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Small Business Innovation Research/Small Business Tech Transfer

Advanced Modeling Tools for Controlling Complex Assets Across Time Delay

Completed Technology Project

Project Description

Advanced Modeling Tools for Controlling Complex Assets Across Time Delay
Prior to human arrival, lunar robots will conduct a variety of precursor operations. Some of these will need supervision from Earth. After humans arrive, robots will continue to follow a mix of autonomy, local control, and ground control. For best utility, a strong model is needed of the expected responses of the robots to various commands. Such a model enables procedure authors to verify expected outcomes, enhances situational awareness for remote operators in the presence of time delay, and provides a mechanism for planning. We propose a simulation module for assisting an operator across a time delay. The proposed innovation is a hybrid simulation module to replace the current "Behavioral Sim" in JSC's Predictive Interactive Graphical Interface (PIGI). PIGI helps an operator compensate for lunar-scale time delay, and is part of NASA's "RAPID Workbench". The Behavioral Sim acts as an oracle, taking initial conditions and a sequence of commands and producing trajectories and expected final location of the robot. We propose to provide functionality to (1) keep and reason about the robot's internal state; (2) model relevant aspects of the robot's workspace; (3) reason at a high level about manipulation; and (4) model the uncertainty cone of the predictions. More »

Anticipated Benefits

Primary U.S. Work Locations and Key Partners

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This is a historic project that was completed before the creation of TechPort on October 1, 2012. Available data has been included. This record may contain less data than currently active projects.