1846282322......Page 1
Autonomous and Autonomic Systems......Page 4
Preface......Page 6
Contents......Page 11
Part I Background......Page 18
1 Introduction......Page 19
1.1.1 New Millennium Program's Space Technology 5......Page 21
1.1.2 Solar Terrestrial Relations Observatory......Page 22
1.1.3 Magnetospheric Multiscale......Page 23
1.1.5 Other Missions......Page 24
1.2.1 Autonomy vs. Automation......Page 25
1.2.2 Autonomicity vs. Autonomy......Page 26
1.3 Using Autonomy to Reduce the Cost of Missions......Page 29
1.3.1 Multispacecraft Missions......Page 30
1.3.2 Communications Delays......Page 31
1.3.3 Interaction of Spacecraft......Page 32
1.4 Agent Technologies......Page 33
1.4.1 Software Agents......Page 35
1.4.2 Robotics......Page 37
1.5 Summary......Page 39
2.1 Ground System Software......Page 40
2.1.1 Planning and Scheduling......Page 42
2.1.5 Onboard Engineering Support Activities......Page 43
2.1.8 Fault Diagnosis......Page 44
2.1.11 Engineering Data Analysis/Calibration......Page 45
2.2 Flight Software......Page 46
2.2.1 Attitude Determination and Control, Sensor Calibration, Orbit Determination, Propulsion......Page 48
2.2.4 Data Monitoring, Fault Detection and Correction......Page 49
2.3 Flight vs. Ground Implementation......Page 50
3 Flight Autonomy Evolution......Page 52
3.1 Reasons for Flight Autonomy......Page 53
3.1.1 Satisfying Mission Objectives......Page 54
Flight Autonomy Enablers of Efficient Science Execution......Page 56
Flight Autonomy Enablers of Efficient Resource Management......Page 59
Flight Autonomy Enablers of Health and Safety Maintenance......Page 61
3.1.2 Satisfying Spacecraft Infrastructure Needs......Page 62
Flight Autonomy Enablers of Command Execution: Validation......Page 63
Flight Autonomy Enablers of Efficient Resource Management......Page 64
3.1.3 Satisfying Operations Staff Needs......Page 65
Autonomy Enablers of Access to Spacecraft Systems......Page 66
Flight Autonomy Enablers of Insight into Spacecraft Systems......Page 67
Flight Autonomy Enablers of Lifecycle Cost Minimization......Page 68
3.2 Brief History of Existing Flight Autonomy Capabilities......Page 69
3.2.1 1970s and Prior Spacecraft......Page 70
3.2.2 1980s Spacecraft......Page 72
3.2.3 1990s Spacecraft......Page 74
3.2.4 Current Spacecraft......Page 76
3.2.5 Flight Autonomy Capabilities of the Future......Page 78
3.3 Current Levels of Flight Automation/Autonomy......Page 81
4.1 Agent-Based Flight Operations Associate......Page 83
Structural Elements of an AFLOAT Agent......Page 84
Behavioral Elements of an Agent in AFLOAT......Page 85
4.1.2 Implementation Architecture for AFLOAT Prototype......Page 87
Approaches for Addressing Multiagent Architectural Issues in AFLOAT......Page 88
4.1.3 The Human Computer Interface in AFLOAT......Page 89
4.1.4 Inter-Agent Communications in AFLOAT......Page 90
4.2.1 The LOGOS Architecture......Page 92
4.2.2 An Example Scenario......Page 94
4.3.1 Overview of the ACT Agent Architecture......Page 95
Modeler......Page 97
Agenda/Executive......Page 98
Agent Communications......Page 99
Agent Framework......Page 100
4.3.3 Dataflow Between Components......Page 101
4.3.4 ACT Operational Scenario......Page 102
4.3.5 Verification and Correctness......Page 104
Part II Technology......Page 106
5.1.1 Planner Overview......Page 107
5.1.2 Symbolic Planners......Page 110
5.1.3 Reactive Planners......Page 111
5.1.4 Model-Based Planners......Page 112
5.1.5 Case-Based Planners......Page 113
5.3 Reasoning with Partial Information......Page 115
5.3.1 Fuzzy Logic......Page 116
5.3.2 Bayesian Reasoning......Page 117
5.4.1 Artificial Neural Networks......Page 118
5.4.2 Genetic Algorithms and Programming......Page 119
5.6.1 Sensing......Page 120
5.6.3 Data Fusion......Page 121
5.7.1 Software Simulation Environments......Page 122
5.7.2 Simulation Libraries......Page 124
5.7.4 Networked Simulation Environments......Page 125
6.1 High Level Design Features......Page 126
6.1.2 Inertial Fixed Pointing......Page 127
6.1.4 Ground Commanded Thruster Firing......Page 128
6.1.8 Basic Fault Detection and Correction......Page 129
6.2 Remote Agent Functionality......Page 130
Orbit Determination (and Other Reference Data)......Page 131
6.2.3 Attitude Control......Page 132
6.2.5 Data Monitoring and Trending......Page 133
6.2.8 Target Planning and Scheduling......Page 134
6.2.11 Science Instrument Data Processing......Page 135
6.3.2 Onboard Orbit Determination......Page 136
6.3.5 Advanced Operating System......Page 137
6.4 AI Enabling Methodologies......Page 138
6.4.1 Operations Enabled by Remote Agent Design......Page 139
6.4.3 Target of Opportunity Scheduling Driven by Realtime Science Observations......Page 140
6.4.4 Goal-Driven Target Scheduling......Page 141
6.4.6 Scheduling Goals Adjustment Driven by Anomaly Response......Page 142
6.4.8 Science Instrument Direction of SpacecraftOperation......Page 143
6.4.9 Beacon Mode Communication......Page 144
6.5 Advantages of Remote Agent Design......Page 145
Event-Driven Scheduling......Page 146
6.5.2 Reduced FSW Development Costs......Page 148
6.6 Mission Types for Remote Agents......Page 149
6.6.1 LEO Celestial Pointers......Page 150
LEO Earth Pointers......Page 151
6.6.3 GEO Earth Pointers......Page 152
6.6.5 Lagrange Point Celestial Pointers......Page 153
6.6.7 Spacecraft Constellations......Page 155
6.6.8 Spacecraft as Agents......Page 156
7 Cooperative Autonomy......Page 158
7.1.3 Increased Number of Spacecraft......Page 159
7.2.1 Autonomous Agents......Page 160
7.2.2 Agent Cooperation......Page 162
Cooperative Planning......Page 163
Hierarchical Cooperation......Page 164
Cooperative Perception......Page 166
7.3.1 Science Planning......Page 167
7.3.2 Mission Planning......Page 168
7.4.1 Expanded Spacecraft Mission Model......Page 169
7.4.2 Analysis of Spacecraft Mission Model......Page 172
7.4.3 Improvements to Spacecraft Mission Execution......Page 173
7.5 An Example of Cooperative Autonomy: Virtual Platform......Page 175
7.5.1 Virtual Platforms Under Current Environment......Page 176
7.5.2 Virtual Platforms with Advanced Automation......Page 177
7.6 Examples of Cooperative Autonomy......Page 178
New Millennium Program (NMP)......Page 179
7.6.2 Cooperative Distributed Problem Solving Research Group at the University of Maine......Page 180
7.6.4 DIS and HLA......Page 181
7.6.5 IBM Aglets......Page 182
8.1 Overview of Autonomic Systems......Page 184
8.1.1 What are Autonomic Systems?......Page 185
8.1.2 Autonomic Properties......Page 186
8.1.3 Necessary Constructs......Page 188
8.1.4 Evolution vs. Revolution......Page 189
8.1.5 Further Reading......Page 190
8.2.2 Prediction and Optimization......Page 191
8.2.4 Monitoring and Root-Cause Analysis......Page 192
8.2.5 Legacy Systems and Autonomic Environments......Page 193
8.2.8 Policy-Based Management......Page 194
8.2.10 Related Paradigms......Page 195
8.3 Research and Technology Transfer Issues......Page 196
Part III Applications......Page 198
9.1 Introduction......Page 199
9.2 Constellations Overview......Page 200
9.3.1 Cost Savings......Page 203
9.4 Applying Autonomy and Autonomicity to Constellations......Page 204
9.4.2 Space-Based Autonomy for Constellations......Page 205
9.4.3 Autonomicity in Constellations......Page 206
9.5 Intelligent Agents in Space Constellations......Page 208
9.5.1 Levels of Intelligence in Spacecraft Agents......Page 209
9.5.2 Multiagent-Based Organizations for Satellites......Page 210
9.6 Grand View......Page 212
9.6.2 Ground-Based Autonomy......Page 214
9.6.3 Space-Based Autonomy......Page 215
10 Swarms in Space Missions......Page 216
10.1 Introduction to Swarms......Page 217
10.2 Swarm Technologies at NASA......Page 218
10.2.1 SMART......Page 219
10.2.2 NASA Prospecting Asteroid Mission......Page 221
10.2.3 Other Space Swarm-Based Concepts......Page 223
10.3 Other Applications of Swarms......Page 224
10.4 Autonomicity in Swarm Missions......Page 225
10.5.1 Programming Techniques and Tools......Page 226
10.5.2 Verification......Page 227
10.6 Future Swarm Concepts......Page 229
11.1 Factors Driving the Use of Autonomy and Autonomicity......Page 231
11.2 Reliability of Autonomous and Autonomic Systems......Page 232
11.3 Future Missions......Page 233
11.4 Autonomous and Autonomic Systems in Future NASAMissions......Page 236
A Attitude and Orbit Determination and Control......Page 239
B.1 Onboard Remote Agent Interaction Scenario......Page 242
B.2 Space-to-Ground Dialog Scenario......Page 246
B.3 Ground-to-Space Dialog Scenario......Page 247
B.4 Spacecraft Constellation Interactions Scenario......Page 249
B.5 Agent-Based Satellite Constellation Control Scenario......Page 253
B.6 Scenario Issues......Page 254
C Acronyms......Page 255
D Glossary......Page 259
References......Page 269
Index......Page 283