Automating Space Operations Using Timeliner and ADEPT

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Automating Space Operations Using Timeliner and
ADEPT

• Robert A. Brown, Ph.D.
• Distinguished Member of the Technical Staff
• The Charles Stark Draper Laboratory, Inc.
• Presented at Houston AIAA ATS 2005
• May 6, 2005

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An Autonomy Roadmap
Autonomous Mission Management
Automated Procedure Execution
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The Timeliner System Is A Tool For Automating
Operational Procedures

• Perform pre-mission, during mission, and
  post-mission system checkouts
• Provide master sequencing for complete mission
• From remote controller workstation(s)
• Embedded, semi-autonomous, or fully autonomous
  mode
• Monitor for extraneous conditions and execute
  contingency plans

PCS
Cmds
Data
Telemetry
Flight
System
System
Cmds
System
Data
Cmds
Timeliner Compiler
Timeliner Executor
Load

• Standard interfaces allow rapid integration of
  Timeliner executor with target systems

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The Timeliner Language Is Designed To Aid The
Human Operator

• Specialized computer language designed for the
  writing of automated control procedures, which
  serve as an aid for human operators
• The main language characteristics are
• English-like, intended for system specialists,
  not computer programmers
• Time-oriented, based on keywords like when,
  whenever, wait, before, etc.
• Conditional logic for making decisions (if x or
  y ...)
• condition is general can be system data,
  time, or combinations
• Action statements for
• Interacting with target system
• Issuing operator messages
• Controlling procedure execution

Conditional Constructs WHEN condition WHENEVER
condition actions actions IF condition EVERY
condition actions actions
Action Statements COMMAND system_command,
parameters SET system_object TO value MESSAGE
message to operator INSTALL script_to_be_insta
lled START procedure_to_be_started
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Timeliner Provides A Framework For Organizing and
Dynamically Controlling Automated Procedures
Executor
Control

BUNDLE
FREEZE_ALL
RESET_FREEZE
Sequence A
Sequence B
Sequence C
Sequence
Control

Bundle
START
call
Control
STOP

INSTALL
RESUME
REMOVE
SINGLE STEP
Subsequence X
HALT
HOLD AT
JUMP TO

• Each Bundle is composed of Sequences that execute
  in parallel with each other
• Compiled Bundles can be Installed, Removed on
  command
• Sequences can be Started, Stopped, Single
  Stepped individually and independently
• Sequences can utilize shared Subsequences

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What Is The Current Status of Timeliner-Based
Automation?

• On ISS Timeliner Executor is on-orbit and
  operational aboard both the Payload and CC MDMs
• The HAL system, consisting of 8 Timeliner
  bundles, is being used to fully automate POIC
  CADRE ground operations
• HAL Main bundle continuously monitors payload
  device power status and automatically executes
  startup/shutdown sequences in response to change
  in status
• Build 1 uploaded and operational on 4/19/2005
• Build 2 scheduled for upload on 10/1/2005
• Timeliner is also being used to automate ISS Core
  operations
• Reconfiguration of CW event tables upon CC MDM
  switch
• Upgrade of DCSU power controller firmware
• Other procedures are in the pipeline
• S-Band operations, TCS reconfiguration, HCOR
  reset,
• MOD concept for lights-out control center
  operations using Timeliner
• The Orbital Express Demonstration System is using
  Timeliner to provide autonomous on-orbit mission
  management
• Comcast, Cox Communications, et. al. are using
  commercial product based on Timeliner to automate
  their broadband enterprise operations
• Benefits of using Timeliner have been immediate
  and dramatic
• Reduction in ground operations workload
• Reduction in need for console positions

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Future Missions Require Moving Beyond Procedural
Automation To Intelligent Autonomy

• Intelligent Autonomy is the ability to plan and
  execute complex activities in a manner that
  provides rapid, effective response to stochastic
  and dynamic mission events
• IA enables the high-level reasoning and adaptive
  behavior previously provided by an operator in
  man-in-the-loop systems
• All-Domain Execution and Planning Technology
  (ADEPT) is Draper architecture for IA
• Based on sense-think-act paradigm of intelligence
  
• Hierarchical organization of planning
  decision-making nodes
• Nodes are comprised of modules for situation
  assessment, plan generation, plan implementation
  and coordination
• Programs supported by the ADEPT architecture
• ONR UCAV intelligent autonomy demonstration
• NASA supervisory and autonomous satellite
  operations
• DARPA plan and execute missions for 5 wings of
  aircraft over 7-9 day mission
• Draper IRD coordination of planning and control
  of air traffic flow at or near airports and
  enroute

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The ADEPT Architecture Automates The Ground
Monitor/Control/Planning Functions

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Diagnosis
Problems
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Deviations from Expectations
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Commands,
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Objectives Constraints
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Ground
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The Timeliner/ADEPT Architecture Coordinates
Autonomy Across A Hierarchy
Subproblem 3
Subproblem 1
Subproblem 2
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Conclusions

• Procedural automation with Timeliner provides
  significant, but incremental, benefits for
  mission/space operations
• Future exploration missions will require
  intelligent autonomy to operate unmanned and
  manned vehicles
• However, autonomy needs to allow humans to take
  control back if necessary
• Moreover, autonomy must result in verified
  reliable and safe responses
• Blending of automated procedures with intelligent
  autonomy framework enables incremental strategy
  for automation
• Blending also meets needs for reliable responses
  and human resumption of control