Model-based Autonomy for the Next Generation of Robotic Spacecraft. Define model-based autonomy. Describe model-based executive technology (Titan)
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1 Objectives utonomy for the Next Generation of Robotic Spacecraft Michel Ingham Lorraine Fesq, John Van Eepoel, rian Williams Embedded and Robotic Systems Group MIT Space Systems Laboratory Michael Pekala, David Watson JHU pplied Physics Laboratory Define model-based autonomy Describe model-based executive technology (Titan Describe application to representative space mission (ST7-utonomy concept study October 18th, 2002 Objectives Define model-based autonomy Describe model-based executive technology (Titan utonomy Creation of embedded & robotic systems that manage interactions automatically, by reasoning from models of themselves and their environment. Enabling technology for highly robust spacecraft. NS DS-1 Describe application to representative space mission (ST7-utonomy concept study utonomy Creation of embedded & robotic systems that manage interactions automatically, by reasoning from models of themselves and their environment. Enabling technology for highly robust spacecraft. dopts notion of model-based programming. Embedded Embedded utonomy Creation of embedded & robotic systems that manage interactions automatically, by reasoning from models of themselves and their environment. Enabling technology for highly robust spacecraft. dopts notion of model-based programming. utomates onboard sequence execution by tightly integrating goal-driven commanding, fault detection, diagnosis and recovery. Obs State Cntrl Estimated State Obs Cntrl State Mars Entry, Descent & Landing 1
2 Objectives rchitecture For Execution Define model-based autonomy Describe model-based executive technology (Titan Describe application to representative space mission (ST7-utonomy concept study Titan Sequencer Deductive ler goals Flight Software Physical actions Execution model describes behavior of each component: nominal Sequencer and off-nominal modes qualitative constraints probabilistic transitions goals costs/rewards Deductive ler Flight Software Physical actions Execution RMPL program specifies desired state trajectories: encode Sequencer reactive control sequences refer to hidden states as if they were directly observable goals & controllable include constructs for expressing: Concurrent Task Management Contingency Handling Deductive Iteration ler Preemption... {when (ground-command = start-playback donext {sequence {do {always (transmitter-mode = downlinking-data} watching (ssr-playback = complete} (transmitter-mode = idle actions (downlink-status = succeeded}}... Flight Software Physical Execution Titan Sequencer goals Sequencer executes control program: takes in activity goals from system-level planner each activity invokes Deductive an RMPL ler control program conditioned on current state from deductive controller issues configuration goal states to be achieved by deductive controller actions Flight Software Physical Execution Titan Sequencer Deductive ler goals Deductive ler maps from states to sensors/actuators: Mode Estimation uses plant model and observations to deduce current state actions (mode tracking, fault diagnosis Flight Software Mode Reconfiguration takes in configuration goals, reasons through plant Physical model to compute commands that achieve goal (nominal, fault recovery 2
3 Execution Objectives Titan Mode Estimation Sequencer ŝ goals Mode Reconfiguration Define model-based autonomy Describe model-based executive technology (Titan Describe application to representative space mission (ST7-utonomy concept study Flight Software Physical actions New Millennium ST7 utonomy Mission Concept 6-month concept definition phase ended January 2002 autonomy-ready s/c design based on primarily off-the-shelf components mission design highlighting: onboard execution of activities normally commanded from ground science-driven execution software testbed demonstrations of component technologies Scenario 1: Downlink Data lock ctivity Objective: downlink a block of data from onboard storage to a specified ground station Scenario One : Downlink Data lock ctivity Demonstrate control sequencer operation Demonstrate interaction with deductive controller Scenario Two : us ler Failure Demonstrate mode estimation and mode reconfiguration on more sophisticated plant models Downlink Data lock Overview Downlink Data lock Overview IDLE UNKNOWN start-streaming go-idle go-idle STREMING- RT-TELEM startdownlinking stopdownlinking DOWNLINKING- DT ENLE- select select ENLE- STUCK-T- STUCK-T- UNKNOWN 3
4 Downlink Data lock Overview Initial State: omni in view of ground station no ground command received omni in nominal mode (remains so throughout omni in nominal mode (remains so throughout transmitter in idle mode switch set to enable omni idle enable-omnib Downlink Data lock Overview streaming real-time telemetry (based on omni-in-view info from CS idle set to mode: enable-omni Downlink Data lock Overview streaming real-time telemetry (based on omni-in-view info from CS If switch gets stuck in wrong position, fail DownlinkDatalock activity Downlink Data lock Overview streaming real-time telemetry (based on omni-in-view info from CS If switch gets stuck in wrong position, fail DownlinkDatalock activity idle fail when mode: stuck-at- set to mode: streaming-rt-telem enable-omni RT telemetry stream Downlink Data lock Overview streaming real-time telemetry (based on omni-in-view info from CS If switch gets stuck in wrong position, fail DownlinkDatalock activity Downlink Data lock Overview streaming real-time telemetry (based on omni-in-view info from CS If switch gets stuck in wrong position, fail DownlinkDatalock activity When start-playback command received from ground, start downlinking data from onboard storage streaming-rt-telem enable-omni set to mode: downlinking-data enable-omni RT telemetry stream start-playback command 4
5 Downlink Data lock Overview streaming real-time telemetry (based on omni-in-view info from CS If switch gets stuck in wrong position, fail DownlinkDatalock activity When start-playback command received from ground, start downlinking data from onboard storage downlinking-data enable-omni Downlink Data lock Overview streaming real-time telemetry (based on omni-in-view info from CS If switch gets stuck in wrong position, fail DownlinkDatalock activity When start-playback command received from ground, start downlinking data from onboard storage When downlink finished, idle transmitter and report success of DownlinkDatalock activity set to mode: idle enable-omni data block downlinking end of data block playback Titan Execution Visualization Titan Execution Visualization s System-level Plan ctivity C++ Engine Titan Commands Export Mode estimates goals Issued commands Java Display HELIOS Visualization / Simulation Scenario 2: us ler Failure Concept Study Results Scenarios address a number of operational use cases Highlight desired features for autonomous spacecraft control us ler maintains power to the bus, making power distribution and communications possible. Cascading Failure Reset us ler Power Cycle us ler to Redundant ackup us ler Nominal operations: accept high-level activity goals and decompose into sequence of configuration goal states accept configuration goals and generate sequence of atomic plant commands Fault operations: diagnose both single and multiple faults manage completely unanticipated faults recovery by repairing faulty components recovery by using physical or functional redundancy 5
6 0 Conclusions execution bridges gap between systemlevel planning and real-time commanding Robustness in sense-decide-act loop Cost reduction / Risk reduction / Mission enabling Technology maturation: ackup Slides MIT SPHERES NS MESSENGER NS Mars Science Lab The Case for Spacecraft utonomy The Case for Spacecraft utonomy COST MESSENGER Mission Cost reakdown Phase C/D $227.1 COST $31.4 Operations Staff Size (FTE Phase / $80.5 Phase E Full time operators per spacecraft 1 Iridium 2 Living With a Star 3 Constellation-X 4 Orbiting Wide-angle Light collectors Number of spacecraft RISK Round trip Communications Time (minutes COST RISK 0 Mercury Venus Earth Mars Jupiter Saturn Uranus Neptune Pluto Max Min The Case for Spacecraft utonomy COST RISK Mission Enabling Component Library: Filter Thruster us Y-Junction alance Orifice Regulator Fuel Pressure Sensor Helium Sensor Temperature Sensor Oxidizer Tank ux Tank GHe Tank asic Thruster Main Thruster Dual Check Valve High Pressure Latch Valve Low Pressure Latch Valve Pyro Valve 73 Total Components in 3-4 States/Component => 10^16 Possible System States 6
7 utonomy Rules in Current pplication ST7- utonomy Software rchitecture RMPL Titan Example from MESSENGER Safing and Fault Protection Requirements Specification. (Flight Software Design to Support 1280 Rules Downlink Data lock (defclass comm_subsystem ( (public state transmitter-state transmitter-mode (public state switch-state switch-mode (public state goal-status downlink-status (public state ground-cmd-status ground-command (public state omni-view-status omni-in-view (public state process-status ssr-playback Set switch to enable appropriate omnidirectional antenna (based on omni-in-view info from CS (DownlinkDatalock( (do-watching (or (downlink-status = failed (downlink-status = succeeded (if-thennext-elsenext (omni-in-view = omni (switch-mode = enable-omni (when-donext (or (switch-mode = enable-omni (switch-mode = stuck-at- (when-donext (switch-mode = stuck-at- (downlink-status = failed (do-watching (ssr-playback = complete (always (transmitter-mode = downlinking-data (downlink-status = succeeded ;; Similarly for the case where (omni-in-view = omni Downlink Data lock (defclass comm_subsystem ( (public state transmitter-state transmitter-mode (public state switch-state switch-mode (public state goal-status downlink-status (public state ground-cmd-status ground-command (public state omni-view-status omni-in-view (public state process-status ssr-playback (DownlinkDatalock( (do-watching (or (downlink-status = failed (downlink-status = succeeded (if-thennext-elsenext (omni-in-view = omni Set transmitter to start streaming real-time telemetry (switch-mode = enable-omni (when-donext (or (switch-mode = enable-omni (switch-mode = stuck-at- (when-donext (switch-mode = stuck-at- (downlink-status = failed (do-watching (ssr-playback = complete (always (transmitter-mode = downlinking-data (downlink-status = succeeded ;; Similarly for the case where (omni-in-view = omni Downlink Data lock (defclass comm_subsystem ( (public state transmitter-state transmitter-mode (public state switch-state switch-mode (public state goal-status downlink-status (public state ground-cmd-status ground-command (public state omni-view-status omni-in-view (public state process-status ssr-playback (DownlinkDatalock( (do-watching (or (downlink-status = failed (downlink-status = succeeded (if-thennext-elsenext (omni-in-view = omni (switch-mode = enable-omni (when-donext (or (switch-mode = enable-omni (switch-mode = stuck-at- (when-donext (switch-mode = stuck-at- (downlink-status = failed (do-watching (ssr-playback = complete If switch gets stuck in (always (transmitter-mode = downlinking-data wrong position, fail (downlink-status = succeeded DownlinkDatalock activity ;; Similarly for the case where (omni-in-view = omni Downlink Data lock (defclass comm_subsystem ( (public state transmitter-state transmitter-mode (public state switch-state switch-mode (public state goal-status downlink-status (public state ground-cmd-status ground-command (public state omni-view-status omni-in-view (public state process-status ssr-playback (DownlinkDatalock( (do-watching (or (downlink-status = failed (downlink-status = succeeded (if-thennext-elsenext (omni-in-view = omni (switch-mode = enable-omni (when-donext (or (switch-mode = enable-omni (switch-mode = stuck-at- (when-donext (switch-mode = stuck-at- (downlink-status = failed (do-watching (ssr-playback = complete When start-playback (always (transmitter-mode = downlinking-data command received (downlink-status = succeeded from ground, start playing back data ;; Similarly for the case where (omni-in-view = omni from onboard storage 7
8 Downlink Data lock (defclass comm_subsystem ( (public state transmitter-state transmitter-mode (public state switch-state switch-mode (public state goal-status downlink-status (public state ground-cmd-status ground-command (public state omni-view-status omni-in-view (public state process-status ssr-playback (DownlinkDatalock( (do-watching (or (downlink-status = failed (downlink-status = succeeded (if-thennext-elsenext (omni-in-view = omni (switch-mode = enable-omni (when-donext (or (switch-mode = enable-omni (switch-mode = stuck-at- (when-donext (switch-mode = stuck-at- (downlink-status = failed (do-watching (ssr-playback = complete (always (transmitter-mode = downlinking-data (downlink-status = succeeded When playback finished, report ;; Similarly for the case where (omni-in-view = omni success of DownlinkDatalock activity us ler Failure Scenario Descriptions ssumptions: ll devices have some feedback allowing detection of anomalous behavior (ex. Report of no-comm Two bus controller devices, C &, where C is the backup for C. Scenario Initial State: C_ = on, C_ = off Reset Power-Cycle cmd-in Watcher Watcher State Observe: Comm-status = NO-COMM! State Diagnosis: C_ has a resettable failure us ler cmd-in = Recovery: Issue reset command to C_ turn-off Observe: Comm-status = COMM! ON OFF Scenario cmd-in = turn-on Follow on to Scenario where last observation is: Observe: Comm-status = NO-COMM! cmd-in = Diagnosis: C_ has a power cycleable failure reset RESETTLE cmd-in = Recovery: Issue cycle-power command to C_ turn-off Observe: Comm-status = COMM! Scenario C POWER- CYCLELE Follow on to Scenario where last observation is: Observe: Comm-status = NO-COMM! Diagnosis: C_ is now broken ROKEN UNKNOWN Comm-status Recovery: to backup bus controller. Observe: Comm-status = COMM! Current us ler State 8
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