Full report

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Technical Memorandum 103992 Advancing Automation and Robotics Technologyfor the Space Station Freedom and for the U.S. Economy Progress Report 15 February 27, 1992 through September 15, 1992 Submitted to the Congress of the United States December 1992 Advanced Technology Advisory Committee National Aeronautics and Space Administration National Aeronautics and Space Administration Ames Research Center Moffett Field, California 94035-1000

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Cover: Space Station Freedom Permanently Manned Capability Insets: Lunar Base Planetary Exploration

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Table of Contents Executive Summary ............................................................................ v Background ..................................................................................... v A&R Technology Transfer .............................................................. v Recommendations ........................................................................... v A&R Technology Evolution .......................................................... vi Introduction ......................................................................................... 1 Background ..................................................................................... 1 Climate ............................................................................................ 2 ATAC Concerns .............................................................................. 3 Focus of Next ATAC Meeting ........................................................ 4 ATAC Assessments ............................................................................. 5 Basis of Assessments ...................................................................... 5 Assessment of Progress on ATAC Report 14 Recommendations .................................................................... 5 A&R Status Review of Levels I and II; WP1, WP2, WP4; CCC, POIC, and OAST ................................................ 13 New A&R Issues ........................................................................... 20 ATAC Progress Report 15 Recommendations ............................... 23 Ground-Based Maintenance SSF Science, Operations, and ........................................................................... 23 On-Board SSF Science, Operations, and Maintenance ................. 23 A&R Technology Evolution ......................................................... 23 References .......................................................................................... 24 Appendices A Space Station Freedom Program A&R Progress ................... A-1 B Acronyms ................................................................................ B-1 C NASA Advanced Technology Advisory Committee ............. C-1 °., III

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ORIGINAL PAGE 8LACK AND WHITE PHOTOG,R_r.-'-_., Control Center Complex Extended Realtime Failure Environment Analysis Tool and Thermal Control System Flight Detection Isolation and Recovery Extended Realtime Failure Environment Analysis Tool (FEAT) and the Thermal Control System FDIR projects are being evaluated in the Control Center Complex (CCC) Advanced Technology Testbed located at Johnson Space Center. The projects are developing and demonstrating advanced technology for autonomous fault detection, isolation, and recovery (FDIR). The knowledge-based logic provides for model-based sensor validation augmented with fault management iv through model-based component diagnosis. Design accommodations are being identified for SSF baseline and for evolution. The advanced automated FDIR technology will provide enhanced safety, increased reliability, and increased productivity for SSF science, operations, and maintenance. The technology will be implemented first in SSF ground mission control centers and eventually migrated to SSF on-board systems, if funding becomes available.

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Executive Background Summary Recommendations Ground-Based SSF Science, In 1984, Congress directed NASA implement an Operations, and Maintenance to develop and Automation and Robotics (A&R) program with the intent to focus Ground-Controlled Telerobotics and transfer the A&R technologies into the U.S. industrial sector and Recent cost reduction redesigns of by using Space Station the Canadian Mobile Servicing System economy Freedom as the focused (Space Station Remote Manipulatorapplication. In response to this SSRMS and Special Purpose Dextrous Manipulator-SPDM) indicate that the mandate, NASA Intravehicular Activity (IVA) timelines established in 1984 the Advanced Tech- for on-board telerobotic operations could Committee (ATAC) to be considerably increased. This increase nology Advisory report NASA's pro- of IVA to support on-board telerobotic review, assess, and its Congressional operations could impact the ability to gress in carrying out mandate. This is the fifteenth in the series complete on-board payload and science and covers the period operations unless the on-board of progress updates through telerobotics crew workload is reduced. of February 27, 1992 September 17, 1992. With 7 degrees of freedom on the SSRMS and 14 degrees of freedom on the SPDM, the arm motions will become A&R Technology very difficult to visualize and teleoperate Transfer concerned that there signals can be accommodated through the ATAC is still from on board the SSF. Tests have becn completed that indicate that the up-link/ down-link telemetry delays in telerobotic implementation of qualified and proven does not exist an integrated agency telerobotic technologies. More emphasis plan to evaluate, validate, and advanced A&R tech- should be placed on developing the capatransfer the bility of ground teleoperation of the nologies to the SSFP. The Congres- SSRMS/SPDM. sional mandate that directed NASA to develop and implement ATAC recommends that SSFP an A&R program with the intent assess the need, due to SSRMS/ to focus and transfer the A&R SPDM redesign, to operate robotic technologies into the U. S. indussystems from the ground, and if trial sector and economy by using required, incorporate ground- Space Station Freedom as the controlled telerobotics as a focused application is not being met. baseline SSF capability.

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On-Board SSF Science, ATAC recommends that SSFP A&R Technology Evolution assess the impact of SSRMS/ Operations, and Maintenance SPDM redesign on telerobotic Control Center Complex Advanced operations, specifically including and collision avoid- Technology Testbed Redesigned SSRMS/SPDM Operation task timelines ance issues, and report results at Removal of the five degree-of- Recent developments which have the February 1993 ATAC review. combincd the STS and SSF Mission Confreedom "body" of the Special Purpose Dexterous Manipulator (SPDM) reduces trol Centers, now designated as the Con- Data Management System trol Center Complex, have enhanced the the functionality and capability of the potential of migrating advanced automasystem and causes almost all servicing The Data Management System tion techniques into the CCC. Consideractions to be completed with the SPDM (DMS) was redesigned with a able progress has been made on the attached to the end of the large seven channelized architecture. The organizadevelopment of an advanced technology degree-of-freedom Space Station Remote tion of the power and data buses was testbed at JSC that will enhance the capa- Manipulator System (SSRMS). changed to provide redundancy throughbility to migrate automation techniques The complexity of the 14 degree-of- out the system to allow for fault recovery. into the newly configured CCC. Curfreedom SPDM operating from the end of Most of the non-time-critical functions rently the only automation techniques the 7 degree-of-freedom SSRMS creates that were to execute on the SDPs have being tested on the new CCC automation a very complex kinematic and dynamic been moved to the ground to reduce the testbed are those being developed problem. Lack of coordinated control will load on the SDPs. However, there was no through the SSF Level I Engineering Prosignificantly lengthen the timelines analysis presented to indicate that the totype Development (EPD) program. Due required to accomplish robotic mainte- utilization of the SDPs would be under to the reduced SSF budget, the funding nance tasks. Extensive ground support 100%. Time critical functions remaining for the EPD program is reduced to a level will be required to plan the movement of to execute on the SDPs were grouped into that could delay the migration of the EPD the robot arms. The complexity of the 0-fault, 1-fault, and 2-fault tolerant compound SSRMS/SPDM robotic sys- according to criticality. tem will also make collision avoidance The computational automation techniques into the CCC. Considering these new developments, capability of the other technology organizations should be difficult. The baseline system for colli- restructured DMS does not appear to encouraged to evaluate new automation sion avoidance is completely visual based have any computational reserve for any technologies that can be migrated through on the astronaut operator's ability to see contingencies. Although the hooks and and avoid unintended contact. There is the CCC advanced technology testbed. scars are there for the expansion of the currently a minimum of cameras and DMS, the expansion may be constrained ATAC recommends that SSFP viewpoints planned for operations of the and/or improbable due to the power Space Station. Technologies for non- availability. visual collision avoidance have been continue to support and encourage testing of new automation technologies from Level I EPD and developed. The Canadian Space Agency ATAC recommends that SSFP OAST in the CCC advanced techshould be encouraged to investigate these conduct a system simulation and nology testbed for migration into technologies and incorporate or leave analysis of DMS (SDPs, MDMs, the CCC. hooks and scars for incorporation of an sensors, and effectors) in a simuon-board collision avoidance system. lated operational environment to determine the computational reserve of the restructured DMS and its capability to meet the mission objectives vi and requirements.

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Advanced Automation Technology mission operations and on-board flight Manager system operation and management will lead to significant cost savings to the ATAC has a continuing concern with Agency, in the CCC and the HOSC as the lack of a wcll coordinated and inte- well as SSF. grated Agency effort for implementation of advanced automation on SSF. OAST is thc Agency's leader in AI research and is ATAC recommends that OAST rccognizcd as having a prccmincnt AI provide an Advanced Automation research capability and knowledge. Technology Manager to SSFP OAST is knowlcdgeablc about thc appli- Level ! who will coordinate, intecable work being conductcd in industry, grate, and propose advanced autoacademia, and othcr government organi- mation technologies from within zations. Effective integration of the the research community to meet OAST advanced automation technologics SSF mission requirements. with SSF rcquircments for ground vii

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Introduction Background technology development and application to Space Station Freedom. Specifically, indepen- Congressional Mandate dently review conduct of the Space Station Freedom Program to In 1984, Congress directed NASA assess applications of A&R to develop and implement an A&R technology with consideration for program with the intent to focus safety, reliability, schedule, and transfer the A&R technologies performance, and cost effectiveinto the U.S. industrial sector and ness (including life-cycle costs). economy by using Space Station Based upon these assessments, Freedom as the focused application. ATAC Establishment develop recommendations to enhance A&R technology application, and review the recommendations with NASA management for their implementation. Report assessments and recommendations In response to the mandate of Congress, twice annually to Congress. NASA in 1984 established the Advanced Technology Advisory Committee a report identifying The Space Station Frccdom Program is (ATAC) to prepare spccific Space Station systcms which advance tcchnologies. In March initial operational capability and which, robotics (A&R) Public Law 98-371, in addition, can be cvolvcd to support a 1985, as rcquircd by to Congress the results of range of futurc mission scenarios in ATAC rcportcd its studies (rcf. 1). The for automation and users and thc long-tcrm goals of U.S. proposed goals for the initial and space policy. robotics applications station. Additionally, The ATAC has continued to monitor evolutionary space rccommcndations to and prepare scmiannual reports on ATAC providcd guide the implementation Space Station Free- tion and robotics in achieving this goal. and robotics in the dom Program (SSFP). Freedom (SSF) charged with developing a baseline automation and station configuration that provides an first ATAC report keeping with thc nccds of space station of automation NASA's progrcss in the use of automa- The rcports arc documented in ATAC requirement of the law was Progress Reports 1 through 14 A furthcr Space Station (rcfs. 2-15). Progrcss Reports I through 5 that ATAC follow in this area and covcrcd the dcfinition and preliminary Frccdom's progrcss scmiannually. In this dcsign phase (Phasc B) of Space Station rcport to Congrcss context ATAC's mission is considered to Frccdom. Progress Reports 6 through 10 bc thc following. ATAC Mission covered the dcsign and development phase (phase C/D) of the SSF. Reports 11 and 14 covered the restructured design of SSF which was rcquircd as a result of SSFP budget reductions in FY 1991. Review, assess, and report NASA's Phase C/D will Icad to a complctcly progress in carrying out its Conassembled station to bc operational in the gressional mandate for A&R late 1990's.

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ATACProgressReport14,like made in standardizing or integrating the costs for maintenance, operation, and previousATACreports,receivedwide space robotic ele- training. However, the Canadian robotics NASDA and ESA dissemination.ATACProgressReport14 ments with the RSIS format..., and .... system has recently been restructured to wasdistributedin thefollowing an integrated Agency meet a reduced development budget. This that there is not validate, and migrate reduction resulted in decreased mobility categories: plan to evaluate, the advanced automation technologies to for the robotics system and very little Congress........................25coptes systems for the time, if any, for the flight validation and the SSF on-board NASA..........................235copras PMC phase." Industry........................110copies evaluation of the system prior to its operational use on-board the SSF. The Universities....................50copies ATAC is happy to report that development schedule is optimistic and CSA,ESA,NASDA........5copies established and imple- an alternate backup system is not readily SSFP has GAO.................................2coptes an effective advanced available due to the termination of the mented Coord.Committees........23copies program designed to U.S. FTS Program. automation Total.............................450copnes validate and accelerate the trans- An in-depth assessment of the Data automation tech- Management System (DMS) as it applies fer of evolving Thisreportisthe fifteenth in the the operational to the baseline operation and maintenance nologies into Included in this of the SSF infrastructure as well as its environment. series of progress updates and covers thc pcriod of February 27, 1992 through is the development of several scientific payloads was conducted as part effort SSFP advanced automation of this report. The computational ele- Scptcmbcr 15, 1992. To provide a useful, concise report format, all of the commit- testbeds located at JSC, MSFC, ments represent old technology but this is tec's assessments have been included in and I_RC. the scction "ATAC Assessments." This section of the report includes comments to be expected if cost is the primary driver and minimum risks are to be incorporated into the DMS development. Due to significant budget reductions, the The current DMS technology is adequate on SSFP's progress in responding to the STS and SSF mission control centers ATAC recommendations in Report 14. for the near term but does not provide the have been merged into a new, integrated Also, a summary of progress in A&R in computational reserve required for the Control Center Complex (CCC) with two the Space Station Freedom Program as resolution of unanticipated events subcenters, one for ascent/entry and one written by the program is providcd as an (mission requirements). Although there for orbital control. Since many on-orbit appendix. The report draws upon are sufficient "hooks and scars" to opcrations are common to both missions, individual ATAC members' understandprovide for the expansion of the SSF this integration represents an excellent, ing and assessments of the application of on-board computational capability, the cost-effective decision. The development A&R in the SSFP and upon material available power may be too constrained and integration schedule for the new presentcd during an ATAC meeting held to allow for additional computational CCC is optimistic and requires the early September 15-17, 1992, at JSC for the leveraging, validation, purposes of reviewing the SSFP A&R advanced automation activities and formulating the points of expansion. There are currently no plans and transfer of for conducting a system simulation and technologies to analysis of the DMS in a simulated complcte the new complex within the this rcport. budgetary constraints. operational environment to determine the computational reserve of the restructured Much progress has been made in the DMS and its capability to meet the Climate standardization of the Canadian robotic mission objcctivcs and rcquirements. interfaccs with the U. S.-developed ATAC reported in May 1992 ORUs including the scientific payloads. (Report no. 14) that it was concerned The standardization The resulting restructuring of the of the robotic SSF caused by congressionallythat NASA "... did not have an inte- interfaces will allow for the cost-effective imposed budget reductions will grated advanced automation program integration of evolving robotic devices still allow the SSF to meet most of which addressed the needs of SSCC, the from potential U. S. manufacturers. In its mission objectives and require- POIC, and the SSFP scientific investiga- addition, it will reduce the long-term tors ..., that little progress ... was being ments although there is no reserve

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foranycontingencies.It isATAC's development tools are chosen at the 2. Ground operation of the flight opinionthatanyfurtherreduc- discretion of the developer, which does robotic system may be required for tionsin theSSFPbudgetmay not provide for an effective and inte- operations and maintenance of the SSF resultin a Stationthancannot grated software development program. In prior to PMC. Hooks and scars for meetitsmissionrequirementsand addition, the knowledge gained by such an operation are not yet being objectives. individual developers in the resolution of considered and could be a major cost problems and its application to the factor if plans are not developed now overall system cannot be shared with to implement the process. ATAC Concerns othcr softwarc dcvclopcrs if different 3. The computational capability of the dcvclopmcnt tools are used. restructured DMS does not appear to Ground-Based SSF Science, have any computational reserve for ATAC is concerned that NASA is any contingencies. Although the hooks Operations, and Maintenance not taking full advantage of the and scars are there for the expansion available SSF and STS testbeds to of the DMS, the expansion may be With the restructuring and integra- accelerate the transfer of advanced constrained and/or improbable due to tion of the SSF Space Station Control automation technologies applicable the power availability. Center (SSCC) with the STS Mission to the CCC, and that a common set Control Center into a new Control Center of software development tools to A&R Technology Evolution Complex (CCC), there appears to be a support the testing and evaluation commonality of software in the on-orbit of advanced automation technolooperation of both the STS and the SSF. gies is not being used. Hence, the creation of the CCC appears to be a cost-effective decision over the SSFP has continued to make considerable progress towards the evaluation and carly validation of advanccd automation tcchnologics life cycle of the project. However, the On-Board SSF Science, successful development of this new CCC applicable to the development of thc Operations, and Maintenance CCC. OAST bricfcd ATAC on its within its budgetary constraints is highly dependent on the Icveraging, validation, automation, robotics, and data sysiems ATAC was briefed on the restructur- focused tcchnology dcvclopmcnt and transfer of the applicable advanced ing of the Canadian robotic system and program, originally fundcd undcr the automation technologies in the CCC thc SSF DMS causcd by budgetary Civil Space Tcchnology Initiative operational environment. Both SSF and constraints. The restructured designs for (CSTI); howevcr, the presentation lacked STS have cxisting testbcds which can be not progressed to a sufficient technical content to allow both activitics had used for early evaluation and validation sufficicnt Icvcl at thc time of thc ATAC ATAC to asscss OAST's technology of the evolving advanced automation briefing to allow ATAC to assess the applicability and transfcr to SSFP. It is concepts. However, ATAC is concerned that causcd by the critical that OAST focus their automapotcntial impacts 1. The available testbeds at JSC, MSFC, restructuring. tion, robotics, and data systems and LeRC will not be maintained and Sufficicnt information was provided development programs to SSFP needs for ATAC to be concerned that: and requirements - without OAST's funded at an adequate level to evaluate, 1. More mission time may be required assistance, SSFP will lack the technolovalidate, and transfer the required for replacement of ORUs due to the gies required to devclop SSF in a costadvanced automation technologies into lack of mobility of the SPDM. In effcctivc manncr. ground operations. addition, there does not appear to be 2. A common set of software developsufficient time to evaluate and validate ment tools are not being used which the robotic system prior to its use in a would allow efficient evaluation, flight operational environment. analysis, and transfer of the appropriate software. It appears that the software

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ATAC is still concerned that there Focus of Next ATAC does not exist an integrated agency Meeting plan to evaluate, validate, and transfer the advanced A&R technologies to the SSFP. The The next ATAC meeting and report, Congressional mandate that Progress Rcport 16, will focus on a directed NASA to develop and detailed review of the A&R progress in implement an A&R program with launch processing and operations, and a the intent to focus and transfer the detailed rcvicw of the OAST A&R A&R technologies into the U. S. Program. The meeting will be held in industrial sector and economy by Fcbruary, 1993 at Kennedy Space Center. using Space Station Freedom as the focused application is nut being met.

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ATAC Assessments Basis of Assessments Assessment of Progress on ATAC Report 14 The ATAC assessments for this based upon the Recommendations reporting period are committcc's appraisals of progress in advanced automation and robotics for Recommendation h Space Space Station Freedom. A review of the Station Control Center progress on the recommendations from ATAC's most recent report, Progress Automation. Rcport 14, will be discussed first, followed by a review of topics explicitly "The SSFP Lcvcl I Engineering Protoaddrcsscd during the September 15-17, type Development manager coordinate an 1992 ATAC meeting, and then a discus- SSFP program effort with OAST to sion of new A&R issues. assure that applicable existing automation technologies are considered for the SSCC It is ATAC's understanding that baseline system; and present a specific Congress directed NASA to plan for the effort at the July 1992 ATAC develop and implement an A&R review." program with the specific intent to focus and transfer the A&R SSFP Response to ATAC technologies into the U. S. industrial sector and economy by using "Due to funding reductions in Space Station Freedom as the development and operations, Space focused application. Due to the Station Control Center (SSCC) activities congressional budget constraints, have been consolidated and merged with the SSFP, as currently restruc- Shuttle activities. The resultant facility tured, is focusing the incorpora- has been designated the Control Center tion of advanced A&R technology Complex and is split into on-orbit and only into ground operations; ascent/entry operations. As part of this however, OAST has not provided baseline architecture, an advanced ATAC with sufficient information technologies testbcd has been established to determine relevance of its A&R at JSC to evaluate key innovative program to SSF requirements and technological solutions targeted for needs. control center operations. This testbed provides the introduction and assessment of new approaches in parallel with baseline operations. The first suite of technologies to be evaluated within this testbed are advanced fault management techniques being investigated by Level ! Engineering Prototype Development. Advanced fault detection and management prototypes in thermal control, electrical power distribution, and environmental control and life support are scheduled for review within the next

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twoyears.Theseprototypesarebeing the use of Digraphs. to this proposal has CCC includes a Fault Detection and developedconsistentwiththeProgram's funding allocated Unfortunately, the 1. The baseline architecture of the baselineFaultDetectionandManage- objectives in jeopardy. Management system for automated fault placed its original ment(FDM)subsystemtoensurea SSF automation technol- detection and analysis for both SSF and In June of 1992, smoothtransitionandintegration. were again presented to on-orbit Shuttle Systems. The system ogy requirements Similarly,theFDMsubsystemisbeing the OAST AIIWG. designedsonewtechniquesandalgo- both control center This time however, includes fault detection using knowledgeand payload opera- based systems, automated fault analysis requirements were more using extended realtime FEAT (Failure rithmscanbemoreeasilyincorporatedas tions center theybecomeavailable.Theadvanced formally addressed. Control center func- Environment Analysis Tool, a directed thermalcontrolsystemfaultmanagement tional needs revolved around improved graph representation or model of failure prototypeiscurrentlybeingevaluated, methods of detecting withtheelectricalpowersystemand managing potential anomalies and modes of equipment), and additional failures. Also, the monitoring and diagnosis capabilities environmentalcontrolandlifesupport voluminous technical evaluation for incorporation through an ability to access systemassessmentsfollowinginsix documentation was addressed. Payload- advanced technologies testbed (see monthincrementsrespectively." functional needs section on SSCC bclow under A&R operations center telemetry assessment, Status Review for more details on CCC, "In Novemberof 1991,SSFautoma- included payload tiontechnologyrequirementswere development, and payload FDM, and testbed). Future plans include activity model presentedtotheOASTArtificialIntelli- console automation. the incorporation of recovery planning data management gencelntercentcrWorkingGroup Also at that time, the concept of the technology and fuzzy logic applications. (AIIWG).Thescrequirementsincluded advanced technology and advertised as a prototypes for TCS, EPS, and ECLSS are functionalneedsinfaultmanagement, duced, explained, systemmonitoringandcontrol,mission means of transferring into the Space Station CCC testbcd. planningandscheduling,mission tions technology tcstbed was intro- 2. Level I EPD advanced technology advanced opera- being devclopcd for cvaluation in the operations,training,human-computcr Control Center. It is expected that the interaction,andsystem-softwareengi- SSFP will continue a significant piece of that and the JSC MOD Control Center neering.Eachfunctionalnecdincluded OAST and that its dialogue with The SSFP Level I EPD manager aspectsofcontrolcenteroperations.In communication will involve control Systems Division are commended Decemberof 1991,controlcenter center and payload personnelmetwithmembersofthe automation." AllWGtodiscusspotentialareasfor futuretechnologysupport.At thattime, ATAC Assessment groundstatusandcontrolmonitoring, operations by ATAC for this plan and CCC design which initiated use of intelligent systems to achieve improved reliability and productivity for SSF. failuremanagementandrecovery SSFP Level I Engineering Prototype planning-scheduling,Digraphconver- Development (EPD) manager presented a ATAC urges OAST to re-assess its sion,andintelligenttextualsearchand specific plan at the ATAC review for plans for artificial intelligence retrievalwereidentifiedasareasof assuring that applicable existing automaresearch so as to be able to develop potentialsupport.InFebruaryof 1992, tion technologies are considered for the improved capabilities to be theSSFPwasgiventheopportunityof SSCC (now Orbital Control Center evaluated in the CCC testbed. reviewingtheFY93AIlWGproposalsfor (OCC) portion of Control Center Comtheirrelevanceinmeetingavarietyof plex (CCC)) baseline system. However, SSFneeds.Onlyoneproposaloffcrcd although SSFP automation technology supporttoSpaceStationControlCenter requirements were presented to the operations.Thatproposalinvolved AI1WG, attempts to enlist substantial mergingDigraphanalysiswithsclectivc OAST participation in CCC testbed monitoringtechniquesandispcrtincnt activities were largely unsuccessful. The becausethcSSCC'sbaselineapproach plan consists of two major elements: forfaultidentificationrelicsheavilyon

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Recommendation Ih Payload community for technology to meet their research and development and will aid in another workshop is fair evaluation of the multitude of needs. Therefore, Operations Integration currently being planned for Huntsville, planning and scheduling approaches Center (POle). Alabama and will be cosponsored by being pursued by the technology commuboth SSF Level 1 Engineering Prototype nity. These packages will also be useful Development and the OAST Artificial in the preparation of requirements "The SSFP Level 1 Engineering Proto- Intelligence Program." type Development manager dctcrmine if contained in Requests for Proposal or "This workshop will focus primarily Task Orders that may be issued for the one of the existing advanced planning on Space Station operations and will development of future scheduling and scheduling tools being developed explore the domain of payload operations systems." within their program or one being in grcatcr detail. The workshop will "Additionally, these packages will be dcvelopcd within the OAST program with the full scope maintained in a form and location that acquaint participants could be implcmcntcd for thc POIC of payload schcduling baseline operations." ments including ground technical require- facilitates electronic communication processing at between those NASA centers, that wish KSC, Network Control Center scheduling to apply their industries, and academic SSFP Response to ATAC at Goddard, crew operations scheduling institutions scheduling research to this "In September of 1991, the Space at JSC, coordination with international specifc domain. Similarly, the require- Station Freedom Level I Engineering as actual payload ments, scenarios, data sets, and new partners, as well Prototype Development activity spon- scheduling at MSFC. Participants will technology challenges will be submitted sored a planning and scheduling work- spccifically review the detailed technical to the artificial intelligence and operashop with the specific objective of requiremcnts of Spacelab and Spacchab tions research workshops scheduled for addressing the planning and scheduling reasonable compari- the future." missions that offer requirements for major Space Station son to Space Station operations. Ulti- "This uniquc approach of collecting applications (e.g., training, facilities, matcly, the workshop should identify requirements, scenarios, and data sets payloads, crew time). Unlike previous those requirements that provide the will be evaluated, critiqued, and docugatherings, this workshop placed special greatest tcchnical challenges and which mented to serve as a guide for future emphasis on identifying common emerging techniques and technologies technology development and technology sccm to address them." technology that exists or that can be transfer efforts. Hopefully this workshop developed and shared to meet specific "In conjunction with the workshop, and scheduling initiative will improve the Space Station needs. A significant SSFP Level I Engineering Prototype dialogue betwecn the OAST Artificial portion of the meeting was spent in Development and the HOSC have Intelligence Program and the SSFP and working groups dealing with issues such initiated an activity designed to define, will form the basis of a joint research and as "common user interfaces," "common demonstrate, and document the baseline development plan that will guide strategic data representations," "common algo- functionality required to support payload investment decisions and solve some very rithms," and "common protocols for operations scheduling. This initiative critical operational issues." distributed scheduling"." includcs dcvcloping a series of incremen- "The Huntsville Operations Support tal spccification and representative data ATAC Assessment Center (HOSC) is the home for payload sct packages. Thesc packages will operations scheduling The SSFP Level I Engineering operations within the Agency and has include payload payload scenarios prototype Development (EPD) manager responsibility for both Space Station and requircmcnts and Spacelab payloads. They have recognized those requirements has been very responsive to ATAC which substantiate context for their recommendations and in this case has the need for greater planning and and provide some scheduling flexibility in order to meet occurrence. Benchmark data will also be made excellent progress as well. their mission requirements and have included which can be used to exercise EPD and the Huntsville Operations of candidate scheduling Support Center (HOSC), which have expressed a strong desire to build bridges the capabilities to the planning and scheduling R&D packages will be responsibility for payload operations for systems. Idcally, these uscd to focus planning and scheduling

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SSF(POIC),SpacelabandSpacehab,and Recommendation whichhaveexpressedastrongdesirefor IIh "The EPS provides all research and housekeeping electrical power. The EPS advancedtechnologytomeettheirneeds Science Productivity. generates 18.75 kW of orbital power at forgreaterplanningandscheduling MTC. At least 11 kW is available for flexibility,havestartedtodefine, "SSFP coordinate and implement an payload operations. The power supply is demonstrate,anddocumentbaseline integrated effort to facilitate and enhance available with 3.0 or 6.0 kW capability functionalityrequiredtosupportpayload the effective utilization of the SSF depending upon the rack location. Some operationsscheduling,includingspecifi- laboratory facilities for the conduct of ISPRs in the U.S. Lab, with dual 6 kW cationsanddata"packages"ofpayload material and life sciences during the inputs, can provide 12 kW to payloads. operationsschedulingrequirements, MTC phase." payloadscenarios,andrepresentative The EPS provides 120 volt dc power to the payload interface." benchmarkdatasetstoexerciseand SSFP Response to ATAC "The TCS maintains core system comparcthecapabilitiesofcandidateA! equipment and payloads within required planning and scheduling approaches. This "Payload Accommodations temperature ranges. The TCS is capable unique approach of packaging require- Payloads will take advantage of of handling heat rejection loads, at certain many standard capabilities of the Space locations, of 12 kW, 6kW, and 3 kW." ments, scenarios, and data sets may serve Station Freedom environment for as a guide for future technology develop- "Video access is available at each ment and technology transfer efforts, conducting their operations. The standard ISPR location with a single-video resources include: International Standard though possibly not possessing the same connector with three interfaces for input, degree of integrated testing of robustness Payload Rack (ISPR), Electrical Power output and synchronization and control. as a testbed might provide. This effort, System (EPS), Thermal Control System with feedback from technology develop- (TCS), Communication The video system accepts a National and Tracking and Television System Committee (NTSC) ers, is intended to support preparation of Video Subsystem, Environmental Control formatted signal. A payload may send POIC and HOSC requests for proposals and Life Support System (ECLSS)." video from inside the payload rack to a "The basic accommodation for issued to procure planning and schedul- Multi-purpose Access Console (MPAC), ing capabilities to meet their needs. payloads in the pressurized modules is a video monitor, or a ground facility." In addition, EPD has sponsored a the ISPR which has been designed to "The Environment Control and Life planning and scheduling workshop to effectively take advantage of the SSF Support System will maintain an atmoaddress these rcquirements for SSFP internal pressurized environment. This spheric pressure of 10.2 psia and an applications such as crew time, payloads, environment is suitable for the perfor- oxygen concentration of not more than facilities, and training. Another workshop mance of microgravity experiments. 30 percent during MTC. However, the Acceleration levels of 10-6g or less at is being planned at MSFC in December atmospheric prcssurc may be increased to 1992, co-sponsored with the OAST AI frequencies < = 0.1 Hz are maintained for 14.7 psia and the oxygen concentration program, to focus primarily on SSF at least 50 percent of the user accommo- reduced to 23.8 percent during MTC to payload opcrations. dation locations for continuous periods of fulfill the needs of principal investigators, Thesc cfforts could and should 30 days or more, beginning at MTC. except during Mission Build flights." strcngthen the support of SSFP by the These conditions exist at least 180 days "In addition to the standard SSF OAST A! Program and should form the per year. For frequencies between 0.1 and capabilities available to payloads, the 100Hz, the acceleration basis of a joint R&D plan that guides levels are less SSF also includes capabilities that have strategic investment decisions to solve than the product of I × 10 - 5g/Hz and been customized for Payload operations. somc very critical SSF operational issues. the frequency. Acceleration levels of These capabilities include the Vacuum < = I x 10 - 3g are provided for frequen- Resource System, Vacuum Exhaust The SSFP Level I EPD manager cies exceeding 100Hz. Externally, two System, Acceleration Mapping System and the MSFC HOSC POIC locations are available on the external (AMS), Water, General Laboratory management are commended by truss during the MTC phase." Support Facilities and Laboratory ATAC for this effort to improve productivity for SSF. Support Equipment."

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"TheVacuumResourceSystem Specimen Labeling Device, Small Mass capabilities (e.g., SCSI, RS-232-424, providesalinecapableofattainingand Measurement Device." maintaining10-3torrfora payloadat selectedISPRlocations." "Payload Information "TheVacuumExhaustSystem Hardware 1553B). Also included are high and low speed backplanes that allow payload System Specialized unique boards to be installed. The Payload FDDI MDM uses very little providesagasventlineforthedisposal Several unique components have power and allows high fidelity operations of nontoxicandnonreactivegascous been added to the payload portion of SSF with its high spccd bus." payloadwasteatselectedISPRlocations. facilities in order to maximize user "A stand-alone Network Interface Thereis noon-orbitstorageortreatment operations. In particular, the Data Adapter (NIA) provides payload unique available.Principleinvestigatorsare Management System (DMS) has been ORUs high-bandwidth interfaces into the responsibleforthecontainment,storage upgraded with several Orbital Replace- Payload FDDI Ring. The NIA option andtransporthardwarerequiredforall ment Units designed to meet custom gives payload developers the most payloadgeneratedliquid,solid,andtoxic payload requirements." freedom in building unique payload gaseouspayloadwaste." "Standard Data Processor (SDP) control systems that require high band- "TheAMSintheU.S.Labconsists no. 7 is a dcdicatcd payload SDP that width interfaces into the DMS." ofasystemoffixedacceleromctcrsto supports a 1553B local bus for payloads "High Rate Links (HRL), the Patch measurequasi-steadyacceleration and also serves as the host for the Panel (PP), and Intermediate Rate (frequency<0.01Hz)andmovable Payload Executive Software (PES). The Gateway (IRGW) provide the capability acceleromcterstomeasurevibration PES augments the DMS with payload to route payload science data either to between0.001and300Hz.Information unique functions and features like other on-orbit locations or to the ground. characterizingtheaccelerationenviron- collecting ancillary data and augmenting Beyond the benefits of moving large mcntisroutinclyavailableinatimely simple, low-end payloads into the DMS." amounts of data to the ground, the HRL mannertoprincipalinvestigatorsand "The Payload Data Processor and PP can also support facility class crewtosupportpayloadoperationsand (PLDP) is a customized processor based payloads that need to move large post-flightdataanalysis." on the core system SDP but has been amounts of data (greater than 10Mbps) "TheISPRsarenotplumbcdfor outfitted with additional Input/Output between various remotely placed rack waterdistribution.Potablewateris (I/O) capabilities. The SCSI interface, locations." availableforpayloadsataspigotlocated designed to facilitate high bandwidth data inthcU.S.LaboratoryModule." transfers, and the RS-232-424 interface, "On-board Software Services "TheGeneralLaboratorySupport commonly used by the payload science DMS Standard Services, Timeliner, FacilitiesandLaboratorySupport community, arc both supported. Addi- and the Payload Executive Software Equipmentincludethefollowingcompo- tionally, the 1553B standard local bus (PES) allow the payload community ncnts:MaterialsProcessingGlovcbox, supports a backplane that allows payload significant flexibility for automatic, LifeSciencesGlovebox(inCcntrifugc unique boards to be installed. The autonomous, and dynamic control of their Nodc),BatteryCharger,Cameras,Still additional I/O capabilities, along with operations within the limits of on-board andVideo,Camera Locker, Cleaning open slots on the backplane, allows the resources and safety precautions." Equipment, Digital Multimcter, Digital payload community to develop systems "DMS Standard Services provides Recording Oscilloscope, Digital Ther- similar to their current systems in their high-end payloads the capability to easily momcters, EM-Shielded Locker, Film labs. This cnhances the productivity of access, on a real-time basis, various SSF Locker, Fluid Handling Tools, Freeze their experiments and keeps costs to a capabilities like ancillary data and health Drier, Freezer 20°C, Freezer 70°C, minimum." and status information via the Runtime Freezer, Cryogenic (Quick/Snap and "The Payload Fiber Distributed Object Relation Database (RODB). This Storage), Gcneral Purpose Hand tools, Data Interface (FDDI) Multiplexer/ capability provides payload developers Microscope, Stereo, Micromass Measure- Dcmultiplcxcr (MDM) is a customized with the necessary software calls to the mcnt Device, Passive Dosimctcr, pH processor based on the core system DMS to operate their payload on-board Meter, Portable Glovebox, Refrigerator, MDM but includes a high bandwidth Space Station Freedom with maximum FDDI intcrfacc along with additional I/O access to required resources."

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"TheTimelinerprovides a language CCC capabilities expected to be established on or near orbit determination. specialized for writing sequenced provide the integrated services and Ames Research Center, and will concenprocedures. Scripts are organized into for real-time opera- trate on life science payloads since that is support necessary parallel "sequences" with conditional for both core and an ARC responsibility. The UOF will tions and planning logic controlling the flow of each payload activities." provide standard commands, telemetry, sequence. These sequences interact with facility performs real- voice, data management, mission support, "The POIC operations integration, and communications for all payloads particular systems (e.g., power, cameras, time payload lights) by reading attributes and writing payload operations supported at their site. UOFs are responmission planning, commands. On board Freedom, these data management. sible for archiving, processing, and control, and payload and controls payload distributing the data to the investigator." sequences can automate procedures, The POIC monitors CCC, UOF, and commu- "The PDSS ties together the major provide upper-level control during Loss interfaces to the Of Signal events when unmanned, and nications network. The POIC includes a Ground System Elements in terms of allow procedures to be defined "pre- Development and distributing Payload Science Data. PDSS Payload Procedure flight" to aid verification and ensure (PDAC), Timeliner provides three major functions for Control System repeatability. On the ground, these Sequence Development Definition System, science data: realtime distribution, sequences provide simulation executive load Flight Display Software, Pay- handling high bandwidth (Ku-band) functions. Payload operations will use the System, and the production processing, and data distribu- Mission Planning Timcliner capability to execute payload Management Information tion. The PDSS captures and stores the Operations sequences according to various scenarios These capabilities are 50Mbps Ku data stream from White System (OMIS). commanding, remote Sands. it demultiplexes the captured data such as Tier 1 commands and Mode intended to support changes." voice communication, and mission into Virtual Channels (VCs) and CCSDS "The Payload Executive Software procedure development." packets then performs Level Zero planning and serves as a simple, yet robust conduit for is a payload operations Processing on selected VC's. It provides "The USOC low-end payloads into thc DMS. PES adjacent to the POIC. It rate buffering of selected data then facility located also augments the DMS with other payload investigators and distributes it using NASCOM and PSCN accommodates payload-unique housekeeping chores like operations from each Commercial, and "The Space Station Freedom the collection of core data for use as code (e.g., Science, ancillary data by payloads in order to Research-Technology). sponsoring user communication networks." It provides the program has recently initiated a set of have control points and calibrated capabilities to conduct and conferences and workshops (i.e., Space essential user science data." payload operations by Station Utilization Conference and the execute realtime display and process- Payload Data Services Support Worksupporting realtime "Payload Operations Support ing of payload health status and ancillary shop) to educate thc public and payload Payload operations support is realtime payload engineers on the details of the space data. It also sends supports crew voice station functions and resources for provided in five different, yet integrated, commands and arcas: the Control Center Complex communication from (CCC), Payload Operation Integration USOC also manages Center (POIC), Payload Data Services of high-rate payload payload users. The conducting science, technology, and information routing commercial operations on board the data to user supplied space station platform. These forums System (PDSS), U.S Operations Center equipment." bring together the engineers, designers, ground support (USOC), and U.S. User Operations planned to support and managers of the Space Station "UOFs are Facilities (UOF)." that are best suited for program with the payload community to operational needs or area of experiment share lessons learned, and to build a "The CCC has the functional a specific discipline responsibility for overall SSF systems include the discipline- corporate knowledge base." expertisc. These management including total operations oriented areas of micro-gravity, lifesciplanning and analysis, monitoring, cnccs, and technology. It is anticipated ATAC Assessment command and control, voice communica- that UOFs will be colocated near their For example, a UOF is The SSFP presented a comprehention, video processing and distribution, area of expertise. core data processing and archiving, and 10 sive description of the physical and

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environmentalinterfacesbetweenthe SSF to address supporting automation "The prototyping activity has payloadsandtheSSF.Missingfromthis advanced development for the SSF PMC focused on packaging advanced automapresentationwasrecognitionoftherole operational phase, and present the plan at tion functionality for compatible insertion thatadvancedA&Rcanplayinenhanc- the July 1992 ATAC review." into baseline development. Originally, ingscienceproductivityduringthe MTCphase. SSFP Response to ATAC ATACrecognizestheimportanceof advanced automation fault detection and management prototypes were being developed for on-board implementation well-definedinterfaces.However,it "Although the majority of SSFP but when this functionality was scrubbed activities are focused on baseline from the vehicle thcse efforts were appearsthattheburdentodevelopor implementanyenhancementstoscience development, the Program has prudently rescoped to provide advanced functionalproductivityhasbeentransfcrredtothe tried to address growth and evolution. ity within the ground operations distribpayloaddcvclopersandusers.For SSF Level I Engineering has been tasked uted system consolc positions. Currently, example,anyautomatedsamplechange- to specifically study and prototype advanced fault detection and manageout,manipulation,etc.foreachexperi- growth and evolution options for the ment prototypes in thermal control, mentwill dependontheingenuityand entire Program and does so within the electrical power distribution, and innovationofthepayloaddeveloper,asit confines of budget availability, schedule environmental control and life support appearsthereis nogenericSSFauto- pressure, and technology risk." are scheduled for baseline review and matedcapabilityavailableforthese "The study activities have identified possible integration within the next two functions.Additionally,thePOIC's a variety of issues which must be years. These prototypes are being abilitytoplan,schedule,andreactto considered when migrating advanced developed consistent with the Program's changingconditionswill ina largcpart functionality back on-board the SSF. baseline Fault Detection and Managedeterminethescienceproductivity. Typical issues are power availability, ment (FDM) subsystem to ensure a Automation is being implemented in increased thermal loads, and configura- smooth transition and implementation." sclccted areas, such as planning and tion issues, such as where additional "Concurrent with this effort to scheduling. equipment can be located, the routing of introduce advanccd fault detection and additional cabling, and ease of crew management prototypes within the In summary, ATAC is still con- access. These issues are interrelated and control center environment, the Level I cerned about the lack of an effec- affect each distributed system and Engineering Prototype Development tive integrated effort to enhance ultimately dictate any growth and activity is pursuing three other projects SSF productivity as a science labo- evolution strategies. Adding increased which allow the SSFP to eventually ratory, particularly during the functionality in the Data Management prototype and evaluate the migration of MTC. ATAC urges the SSFP to System (DMS) provides additional advanced automation back on board the increase program efforts to coordi- challenges which must be accounted for. vehicle. The first project is the developnate more effective integrated Among those issues specifically impact- ment of an advanced DMS architecture Agency activities to enhance SSFP ing the baseline DMS are data access, testbed to independently assess baseline science productivity. commanding connectivity, compute DMS performance and document the power, and the physical connectivity of design accommodations required for the network." DMS growth and evolution. This testbed "The documentation of these and Recommendation IV: serves as the basis of an integrated task other issues has identified a variety of plan between Amcs Research Center and Migration of Advanced Auto- functional needs. These needs impact mation On-Board SSF. artificial intelligence Johnson Space Ccntcr to improve and data systems advanced avionics technology transition technology requirements and should and insertion. A subtask of this effort is drive research and development in those the development of a prototype advanced "SSFP develop a plan including migrarespective technology tion of advanced automation technology areas. The SSFP Embedded Data Processor (EDP) to serve has begun to formally communicate these as a potential growth upgrade within the from ground control centers to on board functional needs to OAST." 1]

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DMS.The sccond effort, jointly spon- for migrating advanced Second, SSF Level I Engineering ment mhedule sored by thc Defense Advanced Research automation back on board." Prototype Development is pursuing a five-year strategy of developing proto- Projccts Agency, investigates the value of types with testbcd evaluation, and portable computing as a mechanism to ATAC Assessment reexamining migration of advanced provide computational resources to the SSFP indicated that it wasn't automation on board by FY97, which point of action. Advanced portable to present a plan includes: workstations can support a variety of possible at this time crew nceds and complement the core data showing what would be required and 1. Packaging advanced automation what SSFP would do to accomplish functionality for compatible insertion into system. The third cffort is exploration of low cost alternatives in the distribution of migration of advanced automation on- base line development for a subset of real time telemetry. In a joint project with board SSF for the PMC operational phase systems through prototyping, at the ATAC review. However, SSFP did 2. Developing and testing advanced OAST, the ability to link the control ccntcr environment with the simulated present the status on two necessary DMS architectures in a test bed to show on-board computational system can now elements to achieving such a plan, and design accommodations required for bc demonstrated." indicated it would take several years to DMS growth and cvolution including an "Although these tasks arc currently achieve such a plan. advanced Embedded Data Processor as a dcdicatcd to individual tactical objcc- First, despite the fact that essentially potential growth upgrade within the all SSFP activities are focused on DMS. tivcs, thcy will become much more strategically aligned and integrated in the baseline development, SSF Level ! 3. Developing an Advanced Crew future. As the advanced fault detection Engineering has studied growth and Personal Support Computer and investiand management prototypes become evolution options within the confines of gating its value as a mechanism to more robust and mature, they will be budget availability, schedule pressure, provide computational resources to the hostcd on advanccd portable workstations and technology risk. These studies have point of action on board and to completor integration and evaluation within thc identified a variety of issues related to mcnt the core data system on board, advanced DMS tcstbcd. Links bctwccn migrating functionality on board. Power 4. Exploring low cost alternatives in thc control center environment, the availability, increased thermal cooling, distributing real-timc telemetry and advanccd DMS testbed, engineering and configuration issues such as where linking the control center environment support ccntcrs, and the payload opera- additional equipment can be located, the with the simulatcd on-board computations community are also being planncd. laying of additional cabling, and ease of tional system tcstbcd at Ames, including This strategic initiative is tentatively crew access are typical issues. The Data hosting the advanced automation protoplanned to last five years subjcct to Management System (DMS) creates typcs on advanced portable workstations additional issues of data access, com- for integration and evaluation within the budget availability, schcdulc pressure, and technology risk constraints. Thus, the manding connectivity, compute power, advanced DMS tcst bed, opportunity to evaluate end-to-end and the physical connectivity of the 5. Evaluating end-to-end operational network in the new channelized architec- scenarios and on-board automated opcrational scenarios and reexamine early Space Station on-board automated ture design. As opposed to the previous operations managemcnt concepts by opcrations managcmcnt conccpts should distributed architecture, the channelized FY97, including advanccd automation architecture is more centralized in its prototypes targeted for PMC improveoccur by FY97. At that time, growth and evolution prototypes targctcd for PMC approach to systems management, and ments, and improvcmcnts can bc dcvclopcd, demon- provides for improved fault analysis and 6. Attempting to obtain early strated, and cvaluatcd, ldcally, early management. All functions requiring investments by OAST and others in the investments by the research and dcvelop- two-fault tolerance are hosted in a single R&D community in finding solutions to two-fault tolerant SDP. All functions SSFP growth and evolution functional mcnt community in finding solutions to requiring one-fault tolerance are hosted in needs, so that this tentative schedule can SSFP growth and evolution functional nccds would accelerate the tentative a one-fault tolerant SDP. Designing tbr be accelerated to achieve migration of Lcvcl 1 Enginccring Prototypc Dcvclop- evolution and migration of advanced advanced automation back on board automation on-board SSF requires sooncr. solutions to these problems. 12

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ATAC welcomes this two-pronged Space Systems Development expressed effort as a constructive attempt to their encouragement A&R Status Review of and support to improve SSF reliability and OAST in their efforts to "get the FTS Levels I and II; WP1, productivity, and endorses this word out." In June, the SSF Level I WP2, WP4; CCC, POIC, effort while underlining its Engineering Prototype Development and OAST importance. manager formally offered to support the OAST Telerobotics program manager in The ATAC wishes to reiterate its any endeavor intended to improve FTS Assessment of Level I. awareness. At that time, OAST indicated support for the eventual development of that worthwhile technology and experian on-board SSF automation capability. The Level I Engineering Prototype The autonomous cxcculion of routine ence dcvclopcd by the FTS Program Development (EPD) effort continues to would bc highlighted at the Space dccisions and actions, as well as real-time make excellent progress in developing Operations, Applications, and Research remedial measures, ccauld rcduce the level (SOAR) symposium of continual involvem'cnt by the Control prototypes in advanced automation and featured at the applications for SSF. next Office of Commercial Policy Ccntcr Complex. This should result in EPD provides an effective vehicle to Technology Commcr-cialization Confersignificant operational economics over demonstrate cost, schedule, and technical encc. An SSFP offer of assistance has the life of the program. It should also risk reduction options and identify bccn accepted, and is available if called reduce the requirement for very high data on for support." rate transmission of all sensor data to bc displayed in the CCC. This experience in ATAC Assessment autonomous spaCe station operation will bc invaluable, ultimately, in planctary minimum impact design accommodations for intelligent systems and robotics. While in general the baseline program budget, schedule and technology freeze constrains implementation and reduces An FFS Technology Capture activity missions, when long transmission times flexibility, EPD can evaluate risk was initiated in February 1992, funded by will preclude ground control. reduction options and technical issues OAST. A Memorandum of Agreement with significantly less cost and time. EPD was established between LaRC and JSC evaluates selected high payoff options Recommendation V: Flight and a contract with Martin Marietta which improve pcrformance and func- Aerospace to complete the ground Telerobotic Servicer (FTS) tionality, and leverages complementary simulator and assemble the flight arm activities with other organizations. EPD's Technologies. was negotiated. The Hydraulic Manipulatasks are tied to baseline near-term tor Test Bed (HMTB) will be completed schedules and tcstbeds. "SSFP strongly encourage OAST to and delivered to LaRC for test and Engineering Prototype Development organize and implement a timely process evaluation in November 1992. The Flight focuses on critical baseline issues, such to preserve and disseminate, to U.S. Arm asscmbly is underway and will be as: the oversubscription of resources industry, the technologies dcvclopcd delivered to JSC for environmental (DMS, C&T, EVA, IVA); the proliferaduring the FTS Program." qualification and testing in July 1993. tion of sensors, software, processors, and Documentation of the FFS capabilithe effects of resultant scrubs; the SSFP Response to ATAC ties and test results will be made availcomplexity of failure modes and redunable to U.S. industries at the completion "The SSFP shares ATAC's interest of the program. dancy management; providing flexible capability for users; and the reduction of in the preservation and dissemination to Although some progress has been operations and life cycle costs. U. S. industry and academia the advanced made in FTS technology dissemination to Engineering Prototype Development technologies developed during the FTS U.S. industry, ATAC urges SSFP to is now the principal SSFP effort to Program. Throughout the Spring of 1992, devote more effort to enhance progress in personnel within the Space Station this area. Freedom Program and the Office of demonstrate and integrate key innovative technologies. A solid task mix has been established which addresses critical baseline program issues with task 13

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demonstrations that are aligned with to continue its EPD efforts in advanced requirement. This represents a significant critical program milestones and decision automation and robotics at least until the capability to offload EVA astronaut points. EPD is successfully demonstrat- PMC milestone. ing numerous applications that are activities to robotics. Design and redesign activities to create feasible robotic relevant to baseline program issues. Assessment of Level II. Recent significant accomplishments of EPD include: 1) Hosting FDIR protoservicing tasks, serviceable hardware, and interface hardware is proceeding well. Substantial interface questions and Major progress continues to be types on SSF distributed system testbeds design problems remain, but qualified made in the implementation of and supporting system test and verificapersonnel and processes are in place to robotics systems and robotics tion, working with Mission Operation resolve those issues. interfaces into the Space Station Directorate (MOD) to assess validity of Program. EPD FDIR models for insertion into the CCC environment; providing consultance The recent restructuring/descoping of the Canadian Space Agency robotics development program has not decreased on the use of COTS products; establish- Since the commitment of the the serviceability of the overall Space ing CCC advanced technology testbed, program to the Robotic System Integra- Station by Canadian Robotics. However, 2) providing DMS performance analysis tion Standards (RSIS) Volumes I and II, removal of the five degree-of-freedom and design to SSFPO and WP2; provid- the interface problems have been very "body" of the Special Purpose Dexterous ing focus for verifying baseline and actively addressed. The appointment of a Manipulator (SPDM) reduces the payload interfaces and testing access Robotic Systems Architect to manage the functionality and capability of the system from payloads to DMS services, Space Station-wide problem of robotics and causes almost all servicing actions to 3) COMPASS-based scheduler has been interfaccs and utilization has had a major be completed with the SPDM attached to prototyped for and adopted by the JSC positive impact. ATAC feels that the the end of the large seven degree-of- Shuttle Engineering Simulator; COM- Space Station Level I! Robotic Systems freedom Space Station Remote Manipu- PASS being used by Spacehab, 4) a Architect with support from his Robotics lator System (SSRMS). This will have communications network to facilitate Working Group, which is once again an major ramifications on the timeline tclcrobotics technology transfer has been active and vital group, can handle most of required to accomplish robotic mainteestablished between JPL and JSC, 5) the the robotics interfaces and problems nance tasks. Control of a compound GSFC capaciflector has been delivered to associatcd with the successful incorpora- system of this complexity has never been JSC for evaluation, 6) flat target materials baselined robotics sys- achieved and research laboratories have tion of currently have bccn subjected to space environ- tems and capabilities on Space Station. had only limited success with much mental effects, and 7) EPD is serving as The Space Station is now committed to fewer degrees of frecdom. Control of the the focus for defining the SSFP technol- robotic scrvicing. ogy utilization spinoff process. system will be possible, but it will definitely increase the operator workload ATAC believes that the EPD However, ATAC has a major and the time to accomplish tasks. Kinesponsored TCSAP prototype and the EPS concern that the Space Station matic studies are underway to prove the and ECLSS prototypes, are beginning to Program has not baselined ground physical feasibility of the maintenance show reduced cost, schedule, and techni- operations of robots on-board operations. However, dynamic control cal risk to the point that every system on Space Station Freedom. will be the most difficult aspect of the SSF might be evaluated in the future for similar advanced automation applications problem. Information on the dynamics of the SSRMS, SPDM and the compound The process of assessing robot comdcvclopment to achieve the benefits of problem of the SPDM on the end of the patibility of the Orbital Replacement improved safety, reliability, and produc- SSRMS are not yet available. Units (ORUs) in both hardware and kinetivity across the SSF. The complexity of the 14 degree-of matic software evaluations is proceeding The ATAC assessment is that EPD is freedom SPDM operating off of the end well. There are currently 366 robot a highly productive activity in addressing of the 7 degree-of-freedom SSRMS compatible ORUs representing 41% of some very critical SSF opcrational issues creates a very complex kinematic and the ORUs and 48% of the EVA servicing of the baseline design. ATAC urges SSFP 14 dynamic problem. Extensive ground

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supportwill berequiredtoplanthe report its progress at the next ATAC ment. It will save the agency time, movementof therobotarms.Technology meeting. money, duplication, and frustration if hasbeendevelopedin U.S.laboratories The complexity of the compound there is a stronger focus at Level II of whichcouldallowcontroloftherobots SSRMS/SPDM robotic system will also Advanced Automation. onboardSpaceStationmorequicklyand make collision avoidance complex. The safelythanteleopcratingthemfromon baseline system for collision avoidance is Assessment of Work boardSpaceStation. completely visual based on the astronaut to see and avoid Package 1 Someofthiscapabilityfortypical operator's ability servicingtaskswasdemonstratedtothe unintended contact. There is currently a ATACattheJohnsonSpaceCenter.An minimum of cameras initialSpaceStationGroundControl planncd for opcrations Studywasconductedusingautonomous Station. Technologics have been developed. robotic compatibility of the scqucnccs,tcleoperation,andpredictive collision avoidance Agency should be Unpressurized I_x)gistics Carriers. displayinaninesecondtime-delay The Canadian Space and viewpoints In Report 14, ATAC expressed a of the Space concern that Work Package 1 had not for non-visual adequately addressed the problem of environment.Initialtestresultsfrom encouragcd to investigate these technoloor leave hooks and ATAC is pleased that Marshall 11operatorssuggestanoperatorprefer- gies and incorporate cnccandsaferoperationsusingacombi- scars for incorporation system. Package 1, is now committed to nationofautosequencesandteleopera- collision avoidance astronaut teleoperating making the Unpressurized Logistionwithatimedelayof9 sccondsover The on-board of an on-board Space Flight Center, Work straightteleopcrationwithouttimedelay. the robots will not have a world model of tics Carrier Elements robot or Space Station compatible. CurrcntSpaceStationdesignwill rcsult the robots, ORUs, inanon-boardtimedelayofapproxi- structure. A world model will be mainmatcly1secondbetweenthetimethe rained on the ground in the Control Although technical problems interface astronautinputsacommandfromahand Center Complex at JSC to plan controllerandthetimetheastronautsees operations. thcimpactoftheinputvisually.The concepts remain to bc resolved, the WP1 commitment to a fully robotic compatible interface is a significant step forward in impactoftimcdelaymustbcconsidcrcd ATAC urges that the Space the maintenance and opcration of the inalloperations. Station Program evaluate the Space Station Freedom. Commonality in information required by the fasteners, robot compatibility, and The Space Station Program should astronauts to successfully operate operations feasibility and timelines move quickly to demonstrate the the revised SSRMS/SPDM system, remain to be worked. feasibility of operating robotic including determination of what Work Packagc 1 also presented to systems from the ground and, if information is needed from a ATAC the automated functions planned required, incorporate it as a world model and how that inforfor monitoring Space Station hull baseline Space Station capability. mation will be transferred to the on-board operator. The ability to control the SSRMS/SPDM a continuing concern with quality monitoring, and leak detection for from the ground would not only reduce ATAC has integrity, fire detection and suppression, internal atmosphcre pressure control, trace contaminant monitoring, water the workload rcquircmcnts of the the lack of a strong focus of advanced the internal thermal control system. on-board crew, but would allow carly automation at SSFP Level II. With the Although these systems do not represent on-orbit checkout of the robotic systems recent rcstructuring of the Johnson Space advances in automation technology, any and remote operations during the thrce Center Combined Control Center, it is systcms which can offload mundane years of thc Man Tended Configuration. possible to do parallcl testing and monitoring and control responsibilities Lcvcl II should continue its investigation inscrtion of advanccd automation into the from the astronauts are very valuable and and demonstrations of remotely operating program. The Marshall Space Flight are encouragcd. As presented to ATAC Space Station robots from thc ground and Center HOSC is past its preliminary for its last report, significant advances in dcsign and is also going into devclop- ]5

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of Work Information presented to ATAC monitoring and control are possible if the Assessment work on the advanced prototypes in the Lcvel I Engineering Prototype Develop- Package 2 ment Program on the Environmental indicates that WP2 is now expending a substantial amount of engineering effort in reviewing the program Robotic The number of WP2 ORU's, which Systems Integration Standards (RSIS Control and Life support system (ECLSS) Testbed and the Power Man- are baselined for robotic accommodation, Volumes I and II) and planning and has been reduced from 118 to 81. Most of initiating verification analysis and testing agcment and distribution (PMAD) this reduction is due to the deletion of to confirm that WP2 robot compatible Tcstbed are implemented in the ground control center. ORU's due to the Space Station restruc- equipment will satisfy the RS1S require- Now that many of the monitoring turing activitics. However a few ORU's ments. Work Package 2 is supporting the were delctcd from the robotic accommo- design and outfitting of the Space Station functions have been moved to ground systems, ATAC is concerned that control dation list because further analysis Automated Integration and Assembly indicated that robotic accommodation Facility (SSAIAF) at Johnson Space of laboratory and habitat module systems from the ground may be seriously really was not feasible or that the benefit Center (JSC). The SSAIAF will be dcgraded. ATAC urges WP1 to conduct (in EVA hours saved) to cost ratio was performing real-time dynamic simulaan analysis to assure that satisfactory less than had initially been predicted, in tions of on-orbit robotic operations with control is possible from the ground. addition the rcquirement for robotic setup Space Station Freedom (SSF) robotics Control with "soft switches" and an of EVA worksites also has been deleted systems utilizing flight-like hardware. evolutionary path to telescicnce for because further analysis indicated that Work Package 2 continues to pursue significant, in terms three advanced automation tasks. Howexperiment monitoring and opcration this feature was less from the ground should be available. In of EVA ovcrhcad savings, than original ever the program does not presently plan likc manner, Work Package 1 nccds to predictions. encourage dcvclopment of the capability The CSA/SPAR a significant degrcc of implementation of decision to restruc- this technology on-board SSF due to of unloading and loading the Unpressur- ture the Mobile Servicing System (MSS) limited computational capability. The izcd Logisitics Carrier with Ground is expected to have some impact on WP2 Integrated Systems Executive (ISE) use of dexterous robotics and robotic Project uses knowledge based system Remote Operations of the Space Station robotic systems. maintenance. A significant factor in constructs to perform a station wide There are 5,952 internal Orbital determining the list of WP2 robotically global failure detection, isolation, and Rcplacement Units (Additional Mainte- compatible ORUs, was the expectation recovery (FDIR) function. As station that most ORUs on the list could be systems and elements send caution and nance Items) on-board Space Station Freedom. Although the internal mainte- serviccd by the Special Purpose Dextrous warning (C & W) messages to the ISE, nance time required to service these items Manipulator (SPDM) mounted directly the ISE is designed to be able to deteron thc Mobile Remote Servicer Base mine the cause of these messages and is within the assigned limits, attention nccds to be paid to the overall design and Systcm (MBS) without requiring the use rcconfigure the station's systems approrcliability of the on-board replaceable of the Space Station Remote Manipulator priately. WP2 is continuing the developunits to reduce the amount of time System (SSRMS). required for ORU maintcnancc. Since 49 ment of this capability although, at the present time, its use has not been of the internal additional maintenance MBS redesign baselined. As a result of items represent 80% of the maintenance, (SPDM redesign), use of the increasing quality/reliability of filters, SSRMS will be necessary for all Assessment of Work lightbulbs, brackets, etc. can lead to a WP2 robotic ORU operations. significant reduction on maintenance This is expected to increase the Package 4 requirements. A philosophy of continu- timelines, and possibly the power, to perform robotic ORU ATAC has commented in previous ous improvement on the reliability of required additional maintenance items should be operations. reports on the extraordinary degree to servicing tbllowed. 16 which WP4 has incorporated both automation and robotics into their

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appropriate advanced possible serious impact of the baseline design and plans for operation of and validate to ensure maximum SPDM design. the Electrical Power System (EPS). technology During the past reporting period, expert resulting benefits in safe and systems for normal operations and for economical operations. fault detection, isolation, and recovery wcrc integrated into the power system that of the 213 Center Complex WP4 reported test bed and are now being evaluated. Assessment of Control external ORUs associated with the EPS, Similarly, robotic exchange of power designed to be robot ATAC was provided briefings at the 192 have been system Orbital Replacement Units compatible. (The other (ORU's) was evaluated in test beds and because of access mentation agent for the Space Station human manipulation neutral buoyancy tanks. This early test exchange operations Control Center (SSCC), JSC Mission difficulties.) Robotic program and evaluation of automation 21 will require review by the SSFP's design and impleon a number of these modules were tested Operations Directorate's Control Center concepts has resulted in valuable suggesin neutral buoyancy tanks Systems Division. Status and progress on and evaluated tions for design improvements and and robotics test beds elimination of interface incompatibilities. Battery ORU's, since ATAC's last review were provided. July. These included WP4 is now testing automated power Unit, Remote Power The progress was excellent. Elcctronic Control system hcalth monitoring and operations and Sequential Shunt Budget reductions have forced Controllcr Module, control expert systems which rcconfigure that teleoperatcd reorganization of the Control Center Unit. Results show the EPS in response to varying powcr operations are feasible. dcmand, control battery charge and improvements which basic conccpt for the SSCC portion of suggested dcsign discharge; exercise thermal control; and implemented, new Control Center Complex (CCC). are alrcady being point the solar array. At thc same time it during June and including intelligent systems in SSCC However WP4 System Division and redesign of the and changes to the RSIS In the redesign there are no longer robot tools, collects, analyzes, and displays data Standards and Inter- independent Space Station and Shuttle volumes (Robotic which documents system safety and control centers. The old SSCC will face System). WP4 has played a major faults, and then issues warnings of RSIS. become the Orbital Control Center(OCC) role in updating the dangerous trcnds, and energizes redunresults to date have with responsibility for operational control Although test dant componcnts if advisable. In FY93, they are only very of both Shuttle and Station. The Mission bccn very valuable, these cxpcrt systems will bc intcgratcd more tests arc needed. Control Center (MCC) will be responpreliminary. Many into a prototype operations control The current test robots do not model the sible for Shuttle ascent and entry phases conso[c. As stated elsewhere in of missions. present SPDM. The application of automated health high fidelity This functional split between control this rcport, a faithful monitoring and fault diagnosis for a simulation is rcquircd system as complex as the EPS will complete compatibility MCC operations to bc shut down during SPDM to ensure require considerably more advanced designs and to estimate orbital operations. But this functional with WP4 ORU technology than is presently being tested. servicing timc lincs. The capability must be extended to diagnosis of multiple interrelated faults in of the current centers allows ascent/entry teams and division does not necessarily reduce the manpower complement of these ground ATAC is concerned that WP4 has systems. No apparent attempt was made a complex network topology, in addition to continue test and to use the same team for both operational no budget more accurate analytical models and data its robotic compat- phases. evaluation of bases must be developed to portray the ible designs and configuration and operating characterisbelieves that full tics of the system. operations. ATAC Since SSCC will now be doing understanding of Shuttle orbital operations, and MCC implications of robotic upgrades were based on the Real Time design is needed prior to the Data Systems(RTDS) concept, SSCC will operations ATAC commends WP4 on its early CDR dates for the ORUs. This now be more aligncd with RTDS. More incorporation of automation into for continued testing is now use would be made of distributed need its design and operation philosobecause of the workstations in a highly modular and more urgent phy, and encourages SSFP to fund 17

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extcnsiblearchitectureaswellasof in designing user interfaces, with Assessment of Payload advanced automation techniques. impressive results. ATAC was shown Upgrades and enhancements will be that the G2 graphics interface can be Operations Integration easier to accomplish and will be less converted to the CCC Posix standard Center (POIC) costly because of this. SAMMI graphics interface as would be SSCC has established a test bed to used in CCC operations. A brief presentation of overall evaluate and validate the AI/Expert The merged MCC/SSCC functions System programs being prototyped by are being implemented progress was given at the ATAC review earlier and covering the SSFP Payload Operations EPD for monitoring various Station cheaper than previously planned. In spite Integration Center (POIC) at the MSFC subsystems namely, TCS, EPS, and of this ncw design, the CCC will meet Huntsville Operations Support Center ECLSS. The tcstbed can accept these STS and SSFP mission requirements. (HOSC) as a part of the Enhanced HOSC programs in many languages and on The CCC Fault Detection and System (EHS). Status was given on the different workstation platforms for quick Management (FDM) subsystem is being Data Acquisition and Distribution look evaluations. Promising programs designed for use on both Shuttle and Services, Telemetry Processing, Database would then be convened to a common set Station. It has a modular design with Services, Common User Interface, of languages, plattorms and tools, if Knowledge-Based Systems (KBS), limit Scripting Language, Silvabase Data File required. This is a very good approach sensing, etc. Extended real-time FEAT is Management and Utilities Program, for SSCC to assess a large number of being baselined. Considerable use is System Monitor and Control, CCSDS advanced concepts. made of Level I Engineering Prototype Packet Generator, and Experiment Development (EPD) models. Memory is Scheduling Program. The testbed provides an excellent provided to include advanced reasoning Current planning for development of opportunity for research centers to and recovery planning. Fuzzy logic is the SSF POIC includes the use of statehave their technology reviewed by also being considered the end customer and provides an future. for use in the of-the-art software development tools and a distributed computer architecture which easy, low cost transition mecha- Extcnded realtime FEAT (FEAT is should allow the smooth implementation nism for advanced development the acronym for Failure Environment of automation techniques into the POIC products into the CCC operational Analysis Tool, a directed graph represenoperations and greatly reduce the ground environment. tation or model of failure modes of support personnel. equipment) uses knowledge-based Since the last ATAC Review, HOSC systems and realtime telemetry data to ATAC was given a demonstration of managers of the POIC have exprcssed interact with FEAT to obtain a narrowed the External Active Thermal Control their needs for greater flexibility in set of candidate failures that are based on System (EATCS) Fault Diagnosis, planning and scheduling and their strong the current configuration of the on-board Isolation, and Recovery (FDIR) protodesire for intclligent system technology systems. When necessary, more robust type, developed by the Thermal Control to mcet those planning and scheduling reasoners (also model-based) are used in System Automation Project (TCSAP), the diagnosis. which has model-based sensor validation and modcl-based component diagnosis, requirements. (See ATAC assessment for progress on Recommendation It above for more information). In summary, ATAC's assessment undergoing evaluation in the CCC ATAC encourages EPD and POIC is that CCC's modular, extensible, testbed. The TCSAP prototype has been management to attempt to implement distributed workstation architecdeveloped using the G2 knowledge-based intelligent system planning and schedulture, inclusion of knowledge-based system software development tool and a ing software in the baseline SSF POIC systems, and inclusion of the high fidelity simulation of the EATCS. It operations prior to the Man Tended advanced technologies testbed are is worth noting that TCSAP has used all to be commended. human interface guidelines to intelligent systems developed under OAST funding 18 Configuration milcstone of the SSFP. ATAC's assessment is that this activity is making rcasonable progress.

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Assessment of Data ATAC has the following concerns Assessment of OAST A&R about system integration and Management System testing in the CTF, ADF, CSF, and CAF: ATAC received a detailed briefing of thc design simplification of the Data Program The ATAC rcccived an overview briefing on the OAST Operations Management System (DMS). The major • The scheduling does not appear to have Technology Program. ATAC had not dcsign changes are: much slack for unexpected problems. been briefed on OAST A&R activities The DMS was redesigncd with a • The initial fidelity of the evolving since ATAC Report 11, November 1990. Channelized Architecture. The organiza- models will bc low, which will require a The three funded areas of the Operations corrcsponding rctcsting of the systems as tion of the power and data buses was the model fidelity improves. changed to provide redundancy through- • The CTF dcvclopers out thc system to allow for fault recovery. Technology Program (Artificial Intelligence, Telerobotics, and Space Data have had little, if Systems) were presented. The briefing any, involvcmcnt with the payload This was a very important changc. attempted to identify specific activities in Most of the non-time critical dcvelopcrs. If not brought together soon, functions that were to exccutc on the the payload dcvclopers the AI and Telcrobotics Programs which may proceed in had contributed or were targeted for SSF. incompatible directions. However, ATAC SDP's have been moved to the ground to However, the briefing was not of is very pleascd that a series of Utilization rcduce the load on the SDP's. However, sufficient technical detail for the commit- Workshops was hcld to help alleviate this there was no analysis presented to indicate that the utilization of the SDP's problem. tee to evaluate the relevance, maturity, and potential application to SSF A&R would be under 100%. Time critical it is possible for the inputs to a needs. numbcr of control functions to come functions remaining to execute on the Many of the ATAC members have from any of thrcc sources; an on-board SDPs were grouped into 0-fault, 1-fault, detailed knowledge of the OAST fault detection and recovery system, the and 2-fault tolcrant according to program; howevcr, the committee felt it criticality. crew, or the ground control centcr. In was important to have additional details many cases, the control system cannot Systcm integration and testing and technical discussions prior to facilitics consist of the Central Test distinguish among these; and thcrc is evaluating the program. The ATAC Facility (CTF), the Avionics Dcvclop- nothing to assurc that only a single signal intends to request a more detailed arrives or that if multiple commands are mcnt Facility (ADF), the Central Softbriefing from OAST at the next ATAC given, that they are consistent. ware Facility (CSF), the Central Avionics review, and the rcsults will be incorpo- Facility (CAF). Thcse facilities and their Prototypes of portable crew support rated in ATAC Report 16. computcrs (PCSC) are being developed intcgration have progresscd substantially. This systcm is driven by an extensive within the EPD program for initially The emphasis of the review will be putting advisory functions in new simulation subsystem that provides the to identify all ongoing OAST cnvironment for testing systems as they gcncrations of portable workstations that focused A&R research which has could bc brought up with much less effort are dcveloped. Four releases of architecapplication to SSF, the state of than a changcout of part of the DMS. The turc and six levels of subsystem and development and projected PCSC could bc attached to the DMS system integration and testing have been milestones and deliverables, and dcfincd. These are phased so that each nctwork for data acquisition and used to the technology integration plan for extended release of the architecture advisc thc crew on such things as arrives in time to develop and test the diagnosis of faults. softwarc for succcssively highcr Icvcls of system integration. the transfer of the capability to the SSF program. 19

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New A&R Issues operational period until Permanent Manipulator (SPDM) reduces the Manned Capability (PMC), currently functionality and capability of the system one half years. and causes almost all servicing actions to planned for two and Ground-Based SSF Hooks and scars for ground telerobotic be completed with the SPDM attached to Science, Operations, to be planned as soon as the end of the large seven degree-ofoperations need future cost impacts freedom Space Station Remote Manipupossible to minimize and Maintenance on SSF. lator System (SSRMS). This will greatly ATAC believes that SSFP needs to increase the timc required to accomplish effort to develop robotic maintenance tasks. Control of a undertake a concerted Ground-Controlled and implement a capability to operate the compound system of this complexity has from the ground never been achieved and limited success SSF robotic systems Telerobotics (Control Center Complex). An important has been accomplished in research part of this effort would be a demonstra- laboratories with many fcwer degrees of Reports at the ATAC no. 15 meeting tion of a flight-like architecture perform- freedom. Control of the system will be indicate that 48% of the SSF ORUs are ing typical robotics tasks. OAST should possible, but it will dcfinitely increase the being designed to accommodate tele- be fully included as a member of this operator workload and the time to robotic maintenance. Recent cost development activity. A study should be accomplish tasks. Kinematic studies are rcduction redesigns of the Canadian completed within six months to identify undcrway to prove the physical feasibility Mobile Servicing System (Space Station interfaces and impacts Remote Manipulator-SSRMS and Special remote operations. dynamic control will be the most difficult telcrobotic ground Purpose Dextrous Manipulator-SPDM) of implementing of the maintenance operations. However, aspcct of the problem. Information on the indicate that the IVA timclincs tot ATAC recommends that SSFP dynamics of the SSRMS, SPDM and the on-board telcrobotic operations could be assess the need, due to SSRMS/ considerably increased. This increase of compound problem of the SPDM on the SPDM redesign, to operate robotic end of the SSRMS arc not yet available. IVA to support on-board tclcrobotic systems from the ground, and if The complexity of the 14 degree-ofoperations could impact the ability to required, incorporate ground- frccdom SPDM opcrating from the end of completc on-board payload and science controlled teleroboties as a the 7 degrcc-of-frccdom SSRMS creates opcrations unless the on-board baseline SSF capability. a very complex kinematic and dynamic tclcrobotics crew workload is reduced. With 7 degrees of freedom on the SSRMS and 14 degrees of freedom on problem. Extensive ground support will be required to plan the movement of the robot arms. Thc complexity of the the SPDM, the arm motions will become On-Board SSF Science, vcry difficult to visualize and tclcopcrate from on-board the SSF. Tests have been Operations, and complctcd that indicate that the up-link/ Maintenance down-link telemetry delays in telerobotic signals can be accommodated through the compound SSRMS/SPDM robotic system will also make collision avoidance complex. The bascline system for collision avoidance is completely visual based on the astronaut operator's ability to see and avoid unintcndcd contact. Redesigned SSRMS/SPDM implementation of qualified and proven tclcrobotic technologies. These rcccnt Operation dcvclopmcnts indicate more cmphasis There is currently a minimum of cameras and viewpoints planned for operations of the Space Station. Technologies for should bc placcd on developing thc The rcccnt restructuring/descoping nonvisual collision avoidance have been capability of ground telcopcration of the of the Canadian Space Agency robotics developed. The Canadian Space Agency SSRMS/SPDM. Also, implcmcntation of development program has not decreased should bc encouraged to investigate these ground control of tclerobotics will the serviceability of the overall Space technologies and incorporate or leave provide a non-tended capability that Station by Canadian Robotics. However, hooks and scars for incorporation of an could prove very useful throughout the removal of the five degree-of freedom on-board collision avoidance system. Man-Tcndcd Capability (MTC) SSF "body" of the Spccial Purpose Dexterous 2O

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The on-board astronaut teleoperating ATAC recommends that SSFP the SSF Level I Engineering Prototype the robots will not have a world model of conduct a system simulation and Development (EPD) program, and this the robots, ORU's, or Space Station analysis of DMS (SDPs, MDMs, effort needs to be expanded to include structure. A world model will be main- sensors, and effectors) in a simu- OAST projects. Due to the reduced SSF taincd on the ground in the Combincd lated operational environment to budget, the funding for the EPD program Control Center at JSC to plan operations. determine the computational is being constrained to a point that could reserve of the restructured DMS delay the migration of the EPD automa- ATAC recommends that SSFP and its capability to meet the tion techniques into the CCC. Considerassess the impact of SSRMS/ mission objectives and ing these new developments, new sources SPDM redesign on telerobotic requirements. operations, specifically including task timelines and collision avodiance issues; and report results at the February 1993 ATAC review. A&R Technology Evolution for automation technologies must be sought that can be migrated through the CCC automation testbed. Other automation development programs exist within NASA, especially the OAST Artificial Intclligcnce program and the OSSD Advanced Operations program. ATAC recommends that SSFP Data Management System Control Center Complex continue to support and encourage Technology testing of new automation tech- Advanced The DMS was redesigned with a Testbed Channclizcd Architecture. The organization of the power and data buses was nologies from Level I EPD and OAST in the CCC advanced technology testbed for migration changed to provide redundancy through- Recent developments which have into the CCC. out thc system to allow for fault recovery. combined thc STS and SSF Mission Most of thc non-time critical functions Control Rooms, now dcsignalcd as the Complex, have enhanced Advanced Automation that wcrc to cxecutc on the SDPs havc Control Center bccn movcd to thc ground to reduce the the potcntial of migrating advanced Technology Manager load on thc SDPs. However, thcrc was no automation techniques into the CCC. The analysis presented to indicate that the new CCC dcsign is bcing implemented ATAC has a continuing concern with utilization of the SDPs would bc under through a distributed computer architecthe lack of a well coordinated and 100%. Timc critical functions rcmaining turc with a POSIX operating system, intcgratcd Agency effort for implementato cxccutc on the SDPs wcrc grouped into which will bcttcr accommodate implction of advanced automation on SSF. 0-fault, l-fault, and 2-fault tolerant mcntation of new automation techniques. OAST is the Agcncy's leader in A! according to criticality. Considcrablc progress has bccn madc in research and is recognized as having a The computational capability of thc the development of the advanced rcstructurcd DMS does not appear to automation tcstbcd that will enhance the preeminent AI research capability and knowlcdgc. OAST is knowledgeable of have any computational reserve for any capability to migrate automation techthe applicablc work bcing conducted in contingencies. Although the hooks and niques into the newly configured CCC. industry, academia, and other govenment scars arc there for the expansion of thc Indications arc that the CCC developorganizations. The restructured JSC CCC DMS, the expansion may bc constraincd mental organizations are very eager to architecture employs an RTDS concept and/or improbable duc to the powcr test and support thc migration of automaorginally sponsored by OAST which availability. tion tcchniqucs into the CCC. Currently allows for efficient parallel testing, the only automation techniques being verification and validation, and cvcntual tested on the ncw CCC automation test insertion into the CCC operational bcd arc those bcing dcvclopcd through environment. The dcfinition of the 21

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MarshallSpaceFlightCenterHOSCis ATAC recommends that OAST pastitspreliminarydesignandisalso provide an Advanced Automation goingintodevelopment.Effective Technology Manger to SSFP Level integrationof theOASTadvanced I who will coordinate, integrate, automationtechnologieswithSSF and propose advanced automation requirementsforgroundmissionopera- technologies from within the tionsandon-boardflightsystemopera- research community to meet SSF tionandmanagementwill leadto mission requirements. significantcostsavingstotheAgency,in thcCCCandtheHOSCaswellasSSF. 22

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ATA C Progress Report 15 Recommendations Ground-Based Operations, Evolution Science, and Maintenance Recommendation SSF A&R Technology Recommendation IV: CCC h Ground- Advanced Technology Controlled Telerobotics Testbed "SSFP assess the need, due to "SSFP continue to support and encourage SSRMS/SPDM redesign, to operate testing of new automation technologies robotic systems from the ground, and from Level I EPD and OAST in the CCC if required, incorporate ground- advanced technology tcstbed for migracontrolled telerobotics SSF capability." as a baseline tion into the CCC." Recommendation V: Advanced Automation Tech- On-Board SSF Science, Operations, and Maintenance Recommendation nology Manager "OAST provide an Advanced Automation Technology Manager to SSFP Level Ih I who will coordinate, integrate, and propose advanced automation technolo- Redesigned SSRMS/SPDM Operation gies from within the research community to meet SSF mission requirements." "SSFP assess the impact of SSRMS/ SPDM redesign on telerobotic operations, specifically including task timclincs and collision avoidance issues; and report results at the February 1993 ATAC review." Recommendation Data Management IIh System "SSFP conduct a system simulation and analysis of DMS (SDPs, MDMs, sensors, and cffectors) in a simulated operational environment to determine the computational reserve of the restructured DMS and its capability to meet the mission objcctives and requirements." 23

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References 1. NASA. 1985. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, March 1985, NASA TM-87566. 2. NASA. 1985. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 1, April-Sept. 1985, NASA TM-87772. 3. NASA. 1986. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 2, Oct. 1985-March 1986, NASA TM-88785. 4. NASA. 1986. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 3, April-Sept. 1986, NASA TM-89190. 5. NASA. 1987. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 4, Oct. 1986-May 1987, NASA TM-89811. 6. NASA. 1987. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 5, May-Sept. 1987, NASA TM-100777. 7. NASA. 1988. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 6, Oct. 1987-March 1988, NASA TM-100989. 8. NASA. 1988. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 7, April 1988-Sept. 1988, NASA TM-101691. 9. NASA. 1989. Advancing Automation and Robotics for thc Space Station and for the U.S. Economy, Progress Report 8, Oct. 1988-March 1989, NASA TM-101561. 10. NASA. 1990. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 9, March 1989-July 1989, NASA TM-101647. l 1. NASA. 1990. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 10, July 1989 to Feb. 1990, NASA TM-102668. 12. NASA. 1990. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 11, Feb. 1990 to Aug. 1990, NASA TM-102872. 13. NASA. 1991. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 12, Aug. 1990 to Feb. 1991, NASA TM-103851. 14. NASA. ] 991. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 13, Dec. 1991, NASA TM-103895. 15. NASA. 1992. Advancing Automation and Robotics for the Space Station and for the U.S. Economy, Progress Report 14, May 1992, NASA TM-103940. 24

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Appendix A Space Station Program A&R Freedom Reports 9, 10, 11, 12, 13, and 14 Appendix A. Advanced Programs has been Progress reorganized within the Level I Space Station Engineering Division to reflect The Space Station Freedom Program the priorities resultant from Program (SSFP) is applying A&R technologies to Restructuring. The Advanced Developthe design, development, and operation of ment Program has been retitled Engineerthe baseline Space Station when found to ing Prototype Development and placed bc appropriate within the context of within the Systems Development Branch ovcrall system design, to have a favorable of Level 1 Engineering. This move more cost-to-benefit ratio, and where the closely ties advanced technology develenabling technology is sufficiently opments to baseline issues and concerns mature. A&R technologies are cxpcricnc- and facilitatcs the opportunity to insert ing rapid changc, exhibiting varying new technology where appropriate. levels of readiness, and have unique Evolution Studies has bccn placed within requirements for successful integration the Systems Engineering and Analysis with conventional design approaches and Branch to more closely align growth and system engineering methodologies. evolution concepts with baseline provision for design scenarios. Conscqucntly, the accommodations and mature technologies The Engineering Prototype Developwhich permit the program to fully mcnt activity enhances baseline Station capitalize on A&R advances during the flight and ground systems capabilities by development and evolution of Space prototyping applications of advanced Station Freedom is an important consid- technology. These improvements will eration. As such, the program intends to lead to increased system productivity and leverage the significant momentum in reliability, and help constrain operations A&R research _md technology develop- and life cycle costs attributable to ment within NASA, other government technological obsolescence. The activity agencies, industry, and academia. evaluates and demonstrates technologies Progress by the SSFP is described in nccdcd for Frccdom's flight and ground the following scctions. systems. This is accomplished by building user/technologist teams within Level I A&R Progress flight and research centers, developing Programs activity at and advanced tcchniqucs, addressing The Advanced divided into two transition and implementation issues, and Lcvcl I was initially Evolution Studies and evaluating performance and documenting major components, Advanced Development. Programs was insertion and implementation. Specifioverview of Advanced applications using a mix of conventional A detailed design accommodations for technology cally, cooperative arrangements have provided in ATAC Progress Report 7, bccn pursucd with the Office of Ad- Appendix B, "Overall Plan for Applying Station and for vanced Concepts and Technology; the A&R to the Space Technology." Addi- Office of Space Systems Development Advancing A&R bc found in ATAC Advanced Programs Development tional information can 8, Appendix A, "OSS activity; the Office of Space Science and Progress Report ATAC Progress Applications; DARPA; and other DoD A&R Progress," and programs. A-I

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As a result of these efforts, the SSFP managers participate in the SBIR pro- These tasks provide an understandis acquiring mature technologies, tools, gram as proposal reviewers and task ing of the design accommodations and applications for key systems. In monitors. This joint funding and coordi- required to support advanced automation addition, performance specifications and nation significantly augments the amount (e.g., instrumentation, interfaces, and design accommodations arc being of resources dcvoted to building control redundancy) and identify KBS developed for the insertion of advanced SSF A&R applications, and facilitates implementation issues (e.g., integration technologies in both flight and ground technology transition to the baseline of KBS and conventional algorithmic systems. station. techniques, processing, data storage, Currently, the majority of the in Flight and Ground Systems communication requirements, and Engineering Prototype Development Automation, advanced fault detection and software development, testing, and FY93 budget of $7.35M is dedicated to management applications arc being maintenance procedures) required for A&R applications and technology devcloped tot Power Management and KBS development and support. As more demonstration. Tasks are tbcused on fault Distribution and the Environmental and more functions arc scrubbed to a detection and management, planning and Control and Life Support System at ground implcmcntation, the value and scheduling, real-time telemetry distribu- Marshall Space Flight Center, the importance of these tasks increase, for tion, advanced data management archi- Thermal Control System at Johnson they provide the necessary R&D foundatectures, system and software engineer- Space Ccntcr, and Power Management tion to dcvelop ground-based capabilities ing, and extravehicular robotics. Twenty- and Control at Lewis Research Center. and to later migrate those functions back six tasks arc divided betwccn four work Additionally, a distributed architecture to space. The most significant accomelements; Flight and Ground Systems and an advanccd failure analysis software plishments during this reporting period Automation ($2.35M), Space Station package is being designed to support the follow. Data Systems ($2.125M), Advanced integration of these techniques into the Advanccd fault management System & Software Engineering Control Center Complex baseline Fault knowledge based systcms have been ($1.25M), and Telerobotic & EVA Detection and Management (FDM) hosted on the Work Package 4 Power Systems ($1.625M). Sixteen of the tasks subsystem. A Spacelab scientific experi- Management and Distribution (PMAD) arc levcragcd by joint funding from thc ment is also scrving as the focus of tcstbcd and arc currcntly supporting Office of Advanced Concepts and applying advanced automation to support baseline cvaluations of the primary power Tcchnology, the Office of Space Systems payload experimentation. These applica- distribution system. The conceptual Development Advanced Programs tions focus heavily on Fault Detection, dcsign of a prototype clcctrical power Development, Shuttle, and the Defense Isolation and Reconfiguration (FDIR) system console position has been Advanced Research Projects Agency and provide a range of support in system completcd. This conceptual design (DARPA). The joint funding adds $7.4M status monitoring, safing, and recovery. integrates multiple expert systems, to the tasks and enables Engineering All arc a mix of conventional and telemetry data, and a sophisticated Prototype Development to have consider- Knowledge-Based System (KBS) human-system inlerfacc. This FDIR ably greater impact within the Station tcchniqucs and cach provides a powerful application serves as a bridge between program than its funding level would user interface to support interactions in the baseline testbcd, the Work Package indicate. Also worthy of note is the an advisory mode. The primary benefits contractor's automation activities, the significant participation of Work Package of these applications are improved system LcRC Engineering Support Center, and contractors within the activity. Several monitoring, enhanced fault detcction and the JSC Control Ccntcr Complex in havc focuscd their own internal Indcpcn- isolation capabilities, and increascd support of SSF powcr system operations. dcnt Research and Development funding productivity for SSF mission control Advanced fault managcment to address complementary objectives of personnel and crew members. Increased knowledge based systems have been Engineering Prototype Development. The system reliability via the detection and hosted on the Marshall Space Flight Small Business Innovative Research prevcntion of incipient failures, reduced Centcr (MSFC) PMAD testbed and are (SBIR) program is another significant IVA maintenance time, and better currently supporting MSFC assessments facet of Engineering Prototype Dcvclop- monitoring with fewer sensors arc added of the basclinc tcrtiary power distribution ment. Many of the activity's task bcncfits of advanccd FDIR techniques. A-2

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system.Thisactivityhasbccnsupporting fault management prototype is the first of The COMputer Aided Scheduling theSmallBusinessInnovativeResearch the EPD tasks to be assessed with EPS System (COMPASS) continues to (SBIR)Programforadvanccdpower and ECLSS to follow. improve in functionality and be used in a managementanddistributiontechniques. Within Space Station data systems, variety of scheduling applications. It is Twoinitiativesappearquitcpromising. the computer and network architectures being used as a backbone for building Oneinvolvesusingamoresophisticated of Space Station Frcedom's Data consensus within thc SSF scheduling rcmotepowercontrollerwhiletheother Management System are being analyzed community. Recently, the development proposcsasoftwaresolutionforcoordi- to provide increased performance and of a report program generator for the natingdistributed,autonomous,function- reliability and to determine long-range Control Center Complex has been allyredundantintelligentsystems. growth and evolution requirements. initiated. Advanced scheduling tech- Advancedautomationfaultmanagc- Additionally, advanced mission planning niques from JPL arc currently being mcntactivitiescontinuetosupportthe and scheduling tools are being developed integrated within the COMPASS framebaselineEnvironmentalControlLife and demonstrated tor use on board work thereby providing more sophisti- SupportSystem(ECLSS).Thcadvanccd Frccdom as wcll as on the ground during cated automated scheduling functionality. most significant In Advanccd System and Software automationteamhasbeensupportingthe SSF operations. The basclincECLSSrequirementsanalysis accomplishmcnts during this reporting Engineering, tools, methodologies, and tcambyprovidingadvancedfailurc period follow. environments arc being pursued to managementmodelsforECLSSFailure The Advanced DMS Architectures support the design, development, and ModesandEffectsAnalysis(FMEA). to evaluate existing and maintenance of SSFP advanced software task continues Additionally, cxpcrtisc in automated proposcd uni- and multiprocessors; and system engineering applications. The diagnosis has been provided on those network, protocol and connectivity most significant accomplishmcnts of this activities involving sensor placcmcnt and options; and data management software. reporting period follow. explored wcrc the Thc Failure Environment Analysis fault isolation which have ariscn during Two issucs rcccntly the FMEA proccss. pcrformancc of thc upper layer network Tool (FEAT) is thc standard SSFP tool The Thcrmal Control Systcm (TCS) protocol in the DMS and the performance for integrating and documenting system embedded processors and subsystem Failure Modes Effects advanccd fault management project has of the LynxOS on bccn integrated into thc baseline TCS in the DMS. As a low cost evaluation Analysis (FMEA) and hazard analysis architectures tcstbed has data. The basclinc version of FEAT tcstbcd at Johnson Space Center and capability, thc continues to support the TCS verification provided focus for early verification of supported by the Technical Management process. The knowledge-bascd system baseline and payload interfaces and for Information System (TMIS) is called the has shown its worth by improving the testing access from payloads to DMS DiGraph Data System (DDS). FEAT is TCS tcst engineer's ability to detcct and services. Results continue to be reported now supported within the UNIX environdiagnosc system anomalies. Thc TCS to baseline personnel, the prime contrac- ment and on the Macintosh computer. advanccd fault managcmcnt team has tors, and the DMS subcontractors. The dcvclopmcnt of an intelligent editor also bccn supporting the basclinc TCS Evaluation of DMS system interface which improvcs the creation of connecmodels assessment team, Control Center options and computer hardware and tivity models has bccn initiated. Complex Fault Detection and Managc- software interfaces continues to bc A series of intelligent training mcnt (FDM) systcm integration, and supported via Shuttle Development Test systcms arc being prototyped for the Spacc Station Training and Verification Objective (DTO) tasks. A Macintosh Space Station Training Officc (SSTO) to Facility activities. portable, whosc display format has the demonstratc the value of Intelligent The Control Center Complex is samc general look and fccl of the baseline Computer Aided Training (ICAT) currently assessing thc feasibility of using Multi-Purposc Application Console architectures and their feasibility for EPD fault management models for SSF (MPAC) display, is being used on STS- baseline training operations. The first opcrations and is dcvcloping a plan to 52 to invcstigate inventory stowage, on prototype being developed is for training integrate and evaluate these fault man- board advanced failure analysis, and on the SSF Thermal Control System. A agcmcnt projects within thc control orbital map applications center architccturc. Thc TCS advanced bascd intcrfaccs. using graphics- prototype ICAT for familiarity training A-3

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ontheSpaccHabhasalsobeendevel- robotic simulations oped.Additionally,ICATtoolshavebeen remotely from either providcdtotheSSTOforfurtherevalua- An Automated can be driven Partners (e.g., Orbital Replacement Unit of the two sites. (ORU) standards, End-to-End Extrave- Robotic Maintenance hicular Activity (EVA)/Extravehicular tionandsupportofbaselinetraining established at JSC to Robotics (EVR) Maintcnance Study). testbcd is being rcquircmcnts. evaluate advanced They also address issues that impact at integrate and TclcroboticandEVASystems technology in parallel with the program level, such as hand controller telerobotics focusesonIVAandEVAtimeandsafety operations assessments commonality, Mobile Servicing System baseline robotic has concentrated on the (MSS) restructuring, and verification. criticalissuesandconcerns.Telerobotic (fig. A1). Work activitiespursuethereductionof IVA of an SPDM emulator, imple- Additionally, ovcratl on-orbit assembly assembly tclcopcrationtimefordexterousrobotics mentation of Ada software for the and maintenancc rcsponsibility resides at tasks,cvcninthepresenceofsignificant Robotic Forc Arm Pan and Tilt control- Lcvcl 11 in which robotics play an of advanced tcchnologics cxtensive rolc in achicving these communicationsorcomputationtime Icr, integration dclays.Advanced telcrobotics reduces an from JPL and GSFC, and overall opcra- objectives. operator's workload by allowing the of the complete system. Much of the Level 11 A&R activity is tional checkout robot to control fine parameters (such as collision prediction and focused on the Robotics Working Group To allow forcc cxcrtcd against a surface) while thc avoidance within a reduced computa- (RWG). This forum mccts approximately operator directs the task. With improved tional environment, work continues on thrcc timcs pcr year at various locations sensing, planning and reasoning, and of capacitance-based to address A&R topics of interest at the evaluation displays and controls, simple tasks like Capaciflcctors have Level II and Lcvcl III. Some of the major proximity scnsors. unobstructed inspections and translations bccn shipped to JSC may be accomplished by remote opera- their testbcd and are tors in the presence of significant further evaluated. projcct has made (RSIS), ground control, Robotic Systems communications time delays. Supervised Thc flat target autonomy can help free the on-orbit crcw significant progress. for integration into topics addrcsscd at rcccnt RWGs include: currently being CSA and NASDA Program Status, Robotic Systcms Integration Standards This activity has Architcct, collision avoidance, viewing, from routinc, rcpctitive, and timc of robotic targets that human/machine intcrfaccs, and robotics prototypcd a series savings within weight vcrification. consuming inspection and maintenance offcr substantial tasks whenever possible. The most and volumetric constraints. It has Since ATAC Rcport 14, significant significant accomplishments during this endorsements from progrcss has bccn made on the rcccivcd strong il for its potential savings on SSF RSIS document and associated robotreporting period follow. Level Shared control software algorithms ORUs and payloads. Flat target proto- compatible ORUs. RSIS Volume I! - have bccn developed that pcrmit simulta- microstructures have bccn Robotic lntcrfacc Standards was basetypcs using ncous human and/or computcr-generatcd designcd, fabricatcd, and cnvironmcntally lined on June 4, 1992 and distributed control, local-remote control algorithm have been initially throughout the Program. Associated cost tcstcd. Prototypes partitioning to handle timc dclay, User dcmonstratcd in laboratory workccll impacts wcrc approvcd at the Program Macro Intcrfacc (UMI) softwarc to build Initial results suggcst Licns Review in June, 1992, and funds cnvironmcnts. and execute sequence of task steps significant potcntial. (macros) under supervised control, and have bccn transfcrred to the Work Packages. Both RSIS Volume ! - Robotic Accommodation Requircmcnts and RSIS Operator Coached Machine Vision Level II A&R Progress (OCMV) to allow humans to correct and Volume I1 are bcing updated to Revision A status, which will occur in the final updatc vision-based world models and Lcvc111 dcdicatcs two full-time civil havc bccn extensively tested on the JPL quartcr of CY92. RSIS interface testing is servants, several part-time civil servants, Tclcrobotics Tcstbed. These technologies underway at JSC and CSA/SPAR, with and a numbcr of contractors to manage arc being transferred to the integrated an emphasis on box-level testing. The the intcgration of A&R in the baseline PIT-scgmcnt dual-arm workccll under Program Dcfinition and Rcquiremcnts program. Thcsc individuals are respondevelopment at JSC. JPL and JSC have Document (PDRD) Section 3, sible for cnsuring integration across linkcd their two telerobotics labs together Table 3-55, which is thc mechanism for Work Packagcs and International ovcr an existing lnternet network so that A-4 idcntifying ORUs to bc madc robot

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OR.iG Itqi',.L ''"' " BL/tgK AND WHITE pHOTOG'RAP. (a) Testing telerobotic task of opening door. (b) Testing telerobotic task of removing ORU. Figure A I. Ground-controlled telerobotic testing in laboratory at JSC. A°5

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compatiblc, was basclined on June 4, reviews such as PDRs and CDRs. A clear system. This system allows for the 1992 (along with RSIS Volumc I!) and to resolve issues between detection and isolation of fires to indiprocess exists IPs, beginning with vidual confined volumcs, i.e., racks, end incorporatcd into thc PDRD. This table NASA and the idcntifics 366 ORUs, which comprise biannual Joint Program Reviews (JPRs) cones, or standoffs. The Element Total 41% of the extcrnal ORUs of SSF and and ultimately the Level I Program Pressure Control System is a closed loop rcprcscnt a potcntial 48% offload of EVA Coordination Council (PCC). At the control system which will maintain maintenance time to robotics. technical Icvel, CSA and NASDA rcport specified pressure through a combination Proposals for modification to their program status at each RWG, with of gas supply and positive pressure relief. Tablc 3-55 arc entertaincd at each RWG, the JPR scrving as the approved manage- GCA (Gas Conditioning Assembly) and a Changc Rcquest (CR) for a block ment forum if issue resolution cannot be prcssure control is accomplishcd through update to the tablc will bc submitted in rcached in thc RWG. thc use of a firmwarc controllcr physi- December 1992. NASA and CSA held a meeting in cally located with the GCA. Positive Thc End-to-End EVA/EVR Mainte- February 1992 to define roles and prcssure rclicf is providcd through closed nance Study has progressed since ATAC rcsponsibilitics rclating to simulations loop logic controls. Prcssurc and tcm- Rcport 14. In ordcr to ensure that SSF and math model interchange, Robotic pcrature are utilizcd to dctermine usable hardwarc, infrastructure, servicing Systcms Architcct (RSA), and robotic gas quantity. The Trace Contaminant agcnts, and logistics and opcrational task analysis and verification. The results Monitoring System utilizes a ccntral GC conccpts arc compatible, cfficient, and of this mecting wcrc finalized in a jointly Mass Spectrometcr ticd to rcmote cost-cffcctivc for end-to-end maintcnancc signcd agrccmcnt and prcsented to the sampling lincs in all pressurizcd elemissions by EVA and robotics, a Program Licns Rcvicw in March 1992. mcnts. Thc systcm utilizcs a control multiccntcr tcam has pcrformcd an cnd- Key aspccts of that agreement rclatc to scquencc for sampling and analysis. The to-end task asscssmcnt and dcvclopcd the provision by CSA of kinematic and process watcr quality monitor is an and rccommcndcd an cnd-to-cnd infra- dynamic modcls of the Space Station automatcd inlinc monitoring system structurc. The end-to-end task asscssment Rcmotc Manipulator System (SSRMS) which utilizes the ECLSS Watcr Procesinvolvcd dcvcloping a candidatc task and Spccial Purpose Dexterous Manipu- sor. ITCS (lntcrnal Thermal Control flow and pcrforming an ORU traffic lator (SPDM), and the assignment of Systcm) leak dctcction is an automated analysis, from which scvcral disconnccts SPDM task analysis and vcrification to sequence utilizing pressure diffcrential and opportunitics to improve task CSA and SSRMS task analysis and for leak detection and pressure relief for cfficicncies wcrc identified. Thc rccom- vcrification to NASA. mended cnd-to-cnd infrastructure includes both a hardware concept and an Work Package 1 A&R intcrface concept to accommodate ORU adaptcr platc, subcarriers, ORU handling Progress at the worksitc, and robotic setup of EVA Icak control. Basclinc robotic activities havc conccntrated on support to programwide robotic intcrfacc standards to ensure the compatibility of Work Packagc 1 ORUs to the ULC and SSF robots. worksites. Thc rcsults of this study will Work Package 1 automation activity Work Package 2 A&R bc presented to program management in is dircctcd at opcrational functioning of Novcmbcr 1992. Work Package 1 systcms, as well as fault Progress Levcl 11 is responsible for integrating detcction and isolation within those A&R requirements and plans with the systems and elements. The HISS (Hull Space Station Automation and International Partners (IPs), who both System) consists of a Robotics (A&R) is ccntcrcd in the Project Intcgrity Sensor dcvclop and utilize robotic systems on scnsor array whose function is to locate Integration Office of the Space Station thc SSF. NASA had the final responsibil- through mapping acoustics any penetra- Projects Officc. This office is rcsponsible ity in mattcrs of safety, operational tion to the primary pressure shell. The for defining requirements for A&R while commonality, and rcsourccs for uscrs, FDS (Firc Detection and Suppression) thc actual implemcntati?n is done by the which it exercises through an activc Systcm for the Spacc Station Freedom is various system and clement organizadialoguc with thc IPs and through bascd on a plumbed suppressant coupled lions. Engincering management support participation in all major IP program to a volumc isolated smoke sensor A-6

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fromtheorganizationcomesmainlyfrom medical support capability. Support is onboard to support the Permanently theA&RDivisionwhichisorganized also provided for the Thermal Control Manned Configuration (PMC), it may be intofivebranches:IntelligentSystems, System Automation Project (TCSAP) possible to reduce the need for onboard FlightRoboticSystems,RoboticSystems which is funded by Level 1. or ground based medical personnel to be Tcchnology,DynamicsSystemsTest The DMS FDIR prototype has been available on a constant basis. An addi- (includingtheSpaceSystemsAutomated completed and the results documented. tional possible bcncfit would be a IntegrationandAssembly Facility Included are lessons learned about standardized protocol for medical (SSAIAF)), and A&R Laboratory organizing knowledge based systems to diagnosis. This is the only currently Managcmcnt. The requircmcnts tracking, comply with real time performance known advanccd automation application integration analysis, technical manage- rcquiremcnts. The team lead for this planned for onboard usage in the Space merit, and liaison for robotics comes from cffort is now supporting two baseline Station Freedom Program. the Flight Robotic Systems Branch. activities: (1) creation of the FDIR The JSC Automation and Robotics Most of the robotics activities tbr requirements for DMS System Manage- Division, assisted by MDSSC, is outfitthis period have bccn internal to the mcnt, and (2) support for the develop- ting the Space Station Automated Work Package in implcmcnting the mcnt of an integrated station wide FDIR Integration and Assembly Facility dccisions of the December 4, 1991 approach as part of the Avionics Integra- (SSAIAF) for real-time dynamic simula- SSCB. Budget constraints, design tion Tcams and System Management tions of on-orbit robotic operations. Test changcs, and deferred hardwarc dclivcr- Tcam. system capabilities will be delivered in ics have rcduccd the robot compatible The ISE Caution and Warning phases including an upgraded SRMS ORU list. Thc group of ORUs sclcctcd synthesis function had early prototypes capability for SSF flights 1-3, SSRMS (81 total) to bc madc robot compatible dcvclopcd in CLIPS and then translated capability for flights 4-6, and full SSF includcs 6-B Avionics ORUs and to Ada. Thcsc prototypes show how a set capability for Post MTC activities. Thermal Control System Fluid Box covering approach could be used to SSAIAF plans to support SSFP for the ORUs. Although these ORUs account for diagnosc intcrsystcm fault propagation complete lifc cyclc with cnginecring only about 17% of the total ORUs within and help synthcsize numerous systcms evaluations, crew familiarization, and this work package, they rcprcscnt a much alarms causcd by one fault into a message real time mission support during assemmorc significant percentage of thc total identifying thc root cause. Because of bly and maintenance operations. maintenance activity that is projected to restructuring, this effort has been The Canadian Space Agency occur during operations. Robotic sctup of dcfcrrcd to the PMC release of station decision to reslructurc the Special thc EVA Worksitc has bccn found to bc a software. Thcrc is presently no baseline Purpose Dcxterous Manipulator (SPDM), less significant contributor to EVA approach to performing this function climinating the five dcgrec of frccdom ovcrhcad savings than originally prc- since rcstructuring has defcrrcd require- body and replacing it with the SSRMS dieted and has bccn dclctcd from thc mcnts dcvclopmcnt in this area. for almost all ORU operations, has current plan. JSC is negotiating Robotic Thcrc arc scvcral medical decision resultcd in some Work Package 2 Track Tasks with MDSSC-HB to takc support systcms available to the medical hardware impacts and significant advantage of certain JSC kinematic community. A project plan had bccn operational impacts. The change in the simulation and hardware tcsting dcvclopcd to cvaluatc these systems and operational philosophy of not being able capabilities. integrate them into the onboard platform to use the SPDM directly from the MBS Thc current Work Packagc 2 along with a customized medical knowl- without the SSRMS will increase Advanced Automation applications cdgc base spccific to the astronaut opcrational timelincs and may increase include: Data Managcmcnt Systcm population. An adaptation of this project power requircmcnts. Hardware required (DMS) Fault Detcction Isolation and rcccntly bccamc part of thc CHcCS to accommodate the restructured SPDM Rccovcry (FDIR) prototypc, Intcgratcd software basclinc when the latest revision robotic activities includcs the addition of Systcms Exccutivc (ISE) Caution and of the inflight medical requirements was an estimated 32 H-Fixturcs and targets Warning synthcsis software capability, approvcd. With this capability available for stabilization on the front three faces and a Crcw Health Carc Systcm (CHcCS) of the truss. A-7

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4's prime contractor, the Battery Charge/Discharge Unit Work Package Work Package 4 A&R is pursuing an automa- (BCDU), the Pump Flow Control Rocketdyne, Inc., the flight system that Subassembly (PFCS), the DC-to-DC Progress tion design for regulation of battery Converter Unit (DDCU), the Main Bus features automatic temperature, beta Switching Unit (MBSU), and the DC The automation activity within Work charging, battery control, and array voltage Switching Unit (DCSU). Overall, these Package 4 has concentrated on develop- gimbal position ing decision-support expert systems to All of these systems require test results demonstrated improved regulation. aid the operators of the electric power by ground control. In alignment guide capabilities and setpoints specified system. The approach integrates the work addition, all pcrtincnt system parameters attempted to direct the development of packagc's Engineering Support Center to automatic operating limit visual cues used by the tcleoperator, it is arc subject and reporting. not possible to verify the robot compat- (ESC) and the Power Management and violation detection IR&D program is ibility of these ORUs at this time due to Distribution (PMAD) testbcd to provide Rockctdync's an cnvironmcnt for experimenting with investigating health human interfaces. A power standard parameters, however, the tests automating the ground-based control diagnosis, and controller (IPAC) has have providcd a high level of confidence process. Since the last ATAC report, the system advisory Engineering Prototype Development been integrated with team has completed a communication of the power system. monitoring, failure the absence of program-wide testing a detailed simulation in the robotic interfaces (alignment The simulation guides, ctc,) developed to date. I-G tests link bctwecn thc ESC and the PMAD produces a tclcmctry stream which is have been pcrformcd on mockups of the tcstbed. This link simulatcs the communi- reccived by the IPAC. Taken together, data retrieval process of Aerospace and othcr labs in the U.S. cations expected between the power they emulate the Work Package 4 ORUs in Canada at Spar system's flight control computer and a system. The IPAC Computcr analysis and simulation have a ground support ground-based control center. currently detects low in the distribution scenarios. Work Package 4 continues to The first experiment in this environ- short circuit paths and high impedance further dcvelopcd the opcrational Its capabilities will be extended be involvcd in dcsign rcvicws and mcnt dcmonstratcd human consultation nctwork. using the TROUBLE failure detection failures and trend technical intcrchangcs with CSA. Also, a to includc multiple and diagnosis system. New human analysis. Work Packagc 4 vcrsion of the Robotics interfaces were built using Goddard's Thc robotics effort of Work Pack- Systems Integration Standards has been on increasing the level implemented to quickly respond to TAE+ graphics program. Ohio State age 4 has focuscd bctween the Work program and robot/interface changes in Univcrsity's Cognitive Systems Engi- of compatibility and the robotic systems order to remain current in planning the nccring Laboratory pcrsonncl provided Packagc 4 ORUs The effort maximizes robotic maintenance sccnarios. counsel on human factors. A second set planned for SSF. of displays was crcatcd to interface with the use of tclcrobotics as the method for thc BA'Iq'MAN battery monitoring maintenance. Almost all external Work Mission Operations Projects expert system. In both instances, the Package 4 ORUs are designated for displays show system functional status as robotic compatibility. Office A&R Progress Over the last six well as supporting dialog with the months, the main emphasis in the has bccn on neutral buoy- Automation and Robotics technology diagnostic expert systems. robotics area Oceaneering Space use within the Mission Operations Future cftbrts will expand thc ancy testing at the Major test series were Projects Office (MOPO) is driven by the detection and diagnostic software's Systems facility. competence to include the photovoltaic fidelity mockups of needs of operators to monitor, command, conductcd on high and control the various distributed arrays, their voltage regulation systems, the Battery Box, the Remote Power and the battery charge control regulators. Controllcr Modules Electronic Control Unit Freedom. The objective is to demonstrate electric Beta Gimbal powcr systcm command and control from (ECU). The battery a mission operations consolc position largest of the Work thus is representative of greater system commonality in the using decision support information from ORU boxcs and expert systems. A-8 (RPCMs), and the systems and subsystcms of Space Station box ORU is the Due to significant budget reductions Package 4 standard for SSFP ground facility development, dcvclopmcnt of SSFP and SSP control

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ccntershasbecometheapproachtaken will be delivered by the end of this A models assessment plan has been bytheMissionOperationsProjectOffice calendar year. This initial release will developed, which provides the criteria (MOPO)inordertoachieveimproved demonstrate a dual telemetry stream and procedures by which externally quality,moreefficiency,andlower capability in a distributed environment developed fault detection and analysis developmentandoperationscosts. using tools already available commer- models and applications will be evalu- MOPOhasembracedanewoperations cially or within NASA. Incrementally ated. The Level I EPD model for the conceptandarchitecturefortheSpace phased relcascs of capabilities arc SSFP Thermal Control System (TCS) is StationControlCenter(SSCC)aswellas planned in order to provide early feed- currently under evaluation by the Models thcMissionControlCentcr(MCC). back and iteration on those capabilities Assessment Team (MAT). This model TheresultantControlCenter with a shortcr turnaround time than has has bccn installed in the CCC testbed Complex (CCC) is the collcction of bccn achicvablc in the past. facility, where hands-on evaluations by control center systems which support The cxtcnsiblc CCC architecture mission controllers and the facility ground monitoring and control of both allows for thc incorporation of Artificial dcvclopmcnt organization have been the space station and space shuttle Intclligencc (AI) applications, which can achieved. Upon completion of the vehicles. The new operations concept be shared between flight programs where assessment, documentation will be calls for the SSCC to be utilized as an applicable. The Fault Detection and provided on changcs dccmed to be Orbital Control Center (OCC), which will Management (FDM) subsystcm is necessary to allow for the integration and combinc SSFP and SSP orbital opera- utilizing the strcngths of the distributed use of the model within FDM. It is tions support. Once the OCC facility architccturc by providing a modular anticipatcd that models will be evaluated development is complete, the MCC will dcsign which supports the incorporation tentatively every six months, with the bc transformed into an SSP Asccnt/Entry of ncw tcchnologics at minimal cost and Level ! EPD models for the SSFP Control Centcr. Opcrationally, thc operational impact. Within FDM, the Elcctrical Powcr Systcm (EPS) and Asccnt/Entry Control Center will bc Extcndcd Real-time FEAT (ERF) project Environmental Control and Life Support dcactivatcd post inscrtion and reactivated providcs a rcal-timc fault analysis System (ECLSS) following the TCS. to support cntry and landing of thc space capability by utilizing heuristics and real- The CCC testbcd facility has bccn shuttle vchiclc. This concept of pcrma- time data to emulate mission controller established for carly standalonc developncnt facilitics addresses the cost reduc- interactions with FEAT. Knowledge- mcnt and assessment of AI tools, and will tions in facility dcvelopmcnt, sustaining based systcms from the Rcal Time Data provide an integration function allowing engineering, and maintcnancc and System (RTDS) project will bc rchosted cxisting RTDS platform resources to opcrations by allowing programs to sharc to the CCC platform and utilized for become an extcnsion of the CCC testbcd costs, as well as provides modcrnizcd space shuttle fault detection and analysis. to the flight controller office environground facility support to thc orbital Lcvcl I Enginccring Prototype Develop- ment. This approach will allow early operations of thc space shuttle vchielc. ment (EPD) program models are being investigation of new applications by the Overall, the CCC provides the basic corc assessed for use as potential space station flight controller user community with command and control capability for fault detection and analysis applications minimal impact to ongoing work require- SSFP, achicvcs rcplacemcnt of cxisting within FDM as well. Software hooks arc ments. The CCC tcstbcd will provide MCC command and control capabilitics being dcsigncd into FDM to provide the technical support for demonstrations and by sharing the new SSFP capability, and capability to integrate these technologies cvaluations, as wcll as AI prototyping pcrmits the removal of outdatcd MCC into the systcm, as well as to provide a efforts. Currcntly, this tcstbcd is being cquipmcnt to achicvc major maintcnancc growth path toward the use of future utilized to support thc evaluation for and opcrations cost savings. tcchnologics. The CCC is striving to selection of a baseline AI tool to bc Thc CCC facility dcvclopmcnt is providc a statc-of-thc-art intcgratcd fault utilized throughout the CCC, FDM achicvcd by providing a scrics of dctcction and analysis capability by not modcls asscssmcnt activitics, and RTDS dclivcrics and releases. An early Com- only developing applications in-house, platform intcgration planning. mercial Off The Shelf (COTS) platform but also by furthcr dcvclopmcnt of is the first rclcasc of capability, which tcchnologics dcvclopcd by external organizations as thcy bccomc availablc. A-9

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Payload Operations Projects Since the last report, the following (RDBMS) prototypes of telemetry and occurred. The command characteristics data bases and developments have Office A&R Progress Enhanced HOSC System (EHS) Prelimi- file management are nearing completion. nary Design Review (PDR) was con- The power of RDBMS technology to The automation activity within the ducted, Work was begun on the Critical validate data base data as it enters the Mission Opcrations Laboratory for the Design Review. The first iteration of the system, whether the point of entry is Payload Operations Projects Office is EHS user interface design was completed user-interactive or batch mode, is being driven by the needs of operators to and the user interface evaluation team has investigated. In the area of integrated integrate, plan, monitor, command, and conductcd approximately 45 highly systems monitor and control, operations, dcsign and control SSF payload activi- successful end-user interface evaluation systems and development personnel have tics. These activities are directed to scssions. Work is in progress to complete defined how the systcm will automate job dcsign and development of the Payload the first draft of the EHS Common Uscr functions utilizing tcchnology of state-of- Operations Integration Center (POIC), Interfacc Standard. The new Data the-art COTS products. the SSF Work Package 1 Engineering Distribution System (DDS) was delivered Support Center (ESC), and the SSF and installed. Studics were complcted on United States Operations Center (USOC). the use of a relational database manage- This development focuses on a generic mcnt system for near-real time data core system utilizing distributed comput- logging and prototypes of telemetry ing, integrated systems monitoring and processing graphical user interfaces wcre control, standardized user interfaces, dcvclopcd for uscr evaluation. Rclational centralized data base management and an Data Basc Managcmcnt System opcn, flexible system environment. Since this core system is generic, it provides multi-project support, realizing extensive savings across the agency in executing payload operations. A-10

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Appendix B Acronyms A&R Automation and Robotics AC Assembly Complete AMS Acceleration Mapping System ARC Ames Research Center ATAC Advanced Technology Advisory Committee AWP Assembly Work Platform C&T Communications and Tracking CCC Control Center Complex CDR Critical Design Review CETA Crew and Equipment Translation Aid COMPASS Computer Aided Scheduling System CR Change Request CSA Canadian Space Agency CSP Canadian Space Program DARPA Defense Advanccd Research Projects Agency DKC Design Knowledge Capture DMS Data Management System DTF- 1 Development Test Flight (first VI'S test flight) DTLCC Design to Life-Cycle Costs ECLSS Environmental Control Life-Support System EMI Electric-Magnetic Interference EMST External Maintenance Solutions Team EPD Engineering Prototype Development EPS Electrical Power System ESA European Space Agency EVA Extravehicular Crew Activity EVR Extravehicular Robot Activity FDIR Fault Detection, Isolation, and Recovery FEAT Failure Environment Analysis Tool FEL First Element Launch FSE Flight Support Equipmcnt FFS Flight Telerobotic Servicer GN&C Guidance, Navigation, and Control GSFC Goddard Spacc Flight Centcr HOSC ttuntsville Operations Support Complex IDR Integrated Design Review IROP Integration Requircmcnts on Payloads IR&D In-House Research and Dcvclopmcnt ISE Integrated Station Executive IVA lntravehicular Activity JPL Jet Propulsion Laboratory JSC Johnson Space Center KBS Knowledge-Based Systems KSC Kennedy Space Centcr LaRC Langley Research Center B-I

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LCC Life-Cycle Cost LeRC Lewis Research Center MCC Mission Control Center MDM Multiplexer/Demultiplexer MOD Mission Operation Directorate MSAD HQ Microgravity Science and Applications Division MSC Mobile Servicing Center MSFC Marshall Space Flight Center MTC Man-Tended Capability MUT Mission Utilization Team NASA National Aeronautics and Space Administration NTSC National Television System Committee eAST Office of Aeronautics and Space Technology OMIS Operations Management Information System OMS Operations Management System ORU Operational Replacement Unit OSSA Office of Space Science and Applications OSSD Office of Space Systems Development PDR Preliminary Design Review PES Payload Executive Software PDRD PDR Document PDSS Payload Data Services Systcm P! Principal Investigator PIT Pre-lntegrated Truss PMAD Power Management and Distribution PMC Permanently Manned Capability POIC Payload Operations Integration Center POP Program Operating Plan RSIS Robotic Systems Integration Standards RTDS RcaI-Time Data System SPAR Spar Aerospace Limited SSFPAH Space Station Freedom Payload and Accommodations Handbook SSSAAS Space Station Sciencc and Applications Advisory Subcommittec SDP Standard Data Processor SDTM Station Design Tradcoff Modcl SPDM Spccial Purpose Dexterous Manipulator SSCC Space Station Control Center SSE Software Support Environment SSF Space Station Freedom SSFP Space Station Freedom Program SSRMS Space Station Remote Manipulator System TCS Thermal Control System TEXSYS Thermal Expert System WETF Weightless Environmental Test Facility WP Work Package B-2

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Codes Code D NASA HQ Code for the Office of Space Systems Development Code M NASA HQ Code for the Office of Space Flight Code MT NASA HQ Code for the Office of Space Flight, Space Station Engineering Code R NASA HQ Code for the Office of Aeronautics and Space Technology Code S NASA HQ Code for the Office of Space Science and Applications B-3

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Appendix C NASA Advanced Technology Advisory Committee Members and Alternates Henry Lum, ,ir., Chairman, Chief Information Sciences Division, ARC Ed Chevers, Alternate Chairman, ARC John Bull, Executive Secretary, ARC Leslic Hoffman, Administrative Assistant, ARC Henry Plotkin, Assistant Director for Development Projects, GSFC Dorothy Perkins, Alternate, GSFC Giulio Varsi, Manager, Space Automation and Robotics Program, ,IPL Wayne Schobcr, Alternatc, .IPL ,lon D. Erickson, Chief Scientist, Automation and Robotics Division, .ISC Tom Davis, Chief, Advanced Technology Office, KSC Astrid Heard, Alternate, KSC Alfrcd Mcintcl, Jr., Asst. Chief, Information Systems Division, LaRC Kclli Willshirc, Alternate, LaRC Denis Connolly, Dcputy Chief of Applied Research, Space Electronics Division, LeRC Jonathan Hausslcr, Research and Technology Office, MSFC Liaison Members Mark Gcrsh, EPD Manager, Space Station Engineering Office, HQ/DE Geoffrey Giffin, Space Science and Operations Division, HQ/RS Ed Reeves, Space Station Science and Applications Advisory Subcommittee, HQ/SM Norm Parmct, Aerospace Safety Advisory Panel ,loAnn Clayton, Aeronautics and Space Engineering Board C-I

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Form Approved REPORT DOCUMENTATION PAGE No.ozo4-o188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of inform;_.tion, including suggestions for reducing this burden, to Washington Headquarters Services. Directorate for information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204. Arlington, VA 22202-4302. and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188), Washington, DC 20503 1. AGENCY USE ONLY (Leave blank) 2. REPORT DATE December 1992 4. TITLE AND SUBTITLE 3. REPORT TYPE AND DATES COVERED Technical Memorandum 5. FUNDING NUMBERS Advancing Automation and Robotics Technology for the Space Station Freedom and for the U.S. Economy--Progress Report 15 6. AUTHOR(S) Advanced Technology Advisory Committee (ATAC) Henry Lum, Jr., Chairman 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Advanced Technology Advisory Committee Chairman, Henry Lum, Jr./FI NASA ARC, Moffett Field, CA 94035-1000 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) NASA Headquarters Attn: Earle Huckins/MT Washington, DC 20546-0001 11. SUPPLEMENTARY NOTES 476-14-01 8. PERFORMING ORGANIZATION REPORT NUMBER A-93019 10. SPONSORING/MONITORING AGENCY REPORT NUMBER NASA TM-103992 Point of Contact: Henry Lum, Jr.,Ames Research Cente_MS 269-1, Moffett Field, CA94035-1000; (415) 604-6544 12a. DISTRIBUTION/AVAILABILITY STATEMENT Unclassified -- Unlimited Subject Category 59 13. ABSTRACT (Maximum 200 words) 12b. DISTRIBUTION CODE In April 1985, as required by Public Law 98-371, the NASAAdvanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fifteenth in a series of progress updates and covers the period between February 27, 1992 to September 17, 1992. The report describes the progress made by Levels I, II, and III of the Space Station Freedom in developing and applying advanced automation and robotics technology. Emphasis has been placed upon the Space Station Freedom program responses to specific recommendations made in ATAC Progress Report 14. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom. 14. SUBJECT TERMS 15. NUMBER OF PAGES 53 Robotics, Space Station Freedom, Automation, Expert systems, Artificial intelligence 17. SECURITY CLASSIFICATION 18. SECURITY CLASSIFICATION OF REPORT OF THIS PAGE Unclassified Unclassified NSN 7540-01-280-5500 16. PRICE CODE A04 19. SECURITY CLASSIFICATION 20, LIMITATION OF ABSTRACT OF ABSTRACT Standard Form 298 (Rev. 2-89) Prescribed by ANSI Std Z39-18 298-102