for space systems. The realization of the importance of software has prompted me to help in the formation of SEI in Pittsburgh earlier and inspired me to initiate the Software Valley project in West Virginia to strengthen the technological base and facilitate commercial development. It appears to me that all such activities are central to our future successes in space. The CMU-WVU Center can play an important role and provide a valuable national service ensuring the success of our future space programs. It will also have important spin-off benefits for improving our competitiveness in the world market. This concept of space robotics is of tremendous national importance and I would be happy to help you in any way I can in realizing this plan. Now I would like to introduce the WVU and CMU members. PROPOSED AGENDA 10:00 The CMU-WVU Center for Space Robotics-Background, Concept, and National Opportunity: Senator Byrd 10:10 Introduction of CMU Team: Dr. Jordan, Provost, CMU Introduction of WVU Team: Dr. Franz, Provost, WVU 10:15 Research Opportunities in Space Robotics: Dr. R. Reddy 10:22 Relevant research at WVU: Dr. YVR Reddy 10:25 Space Robotics Research and Technology Plans at NASA: Dr. Calliday 10:30 Al and Robotics Research Goals of SDI: Dr. lanson 10:35 Strategic Computing Initiative and related Robotics research at DARPA and DOD: Dr. C. Kelly 10:40 Discussion 10:50 Concluding Remarks and Action Items: Senator Byrd 715-32 Machine Intelligence and Robotics: Report of the NASA Study Group FINAL REPORT March 1980 National Aeronautics and Space Administration Jet Propulsion Laboratory California Institute of Technology Pasadena, California Preface The NASA Office of Aeronautics and Space Technology (OAST) has established the goal of providing a technology base so that NASA can accomplish future missions with a several-orders-of-magnitude increase in mission effectiveness at reduced cost. To realize this goal, a highly focused program must be established advancing technologies that promise substantial increases in capability and/or substantial cost savings. The Study Group on Machine Intelligence and Robotics was established to assist NASA technology program planners to determine the potential in these areas. Thus, the Study Group had the following objectives: (1) To identify opportunities for the application of machine intelligence and robotics in NASA missions and systems. (2) To estimate the benefits of successful adoption of machine intelligence and robotics techniques and to prepare forecasts of their growth potential. (3) To recommend program options for research, advanced devel- opment, and implementation of machine intelligence and robot technology for use in program planning. (4) To broaden communication among NASA centers and uni- versities and other research organizations currently engaged in machine intelligence and robotics research. iii Foreword This publication, complete with appendant documentation, is the final report of the NASA Study Group on Machine Intelligence and Robotics. As you will note in the Introduction, Section I, the report tells why the Study Group was gathered together; and what the Group felt and hoped to do. You will see that Section II is a timely tutorial on machine intelligence and robotics inasmuch as both fields may be really neoteric to a lot of assiduous readers. NASA’s needs and the applications of machine intelligence and robotics in the space program are discussed for you in Sections III and IV. Section V discusses the generic topic, Technological Opportunities, in two subsections, A, Trends in Technology, B, Relevant Technologies, and a third subsection, which is an Appendix on Relevant Tech- nologies. (Don’t skip any of these subsections, especially the third, because if you look there, you will find detailed discussions of the conclusions and recommendations which the Group made on each specific machine intelligence and robotics subject or topic. After 25 hundred man-hours, the Study Group and the workshop participants arrived at a few prenotions concerning the state of the art situation as it exists in NASA with regard to the machine intelligence and the robotics fields. The study members and work- shop participants then conclude that four things may be better in NASA if four recom- mended items are adopted—as they so wrote in Section VI. Appendix A tells who the Study Group people are, their organizations, interests, backgrounds, and some accomplishments. The appendix itemizes what the workshop subjects or topics were; and where and when the study actions were done at five locations in the United States. The people-participants (and what they talked about) are also listed for you in Appendix A. Appendixes B (Minsky, 1961), C (Newell, 1969), D (Nilsson, 1974), E (Feigenbaum, 1978), and F (Newell, 1970) are those references which the Group feels will provide support for their conclusions and recommendations. The Study Group hopes you will read—and that you will find the report valuable and useful for the 1980s. Carl Sagan, Chairman Raj Reddy, Vice Chairman Ewald Heer, Executive Secretary iv Machine Intelligence and Robotics Members of the NASA Study Group June 1977-September 1979 Dr. Carl Sagan (Chairman) Dr. Elliott C. Levinthal David Duncan Professor of Adjunct Professor of Genetics Astronomy and Space Sciences Stanford University School of Medicine Cornell University Dr. Jack Minker, Department Chairman Dr. Raj Reddy (Vice Chairman) and Professor of Computer Science Professor of Computer Science University of Maryland Carnegie-Mellon University Dr. Marvin Minsky Dr. Ewald Heer (Executive Secretary) Donner Professor of Science Program Manager for Autonomous Systems Massachusetts Institute of Technology and Space Mechanics Jet Propulsion Laboratory Dr. Donald A. Norman Professor of Psychology Dr. James S. Albus University of California at San Diego Project Manager for Sensor and Computer Control Technology Dr. Charles J. Rieger National Bureau of Standards Associate Professor of Computer Science University of Maryland Dr. Robert M. Balzer, Project Leader and Associate Professor of Computer Science Dr. Thomas B. Sheridan University of Southern California Professor of Engineering and Applied Psychology Dr. Thomas O. Binford, Research Associate Massachusetts Institute of Technology Artificial Intelligence Laboratory Dr. William M. Whitney Department of Computer Science Stanford University Manager for Information Systems Research Jet Propulsion Laboratory Dr. Ralph C. Gonzalez Dr. Patrick H. Winston, Director Professor of Electrical Engineering Artificial Intelligence Laboratory and Computer Science Massachusetts Institute of Technology University of Tennessee Dr. Stephen Yerazunis Dr. Peter E. Hart, Director Associate Dean of Engineering Artificial Intelligence Center Rennsselaer Polytechnic Institute SRI International Ex-Officio Members: Dr. John Hill, Staff Member Artificial Intelligence Center Dr. William B. Gevarter SRI International Program Manager for Guidance and Control NASA Headquarters B. Gentry Lee Manager of Mission Operations Stanley R. Sadin, Program Manager and Engineering, Galileo Project Space Systems Studies and Planning Jet Propulsion Laboratory NASA Headquarters v Acknowledgments The Study Group on Machine Intelligence and Robotics is grateful to a very large number of NASA personnel and other scientists and engineers for essential help in this study. The Study Group especially appreciates the contributions by the following indi- viduals at the various workshop meetings. Albee, Arden L. Manson, Simon V. Alsberg, Harold B. McCandless, Samuel W. Avizienis, Algirdas A. McGhee, Robert B. Blanchard, David McReynolds, Stephen R. Burke, James D. Mead, Carver A. Milgram, David Calio, Anthony J. Mills, Harlan Carey, Ted Mitchell, Q. R. Casler, V. Chapman, Robert D. Newell, Allen Claussen, B. A. Norris, Henry W. Clarke, Victor C. Nudd, Graham Cohen, Danny O’Leary, Brian Cook, Henry Paine, Garrett Crum, Earle M. Perlis, Alan Cunningham, Robert Popma, Dan C. Cutts, James Porter, James des Jardins, Richard Powell, Robert V. Dobrotin, Boris M. Quann, John J. Dudley, Hugh J. Ratner, Justin Ebersole, Michael Rasool, Ichtiaque S. Elachi, Charles Rennels, David A. Fero, Lester K. Rose,