Shin-Ywan Wang, J. Torgerson, J. Schoolcraft, Yan Brenman
The interplanetary overlay network (ION) software at JPL is an implementation of delay/disruption tolerant networking (DTN) which has been proposed as an interplanetary protocol to support space communication. The JPL deep impact network (DINET) is a technology development experiment intended to increase the technical readiness of the JPL implemented ION suite. The DINET experiment operations center (EOC) developed by JPL's protocol technology lab (PTL) was critical in accomplishing the experiment. EOC, containing all end nodes of simulated spaces and one administrative node, exercised publish and subscribe functions for payload data among all end nodes to verify the effectiveness of data exchange over ION protocol stacks. A monitor and control system was created and installed on the administrative node as a multi-tiered Internet-based Web application to support the deep impact network experiment by allowing monitoring and analysis of the data delivery and statistics from ION. This monitor and control system includes the capability of receiving protocol status messages, classifying and storing status messages into a database from the ION simulation network, and providing Web interfaces for viewing the live results in addition to interactive database queries.
{"title":"The Deep Impact Network Experiment Operations Center Monitor and Control System","authors":"Shin-Ywan Wang, J. Torgerson, J. Schoolcraft, Yan Brenman","doi":"10.1109/SMC-IT.2009.13","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.13","url":null,"abstract":"The interplanetary overlay network (ION) software at JPL is an implementation of delay/disruption tolerant networking (DTN) which has been proposed as an interplanetary protocol to support space communication. The JPL deep impact network (DINET) is a technology development experiment intended to increase the technical readiness of the JPL implemented ION suite. The DINET experiment operations center (EOC) developed by JPL's protocol technology lab (PTL) was critical in accomplishing the experiment. EOC, containing all end nodes of simulated spaces and one administrative node, exercised publish and subscribe functions for payload data among all end nodes to verify the effectiveness of data exchange over ION protocol stacks. A monitor and control system was created and installed on the administrative node as a multi-tiered Internet-based Web application to support the deep impact network experiment by allowing monitoring and analysis of the data delivery and statistics from ION. This monitor and control system includes the capability of receiving protocol status messages, classifying and storing status messages into a database from the ION simulation network, and providing Web interfaces for viewing the live results in addition to interactive database queries.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130103941","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yeou-Fang Wang, Mitchell Schrock, J. Baldwin, G. Rangel, C. Borden
A set of analysis tools has been created in a community-based team environment to support NASA ground resource allocation and planning. This new tool, called GRAPE (Ground Resource Allocation and Planning Environment), combines analysis, monitoring, and search capabilities into an existing community environment where wikis, blogs, document libraries, calendars, discussion forums, lists, progress management, and email repositories are available in a web site which assists users with their communication, operation, analysis, and collaboration needs.
{"title":"Web 2.0 for Ground Resource Allocation","authors":"Yeou-Fang Wang, Mitchell Schrock, J. Baldwin, G. Rangel, C. Borden","doi":"10.1109/SMC-IT.2009.15","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.15","url":null,"abstract":"A set of analysis tools has been created in a community-based team environment to support NASA ground resource allocation and planning. This new tool, called GRAPE (Ground Resource Allocation and Planning Environment), combines analysis, monitoring, and search capabilities into an existing community environment where wikis, blogs, document libraries, calendars, discussion forums, lists, progress management, and email repositories are available in a web site which assists users with their communication, operation, analysis, and collaboration needs.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133644103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Team design is an important issue in manned planetary exploration. This paper demonstrates the feasibility of studying team design by using a computational policy approach for requirements engineering and system implementation.
{"title":"Policy-Based Design of Human-Machine Collaboration in Manned Space Missions","authors":"J. van Diggelen, J. Bradshaw","doi":"10.1109/SMC-IT.2009.52","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.52","url":null,"abstract":"Team design is an important issue in manned planetary exploration. This paper demonstrates the feasibility of studying team design by using a computational policy approach for requirements engineering and system implementation.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114550971","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
For the problem of low code gain of the concatenation of Reed Solomon (RS) codes and convolutional codes (CC), the concatenated scheme of RS+CC and Luby Transform (LT) codes with an improved decoding algorithm is proposed. The improved decoding algorithm for LT codes decreases the receiving buffer consumption and improves the successful decoding probability and the real-time property of LT codes at some low computational cost. Simulations and analyses are made to evaluate the performance of the concatenated scheme in terms of the error correction capacity and cost.
{"title":"Application of the Concatenation of Reed Solomon and Luby Transform Codes in Deep Communications","authors":"Yong-zhao Lin, Chengke Wu, Qun Zhang, Wei Liu","doi":"10.1109/SMC-IT.2009.12","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.12","url":null,"abstract":"For the problem of low code gain of the concatenation of Reed Solomon (RS) codes and convolutional codes (CC), the concatenated scheme of RS+CC and Luby Transform (LT) codes with an improved decoding algorithm is proposed. The improved decoding algorithm for LT codes decreases the receiving buffer consumption and improves the successful decoding probability and the real-time property of LT codes at some low computational cost. Simulations and analyses are made to evaluate the performance of the concatenated scheme in terms of the error correction capacity and cost.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125995515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
D. Gaines, T. Estlin, S. Schaffer, C. Chouinard, A. Elfes
We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a future Titan aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncerttain and changing environmental conditions, maneuvarability constraints and potentially short-lived science opportunities. We are developing the AerOASIS system to develop and test technology to support autonomous science operations for a future Titan Aerobot. The planning and execution component of AerOASIS is able to generate mission operations plans that achieve science and engineering objectives while respecting mission and resource constraints as well as adapt the plan to respond to new science opportunities. Our technology leverages prior work on the OASIS system for autonomous rover exploration. In this paper we describe how the OASIS planning component was adapted to address the unique challenges of a Titan Aerobot and we describe a field demonstration of the system with the JPL prototype aerobot.
{"title":"Autonomous Planning and Execution for a Future Titan Aerobot","authors":"D. Gaines, T. Estlin, S. Schaffer, C. Chouinard, A. Elfes","doi":"10.1109/SMC-IT.2009.39","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.39","url":null,"abstract":"We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a future Titan aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncerttain and changing environmental conditions, maneuvarability constraints and potentially short-lived science opportunities. We are developing the AerOASIS system to develop and test technology to support autonomous science operations for a future Titan Aerobot. The planning and execution component of AerOASIS is able to generate mission operations plans that achieve science and engineering objectives while respecting mission and resource constraints as well as adapt the plan to respond to new science opportunities. Our technology leverages prior work on the OASIS system for autonomous rover exploration. In this paper we describe how the OASIS planning component was adapted to address the unique challenges of a Titan Aerobot and we describe a field demonstration of the system with the JPL prototype aerobot.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126930657","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
From a mobile networking perspective, spacecraft networks are characterized by the predictability of node movement and communication opportunities. We show that payload data throughput, spacecraft commanding, and mission autonomy can be enhanced by using a predicable mobile routing protocol. We validate our claims through realistic network simulations in the context of a complex communication infrastructure for a next-generation Mars mission. Moreover, we propose routing protocol enhancements that also takes intermittently connected links into account as they occur in delay-tolerant networking. Finally, we analyze the operational impact and capabilities of the routing protocol on spacecraft commanding and operations.
{"title":"Increasing the Efficiency of Next-Generation Space Operations by Exploiting Predictability","authors":"Daniel Fischer, K. Eckstein, D. Basin, T. Engel","doi":"10.1109/SMC-IT.2009.44","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.44","url":null,"abstract":"From a mobile networking perspective, spacecraft networks are characterized by the predictability of node movement and communication opportunities. We show that payload data throughput, spacecraft commanding, and mission autonomy can be enhanced by using a predicable mobile routing protocol. We validate our claims through realistic network simulations in the context of a complex communication infrastructure for a next-generation Mars mission. Moreover, we propose routing protocol enhancements that also takes intermittently connected links into account as they occur in delay-tolerant networking. Finally, we analyze the operational impact and capabilities of the routing protocol on spacecraft commanding and operations.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130600982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently, any motion involving steps is cumbersome - each step can require multiple commands and take many minutes to complete. In this paper, we consider four different algorithms that generate a sequence of commands to take a step. We consider a baseline heuristic, a randomized motion planning algorithm, and two variants of A* search. Results for a variety of terrains are presented, and we discuss the quantitative and qualitative tradeoffs between the approaches.
{"title":"A Practical Comparison of Motion Planning Techniques for Robotic Legs in Environments with Obstacles","authors":"Tristan B. Smith, D. Chavez-Clemente","doi":"10.1109/SMC-IT.2009.26","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.26","url":null,"abstract":"ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently, any motion involving steps is cumbersome - each step can require multiple commands and take many minutes to complete. In this paper, we consider four different algorithms that generate a sequence of commands to take a step. We consider a baseline heuristic, a randomized motion planning algorithm, and two variants of A* search. Results for a variety of terrains are presented, and we discuss the quantitative and qualitative tradeoffs between the approaches.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130899441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The Asynchronous Message Service (AMS) is a subscription based message passing framework for use in flight software applications. It is designed to allow multiple flight software applications to communicate without the need for a central message routing server. This paper describes an AMS client implementation written in a functional programming language. Functional programming languages are expressive and powerful and this paper illustrates how some of the powerful features can be leveraged to build domain relevant software.
{"title":"A Functional Implementation of the Asynchronous Message Service","authors":"A. J. Harris","doi":"10.1109/SMC-IT.2009.50","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.50","url":null,"abstract":"The Asynchronous Message Service (AMS) is a subscription based message passing framework for use in flight software applications. It is designed to allow multiple flight software applications to communicate without the need for a central message routing server. This paper describes an AMS client implementation written in a functional programming language. Functional programming languages are expressive and powerful and this paper illustrates how some of the powerful features can be leveraged to build domain relevant software.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125803842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents PLEXIL5, PLEXIL's Formal Interacting Visual Environment, a graphical environment providing an user-friendly interface to the formal operational semantics of PLEXIL. PLEXIL is a synchronous plan execution language developed by NASA to support autonomous space operations. PLEXIL5 serves as a testbed for designers, developers and users of PLEXIL's executive system to validate, maintain, and debug the implementation of the system against the formal semantics of the language. The executable formal semantics of PLEXIL is an executable rewriting logic theory in Maude's language.
{"title":"A Graphical Environment for the Semantic Validation of a Plan Execution Language","authors":"C. Rocha, C. Muñoz, Héctor Cadavid","doi":"10.1109/SMC-IT.2009.31","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.31","url":null,"abstract":"This paper presents PLEXIL5, PLEXIL's Formal Interacting Visual Environment, a graphical environment providing an user-friendly interface to the formal operational semantics of PLEXIL. PLEXIL is a synchronous plan execution language developed by NASA to support autonomous space operations. PLEXIL5 serves as a testbed for designers, developers and users of PLEXIL's executive system to validate, maintain, and debug the implementation of the system against the formal semantics of the language. The executable formal semantics of PLEXIL is an executable rewriting logic theory in Maude's language.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133050257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pablo Muñoz-Martínez, M. R-Moreno, J. Gómez-Elvira, J. Romeral-Planello, Sara Navarro-Lopez
Ptinto is a hexapod robot designed to keep the equilibrium when moving around rocky and cumbersome areas during the exploration of the Tinto river in Huelva (Spain). We have developed an integrated planning and scheduling system called PIPSS to control the locomotion of the P-Tinto robot. PIPSS tries to make the better moves for the legs in order to keep the right balance and calculate the trajectory between two points. It exchanges information with an executor system that execute the plan, and in case there are some obstacles that Ptinto cannot avoid, a new trajectory will be re-calculated.
{"title":"An Autonomous System for the Locomotion of a Hexapod Exploration Robot","authors":"Pablo Muñoz-Martínez, M. R-Moreno, J. Gómez-Elvira, J. Romeral-Planello, Sara Navarro-Lopez","doi":"10.1109/SMC-IT.2009.25","DOIUrl":"https://doi.org/10.1109/SMC-IT.2009.25","url":null,"abstract":"Ptinto is a hexapod robot designed to keep the equilibrium when moving around rocky and cumbersome areas during the exploration of the Tinto river in Huelva (Spain). We have developed an integrated planning and scheduling system called PIPSS to control the locomotion of the P-Tinto robot. PIPSS tries to make the better moves for the legs in order to keep the right balance and calculate the trajectory between two points. It exchanges information with an executor system that execute the plan, and in case there are some obstacles that Ptinto cannot avoid, a new trajectory will be re-calculated.","PeriodicalId":422009,"journal":{"name":"2009 Third IEEE International Conference on Space Mission Challenges for Information Technology","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123954633","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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