{"project":{"acronym":"","projectId":33286,"title":"Adaptive Resource Estimation and Visualization for Planning Robotic Missions","primaryTaxonomyNodes":[{"taxonomyNodeId":10789,"taxonomyRootId":8816,"parentNodeId":10787,"level":3,"code":"TX10.2.2","title":"Activity and Resource Planning and Scheduling","definition":"Activity and resource planning and scheduling technologies select and order activities to be performed while managing system resources to achieve mission goals.","exampleTechnologies":"Power / energy consumption and production planning / scheduling; planning / scheduling given constraints, such as fuel, life support system consumables (air, water), spacecraft memory, communication link (availability, bandwidth, latency), etc.; planning / scheduling given consumables for science ops (e.g. # of sample containers); mixed initiative planning/scheduling of human spacecraft activities; piloted aircraft decision support","hasChildren":false,"hasInteriorContent":true}],"startTrl":2,"currentTrl":3,"endTrl":3,"benefits":"The proposed project will develop resource models for use when building robot plans that enable variable levels of robot autonomy (NASA Roadmap TA4). The technology for resource modeling has direct application in NASA missions such as the Resource Prospector Mission (RPM). An ongoing operational trade during plan execution for the RPM is whether to take a closer look for water in an area or to move on to prospect another area. The proposed resource models have potential to help the science team make better decisions about prospecting by providing more accurate estimates of how long it will take to perform the tasks within a robot plan. Other tests where resource modeling might improve robot and science mission planning include BASALT, AstroBee, and the Pavilion Lake Research Project (PLRP).
Unmanned Vehicles, including UAVs, UGVs, and USVs are growing in their importance to DOD. Correspondingly, the need to ensure that soldiers can work effectively with these vehicles is also growing. As the number of vehicles grows the need to plan for the coordination of multiple robots will also grow. The proposed resource modeling software can be integrated with existing planning and procedure technology to deliver flexible multi-robot plans. There is renewed interest in remote operations and robot inspection and maintenance for the oil and natural gas drilling, extraction, and processing. Whether controlling robots that monitor and maintain off-shore rigs during an evacuation, or controlling Remotely Operated Vehicles underwater, or controlling robots that perform disaster response tasks in large refinery, the need for robotics in the oil and gas industry is growing. The proposed software for resource modeling is enabling to build plans for such robot operations.","description":"NASA's future human exploration missions will include remotely operated rovers performing surface exploration and science, as well as free-flyers to reduce the need for human Extra Vehicular Activity (EVA). As astronauts move deeper into space, it will be necessary for them to manage these robotic assets with less support from ground controllers. A flexible approach is needed to build and revise plans for semi-autonomous robots. A key requirement for such planning operations is the ability to accurately predict how much resource (e.g., time, power) is needed to perform planned tasks. TRACLabs and CMU propose to develop software to model resources for use in building and revising plans for semi-autonomous robots. The resource models will be used to estimate the duration of planned tasks based on historical plan performance. They will be updated periodically during a mission to improve model accuracy at a site. This software also will be used to provide actual resource data for annotating a map of the site when building. The resource modeling software will be designed for evaluation with the IRG Exploration Ground Data System planning software. Improved resource modeling produces more accurate predictions of the resources needed for planned tasks. More accurate resource estimates improves the likelihood that plans can be executed \"as planned\". When plans don't go as expected, these resource models can be used to determine how to modify robot plans within available resources. This should reduce the human workload needed to revise robot plans during plan execution and, when revisions are needed, to determine which subset of activities can actually be completed with remaining resources. Such resource modeling technology is enabling for remote operation and supervision of planetary robots with variable levels of autonomy (NASA Roadmap TA4).","startYear":2015,"startMonth":6,"endYear":2016,"endMonth":6,"statusDescription":"Completed","principalInvestigators":[{"contactId":3164048,"canUserEdit":false,"firstName":"Debra","lastName":"Schreckenghost","fullName":"Debra Schreckenghost","fullNameInverted":"Schreckenghost, Debra","primaryEmail":"schreck@traclabs.com","publicEmail":true,"nacontact":false},{"contactId":116131,"canUserEdit":false,"firstName":"Debra","lastName":"Schreckenghost","fullName":"Debra L Schreckenghost","fullNameInverted":"Schreckenghost, Debra L","middleInitial":"L","primaryEmail":"debra.l.schreckenghost@nasa.gov","publicEmail":true,"nacontact":false}],"programDirectors":[{"contactId":206378,"canUserEdit":false,"firstName":"Jason","lastName":"Kessler","fullName":"Jason L Kessler","fullNameInverted":"Kessler, Jason L","middleInitial":"L","primaryEmail":"jason.l.kessler@nasa.gov","publicEmail":true,"nacontact":false}],"programExecutives":[{"contactId":215154,"canUserEdit":false,"firstName":"Jennifer","lastName":"Gustetic","fullName":"Jennifer L Gustetic","fullNameInverted":"Gustetic, Jennifer L","middleInitial":"L","primaryEmail":"jennifer.l.gustetic@nasa.gov","publicEmail":true,"nacontact":false}],"programManagers":[{"contactId":62051,"canUserEdit":false,"firstName":"Carlos","lastName":"Torrez","fullName":"Carlos Torrez","fullNameInverted":"Torrez, Carlos","primaryEmail":"carlos.torrez@nasa.gov","publicEmail":true,"nacontact":false}],"projectManagers":[{"contactId":321178,"canUserEdit":false,"firstName":"Matthew","lastName":"Deans","fullName":"Matthew C Deans","fullNameInverted":"Deans, Matthew C","middleInitial":"C","primaryEmail":"matthew.c.deans@nasa.gov","publicEmail":true,"nacontact":false},{"contactId":461333,"canUserEdit":false,"firstName":"Theresa","lastName":"Stanley","fullName":"Theresa M Stanley","fullNameInverted":"Stanley, Theresa M","middleInitial":"M","primaryEmail":"theresa.m.stanley@nasa.gov","publicEmail":true,"nacontact":false}],"website":"","libraryItems":[{"file":{"fileExtension":"pdf","fileId":301151,"fileName":"STTR_2015_1_BC_T11.01-9943","fileSize":229218,"objectId":297691,"objectType":{"lkuCodeId":889,"code":"LIBRARY_ITEMS","description":"Library Items","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"objectTypeId":889,"fileSizeString":"223.8 KB"},"files":[{"fileExtension":"pdf","fileId":301151,"fileName":"STTR_2015_1_BC_T11.01-9943","fileSize":229218,"objectId":297691,"objectType":{"lkuCodeId":889,"code":"LIBRARY_ITEMS","description":"Library Items","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"objectTypeId":889,"fileSizeString":"223.8 KB"}],"id":297691,"title":"Briefing Chart","description":"Adaptive Resource Estimation and Visualization for Planning Robotic 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Image","file":{"fileExtension":"png","fileId":305979,"fileName":"STTR_15_1_T11.01-9943","fileSize":228802,"objectId":65855,"objectType":{"lkuCodeId":1841,"code":"TRANSITION_FILES","description":"Transition Files","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"fileSizeString":"223.4 KB"},"transitionId":65855,"fileId":305979}],"infoText":"Closed out","infoTextExtra":"","dateText":"June 2016"},{"transitionId":65856,"projectId":33286,"partner":"Other","transitionDate":"2016-09-01","path":"Advanced To","relatedProjectId":92574,"relatedProject":{"acronym":"","projectId":92574,"title":"Adaptive Resource Estimation and Visualization for Planning Robotic Missions","startTrl":3,"currentTrl":5,"endTrl":5,"benefits":"The proposed project will develop the AER software for estimating plan resources for use when building robot plans that enable variable levels of robot autonomy (NASA Roadmap TA4). The AER software has direct application to NASA's Resource Prospector (RP) mission. An ongoing operational trade during plan execution for RP is whether to spend time analyzing a nearby area or to move on to prospect another area. The proposed resource models have potential to help the science team make better decisions about prospecting by providing more accurate estimates of how long it will take to perform the tasks within a rover plan. This software also has potential use to provide resource estimates for NASA field tests for future human exploration operations.
TRACLabs is commercializing the PRIDE electronic procedure system for use in the oil and gas industry. We currently are deploying PRIDE with an upstream oil and gas company, for use in drilling automation. The PRIDE procedure editing software will be used to build procedural tasks sequences very similar to the robot task plans built using xGDS plan editor providing plans for the proposed project. The AER software can be integrated with the PRIDE editor to provide resource estimates for drilling automation procedures. Much like robot traverse tasks, the resources needed for drilling tasks are impacted by the environment in which they operate. The time to drill through subsurface with different geological structure can vary significantly. The AER software can model drilling times through these structures to estimate resources for planned drilling procedures prior to drilling. The AER software developed in Phase II will be the basis of a new tool in the PRIDE suite of tools for electronic procedures.","description":"NASA's future human exploration missions will include remotely operated rovers performing surface exploration and science, as well as free-flyers to reduce the need for human Extra Vehicular Activity. Technologies are needed for remote operation and supervised autonomy of robots. Consider the Resource Prospector (RP) lunar mission. For RP it will be necessary to accomplish as much as possible in the available time. A key requirement for planning such operations is the ability to accurately predict how much resource (e.g., time, power) is needed to perform planned tasks. More accurate resource estimates can prevent wasting resources trying to complete unrealistic plans. Quick turnaround of plans revisions can minimize the time the robot is idle while its plan is being modified. TRACLabs and CMU propose to develop software for the Adaptive Estimation of Resources (AER) to help build and revise plans for robots performing NASA missions. This software will be used to estimate the duration of planned tasks using information about terrain features combined with historical plan performance. These estimates can be used to assess the feasibility of robot plans when built. And can be used to assess the impact of changes to robot plans during execution. These resource models will be updated during a mission to improve the accuracy of estimates at a site. Providing more accurate resource estimates for building robot plans produces plans more likely to complete within the allocated resources. These estimates give the planner a better sense of what resources are required to achieve objectives, which affects both the selection of which objectives to pursue and the order in which to purse them. When replanning is needed, either due to unexpected opportunities or problems, these estimates can help the team determine whether sufficient time remains to complete the revised plan and, if not, help users perform plan trades to determine which subset of activities should be attempted.","startYear":2016,"startMonth":9,"endYear":2018,"endMonth":9,"statusDescription":"Completed","website":"","program":{"acronym":"SBIR/STTR","active":true,"description":"
The NASA SBIR and STTR programs fund the research, development, and demonstration of innovative technologies that fulfill NASA needs as described in the annual Solicitations and have significant potential for successful commercialization. If you are a small business concern (SBC) with 500 or fewer employees or a non-profit RI such as a university or a research laboratory with ties to an SBC, then NASA encourages you to learn more about the SBIR and STTR programs as a potential source of seed funding for the development of your innovations.
The SBIR and STTR programs have 3 phases:
The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.
Opportunity for Continued Technology Development Post-Phase II:
The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.
Please review the links below to obtain more information on the SBIR/STTR programs.
Provides an overview of the SBIR and STTR programs as implemented by NASA
Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics
Schedule and links for the SBIR/STTR solicitations and selection announcements
Federal and non-Federal sources of assistance for small business
Search our complete archive of awarded project abstracts to learn about what NASA has funded
Still have questions? Visit the program FAQs
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The SBIR and STTR programs have 3 phases:
The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.
Opportunity for Continued Technology Development Post-Phase II:
The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.
Please review the links below to obtain more information on the SBIR/STTR programs.
Provides an overview of the SBIR and STTR programs as implemented by NASA
Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics
Schedule and links for the SBIR/STTR solicitations and selection announcements
Federal and non-Federal sources of assistance for small business
Search our complete archive of awarded project abstracts to learn about what NASA has funded
Still have questions? Visit the program FAQs
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