TECHNOLOGY FOR AUTONOMOUS SPACE SYSTEMS Ashley W. Stroupe Sanjiv Singh, Reid Simmons, Trey Smith, Paul Tompkins, Vandi Verma, Regina Vitti-Lyons, Michael Wagner CMU-RI-TR-00-02 The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213 September 2002 2000 Carnegie Mellon University The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies or endorsements, either expressed or implied, of Carnegie Mellon University. Technology for Autonomous Space Systems Technology for Autonomous Space Systems Table of Contents 1 INTRODUCTION...................................................................................................1 2 UNDERLYING TECHNOLOGIES.............................................................................3 2.1 PHYSICAL MODEL SYSTEMS .......................................................................................................... 4 2.1.1 Physical Models .............................................................................................................. 4 2.1.2 Applications ................................................................................................................... 4 2.2 STRUCTURAL MODEL SYSTEMS ...................................................................................................... 5 2.2.1 Maps ............................................................................................................................. 5 2.2.2 Templates...................................................................................................................... 5 2.2.3 Rules and Heuristics ....................................................................................................... 5 2.2.4 Applications ................................................................................................................... 6 2.3 EMPIRICAL MODEL SYSTEMS ......................................................................................................... 7 2.3.1 Neural Networks............................................................................................................. 7 2.3.2 Model-Based Learning .................................................................................................. 10 2.3.3 Bayes Networks ........................................................................................................... 11 2.3.4 Markov Models and Markov Decision Processes .............................................................. 12 2.4 EXPERT SYSTEMS ..................................................................................................................... 15 2.4.1 History.........................................................................................................................15 2.4.2 Principles ..................................................................................................................... 15 2.4.3 Fuzzy Logic .................................................................................................................. 16 2.4.4 Applications ................................................................................................................. 18 2.4.5 Tools ...........................................................................................................................19 3 COMPONENT TECHNOLOGIES............................................................................21 3.1 ARCHITECTURES ...................................................................................................................... 22 3.1.1 Architectural Styles....................................................................................................... 22 3.1.2 Examples of Architectures and Architectural Components ............................................... 25 3.2 REAL-TIME CONTROL................................................................................................................ 28 3.2.1 Approaches.................................................................................................................. 28 3.3 FAULT-TOLERANT DISTRIBUTED ROBOTICS..................................................................................... 30 3.3.1 Definitions ................................................................................................................... 30 3.3.2 Coordination Architectures ............................................................................................ 30 3.3.3 Approaches.................................................................................................................. 32 3.4 FAULT DETECTION AND DIAGNOSIS ............................................................................................. 34 3.4.1 Definitions ................................................................................................................... 34 3.4.2 Stages in the process ................................................................................................... 34 3.4.3 Example applications .................................................................................................... 36 3.5 NAVIGATION........................................................................................................................... 38 3.5.1 Local Path Planning ...................................................................................................... 38 3.5.2 Global Path Planning..................................................................................................... 39 3.6 PLANNING AND SCHEDULING ....................................................................................................... 40 3.6.1 Planning and Scheduling Paradigms............................................................................... 40 3.6.2 Examples..................................................................................................................... 42 Table of Contents i Technology for Autonomous Space Systems 3.7 HUMAN-MACHINE INTERFACES .................................................................................................... 43 3.7.1 Visualization................................................................................................................. 43 3.7.2 Control ........................................................................................................................ 43 3.7.3 Data Integration........................................................................................................... 44 3.7.4 System Design ............................................................................................................. 45 3.7.5 Simulation of Sensor Data............................................................................................. 45 3.7.6 Future Work................................................................................................................. 45 4 SYSTEMS............................................................................................................47 4.1 DEEP SPACE AND HELIOCENTRIC.................................................................................................. 48 4.1.1 Autonomous ................................................................................................................ 48 4.1.2 Semi-Autonomous ........................................................................................................ 49 4.1.3 Teleoperated................................................................................................................ 55 4.1.4 Directly Controlled........................................................................................................ 56 4.2 PLANETARY ............................................................................................................................ 67 4.2.1 Autonomous ................................................................................................................ 67 4.2.2 Semi-Autonomous ........................................................................................................ 72 4.2.3 Teleoperated................................................................................................................ 80 4.2.4 Directly Controlled........................................................................................................ 88 4.3 ORBITAL................................................................................................................................99 4.3.1 Semi-Autonomous ........................................................................................................ 99 4.3.2 Teleoperated...............................................................................................................107 4.4 HUMAN ASSISTANCE ................................................................................................................109 4.4.1 Autonomous ...............................................................................................................109 4.4.2 Semi-Autonomous .......................................................................................................110 4.4.3 Teleoperated...............................................................................................................112 4.4.4 Directly Controlled.......................................................................................................118 4.5 TOOLS .................................................................................................................................119