Towards a framework for architecting heterogeneous teams of humans and robots for space exploration

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2006.Includes bibliographical references (p. 113-121).Human-robotic systems will play a critical role in space exploration, should NASA embark on missions to the Moon and Mars. A unified framework to optimally leverage the capabilities of humans and robots in space exploration will be an invaluable tool for mission planning. Although there is a growing body of literature on human robotic interactions (HRI), there is not yet a framework that lends itself both to a formal representation of heterogeneous teams of humans and robots, and to an evaluation of such teams across a series of common, task-based metrics. My objective in this thesis is to lay the foundations of a unified framework for architecting human-robotic systems for optimal task performance given a set of metrics. First, I review literature from different fields including HRI and human-computer interaction, and synthesize multiple considerations for architecting heterogeneous teams of humans and robots. I then present methods to systematically and formally capture the characteristics that describe a human-robotic system to provide a basis for evaluating human-robotic systems against a common set of metrics.(cont.) I propose an analytical formulation of common metrics to guide the design and evaluate the performance of human-robot systems, and I then apply the analytical formulation to a case study of a multi-agent human-robot system developed at NASA. Finally, I discuss directions for further research aimed at developing this framework.by Julie Ann Arnold.S.M

Enabling flexibility through strategic management of complex engineering systems

”Flexibility is a highly desired attribute of many systems operating in changing or uncertain conditions. It is a common theme in complex systems to identify where flexibility is generated within a system and how to model the processes needed to maintain and sustain flexibility. The key research question that is addressed is: how do we create a new definition of workforce flexibility within a human-technology-artificial intelligence environment? Workforce flexibility is the management of organizational labor capacities and capabilities in operational environments using a broad and diffuse set of tools and approaches to mitigate system imbalances caused by uncertainties or changes. We establish a baseline reference for managers to use in choosing flexibility methods for specific applications and we determine the scope and effectiveness of these traditional flexibility methods. The unique contributions of this research are: a) a new definition of workforce flexibility for a human-technology work environment versus traditional definitions; b) using a system of systems (SoS) approach to create and sustain that flexibility; and c) applying a coordinating strategy for optimal workforce flexibility within the human- technology framework. This dissertation research fills the gap of how we can model flexibility using SoS engineering to show where flexibility emerges and what strategies a manager can use to manage flexibility within this technology construct”--Abstract, page iii

Creating an Objective Methodology for Human-Robot Team Configuration Selection

As technology has been advancing and designers have been looking to future applications, it has become increasingly evident that robotic technology can be used to supplement, augment, and improve human performance of tasks. Team members can be combined in various combinations to better utilize their capabilities and skills to create more efficient and diversified operational teams. A primary obstacle to integrating new robotic technology has been the inability to quantitatively compare overall team performance between very different team configurations without limiting the analysis to a few metrics. To-date, mission designers have arbitrarily assigned importance to mission parameters, subjectively limiting the search space. While this has been effective at evaluating individual mission plans, the arbitrary evaluation criteria has made a straightforward comparison between different research projects and ranking scales impossible. The question then becomes how to select an objective set of criteria for any given problem. It is this final question that this research sought to answer. A methodology was developed to facilitate performance comparison amongst heterogeneous human and robot teams. This methodology makes no assumptions about mission priorities or preferences. Instead, it provides an objective, generic, quantitative method to reduce the complexity of the mission designer's decision space. It employs an heuristic, greedy objective reduction algorithm to reduce problem complexity and a multi-objective genetic algorithm to explore the design space. The human-robot team configuration selection problem was utilized as the application that motivated this research. The methodology, however, will be applicable to a wider domain of research. It will provide a structure to enable broader search of the design space, exploration of the differences between performance metrics, and comparison of optimization models that facilitate evaluation of the design options

A multidisciplinary framework for mission effectiveness quantification and assessment of micro autonomous systems and technologies

Micro Autonomous Systems and Technologies (MAST) is an Army Research Laboratory (ARL) sponsored project based on a consortium of revolutionary academic and industrial research institutions working together to develop new technologies in the field of microelectronics, autonomy, micromechanics and integration. The overarching goal of the MAST consortium is to develop autonomous, multifunctional, and collaborative ensembles of microsystems to enhance small unit tactical situational awareness in urban and complex terrain. Unmanned systems are used to obtain intelligence at the macro level, but there is no real-time intelligence asset at the squad level. MAST seeks to provide that asset. Consequently, multiple integrated MAST heterogeneous platforms (e.g. crawlers, flyers, etc.) working together synergistically as an ensemble shall be capable of autonomously performing a wide spectrum of operational functions based on the latest developments in micro-mechanics, micro-electronics, and power technologies to achieve the desired operational objectives. The design of such vehicles is, by nature, highly constrained in terms of size, weight and power. Technologists are trying to understand the impacts of developing state-of-the-art technologies on the MAST systems while the operators are trying to define strategies and tactics on how to use these systems. These two different perspectives create an integration gap. The operators understand the capabilities needed on the field of deployment but not necessarily the technologies, while the technologists understand the physics of the technologies but not necessarily how they will be deployed, utilized, and operated during a mission. This not only results in a major requirements disconnect, representing the difference of perspectives between soldiers and the researchers, but also demonstrates the lack of quantified means to assess the technology gap in terms of mission requirements. This necessitates the quantification and resolution of the requirements disconnect and technology gap leading to re-definitions of the requirements based on mission scenarios. A research plan, built on a technical approach based on the simultaneous application of decomposition and re-composition or 'Top-down' and 'Bottom-up' approaches, was used for development of a structured and traceable methodology. The developed methodology is implemented through an integrated framework consisting of various decision-making tools, modeling and simulation, and experimental data farming and validation. The major obstacles in the development of the presented framework stemmed from the fact that all MAST technologies are revolutionary in nature, with no available historical data, sizing and synthesis codes or reliable physics-based models. The inherently multidisciplinary, multi-objective and uncertain nature of MAST technologies makes it very difficult to map mission level objectives to measurable engineering metrics. It involves the optimization of multiple disciplines such as Aero, CS/CE, ME, EE, Biology, etc., and of multiple objectives such as mission performance, tactics, vehicle attributes, etc. Furthermore, the concept space is enormous with hundreds of billions of alternatives, and largely includes future technologies with low Technology Readiness Level (TRL) resulting in high uncertainty. The presented framework is a cyber-physical design and analysis suite that combines Warfighter mission needs and expert technologist knowledge with a set of design and optimization tools, models, and experiments in order to provide a quantitative measure of the requirements disconnect and technology gap mentioned above. This quantification provides the basis for re-definitions of the requirements that are realistic in nature and ensure mission success. The research presents the development of this methodology and framework to address the core research objectives. The developed framework was then implemented on two mission scenarios that are of interest to the MAST consortium and Army Research Laboratory, namely, Joppa Urban Dwelling and Black Hawk Down Interior Building Reconnaissance. Results demonstrate the framework’s validity and serve as proof of concept for bridging the requirements disconnect between the Warfighter and the technologists. Billions of alternative MAST vehicles, composed of current and future technologies, were modeled and simulated, as part of a swarm, to evaluate their mission performance. In-depth analyses of the experiments, conducted as part of the research, presents quantitative technology gaps that needs to be addressed by technologist for successful mission completion. Quantitative values for vehicle specifications and systems' Measures of Performance were determined for acceptable level of performance for the given missions. The consolidated results were used for defining mission based requirements of MAST systems.Ph.D

A conceptual system design and managerial complexity competency model

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.Complex adaptive systems are usually difficult to design and control. There are several particular methods for coping with complexity, but there is no general approach to build complex adaptive systems. The challenges of designing complex adaptive systems in a highly dynamic world drive the need for anticipatory capacity within engineering organizations, with a goal of enabling the design of systems that can cope with an unpredictable environment. This thesis explores this question of enhancing anticipatory capacity through the study of a complex adaptive system design methodology and complexity management competencies. A general introduction to challenges and issues in complex adaptive systems design is given, since a good understanding of the industrial context is considered necessary in order to avoid oversimplification of the problem, neglecting certain important factors and being unaware of important influences and relationships. In addition, a general introduction to complex thinking is given, since designing complex adaptive systems requires a non-classical thought, while practical notions of complexity theory and design are put forward. Building on these, the research proposes a Complex Systems Life-Cycle Understanding and Design (CXLUD) methodology to aid system architects and engineers in the design and control of complex adaptive systems. Starting from a creative anticipation construct - a loosening mechanism to allow for more options to be considered, the methodology proposes a conceptual framework and a series of stages to follow to find proper mechanisms that will promote elements to desired solutions by actively interacting among themselves. To illustrate the methodology, a financial systemic risks infrastructure systems architecture development case study is presented. The final part of this thesis develops a conceptual model to analyse managerial complexity competency model from a qualitative phenomenological study perspective. The model developed in this research is called Understanding-Perception-Action (UPA) managerial complexity competency model. The results of this competency model can be used to help ease project manager’s transition into complex adaptive projects, as well as serve as a foundation to launch qualitative and quantitative research into this area of project complexity management

In pursuit of autonomous distributed satellite systems

A la pàgina 265 diu: "In an effort to facilitate the reproduction of results, both the source code of the simulation environment and the configuration files that were prepared for the design characterisation are available in an open repository: https://github.com/carlesaraguz/aeossSatellite imagery has become an essential resource for environmental, humanitarian, and industrial endeavours. As a means to satisfy the requirements of new applications and user needs, novel Earth Observation (EO) systems are exploring the suitability of Distributed Satellite Systems (DSS) in which multiple observation assets concurrently sense the Earth. Given the temporal and spatial resolution requirements of EO products, DSS are often envisioned as large-scale systems with multiple sensing capabilities operating in a networked manner. Enabled by the consolidation of small satellite platforms and fostered by the emerging capabilities of distributed systems, these new architectures pose multiple design and operational challenges. Two of them are the main pillars of this research, namely, the conception of decision-support tools to assist the architecting process of a DSS, and the design of autonomous operational frameworks based on decentralised, on-board decision-making. The first part of this dissertation addresses the architecting of heterogeneous, networked DSS architectures that hybridise small satellite platforms with traditional EO assets. We present a generic design-oriented optimisation framework based on tradespace exploration methodologies. The goals of this framework are twofold: to select the most optimal constellation design; and to facilitate the identification of design trends, unfeasible regions, and tensions among architectural attributes. Oftentimes in EO DSS, system requirements and stakeholder preferences are not only articulated through functional attributes (i.e. resolution, revisit time, etc.) or monetary constraints, but also through qualitative traits such as flexibility, evolvability, robustness, or resiliency, amongst others. In line with that, the architecting framework defines a single figure of merit that aggregates quantitative attributes and qualitative ones-the so-called ilities of a system. With that, designers can steer the design of DSS both in terms of performance or cost, and in terms of their high-level characteristics. The application of this optimisation framework has been illustrated in two timely use-cases identified in the context of the EU-funded ONION project: a system that measures ocean and ice parameters in Polar regions to facilitate weather forecast and off-shore operations; and a system that provides agricultural variables crucial for global management of water stress, crop state, and draughts. The analysis of architectural features facilitated a comprehensive understanding of the functional and operational characteristics of DSS. With that, this thesis continues to delve into the design of DSS by focusing on one particular functional trait: autonomy. The minimisation of human-operator intervention has been traditionally sought in other space systems and can be especially critical for large-scale, structurally dynamic, heterogeneous DSS. In DSS, autonomy is expected to cope with the likely inability to operate very large-scale systems in a centralised manner, to improve the science return, and to leverage many of their emerging capabilities (e.g. tolerance to failures, adaptability to changing structures and user needs, responsiveness). We propose an autonomous operational framework that provides decentralised decision-making capabilities to DSS by means of local reasoning and individual resource allocation, and satellite-to-satellite interactions. In contrast to previous works, the autonomous decision-making framework is evaluated in this dissertation for generic constellation designs the goal of which is to minimise global revisit times. As part of the characterisation of our solution, we stressed the implications that autonomous operations can have upon satellite platforms with stringent resource constraints (e.g. power, memory, communications capabilities) and evaluated the behaviour of the solution for a large-scale DSS composed of 117 CubeSat-like satellite units.La imatgeria per satèl·lit ha esdevingut un recurs essencial per assolir tasques ambientals, humanitàries o industrials. Per tal de satisfer els requeriments de les noves aplicacions i usuaris, els sistemes d’observació de la Terra (OT) estan explorant la idoneïtat dels Sistemes de Satèl·lit Distribuïts (SSD), on múltiples observatoris espacials mesuren el planeta simultàniament. Degut al les resolucions temporals i espacials requerides, els SSD sovint es conceben com sistemes de gran escala que operen en xarxa. Aquestes noves arquitectures promouen les capacitats emergents dels sistemes distribuïts i, tot i que són possibles gràcies a l’acceptació de les plataformes de satèl·lits petits, encara presenten molts reptes en quant al disseny i operacions. Dos d’ells són els pilars principals d’aquesta tesi, en concret, la concepció d’eines de suport a la presa de decisions pel disseny de SSD, i la definició d’operacions autònomes basades en gestió descentralitzada a bord dels satèl·lits. La primera part d’aquesta dissertació es centra en el disseny arquitectural de SSD heterogenis i en xarxa, imbricant tecnologies de petits satèl·lits amb actius tradicionals. Es presenta un entorn d’optimització orientat al disseny basat en metodologies d’exploració i comparació de solucions. Els objectius d’aquest entorn són: la selecció el disseny de constel·lació més òptim; i facilitar la identificació de tendències de disseny, regions d’incompatibilitat, i tensions entre atributs arquitecturals. Sovint en els SSD d’OT, els requeriments del sistema i l’expressió de prioritats no només s’articulen en quant als atributs funcionals o les restriccions monetàries, sinó també a través de les característiques qualitatives com la flexibilitat, l’evolucionabilitat, la robustesa, o la resiliència, entre d’altres. En línia amb això, l’entorn d’optimització defineix una única figura de mèrit que agrega rendiment, cost i atributs qualitatius. Així l’equip de disseny pot influir en les solucions del procés d’optimització tant en els aspectes quantitatius, com en les característiques dalt nivell. L’aplicació d’aquest entorn d’optimització s’il·lustra en dos casos d’ús actuals identificats en context del projecte europeu ONION: un sistema que mesura paràmetres de l’oceà i gel als pols per millorar la predicció meteorològica i les operacions marines; i un sistema que obté mesures agronòmiques vitals per la gestió global de l’aigua, l’estimació d’estat dels cultius, i la gestió de sequeres. L’anàlisi de propietats arquitecturals ha permès copsar de manera exhaustiva les característiques funcionals i operacionals d’aquests sistemes. Amb això, la tesi ha seguit aprofundint en el disseny de SSD centrant-se, particularment, en un tret funcional: l’autonomia. Minimitzar la intervenció de l’operador humà és comú en altres sistemes espacials i podria ser especialment crític pels SSD de gran escala, d’estructura dinàmica i heterogenis. En els SSD s’espera que l’autonomia solucioni la possible incapacitat d’operar sistemes de gran escala de forma centralitzada, que millori el retorn científic i que n’apuntali les seves propietats emergents (e.g. tolerància a errors, adaptabilitat a canvis estructural i de necessitats d’usuari, capacitat de resposta). Es proposa un sistema d’operacions autònomes que atorga la capacitat de gestionar els sistemes de forma descentralitzada, a través del raonament local, l’assignació individual de recursos, i les interaccions satèl·lit-a-satèl·lit. Al contrari que treballs anteriors, la presa de decisions autònoma s’avalua per constel·lacions que tenen com a objectius de missió la minimització del temps de revisita global.Postprint (published version

In pursuit of autonomous distributed satellite systems

Satellite imagery has become an essential resource for environmental, humanitarian, and industrial endeavours. As a means to satisfy the requirements of new applications and user needs, novel Earth Observation (EO) systems are exploring the suitability of Distributed Satellite Systems (DSS) in which multiple observation assets concurrently sense the Earth. Given the temporal and spatial resolution requirements of EO products, DSS are often envisioned as large-scale systems with multiple sensing capabilities operating in a networked manner. Enabled by the consolidation of small satellite platforms and fostered by the emerging capabilities of distributed systems, these new architectures pose multiple design and operational challenges. Two of them are the main pillars of this research, namely, the conception of decision-support tools to assist the architecting process of a DSS, and the design of autonomous operational frameworks based on decentralised, on-board decision-making. The first part of this dissertation addresses the architecting of heterogeneous, networked DSS architectures that hybridise small satellite platforms with traditional EO assets. We present a generic design-oriented optimisation framework based on tradespace exploration methodologies. The goals of this framework are twofold: to select the most optimal constellation design; and to facilitate the identification of design trends, unfeasible regions, and tensions among architectural attributes. Oftentimes in EO DSS, system requirements and stakeholder preferences are not only articulated through functional attributes (i.e. resolution, revisit time, etc.) or monetary constraints, but also through qualitative traits such as flexibility, evolvability, robustness, or resiliency, amongst others. In line with that, the architecting framework defines a single figure of merit that aggregates quantitative attributes and qualitative ones-the so-called ilities of a system. With that, designers can steer the design of DSS both in terms of performance or cost, and in terms of their high-level characteristics. The application of this optimisation framework has been illustrated in two timely use-cases identified in the context of the EU-funded ONION project: a system that measures ocean and ice parameters in Polar regions to facilitate weather forecast and off-shore operations; and a system that provides agricultural variables crucial for global management of water stress, crop state, and draughts. The analysis of architectural features facilitated a comprehensive understanding of the functional and operational characteristics of DSS. With that, this thesis continues to delve into the design of DSS by focusing on one particular functional trait: autonomy. The minimisation of human-operator intervention has been traditionally sought in other space systems and can be especially critical for large-scale, structurally dynamic, heterogeneous DSS. In DSS, autonomy is expected to cope with the likely inability to operate very large-scale systems in a centralised manner, to improve the science return, and to leverage many of their emerging capabilities (e.g. tolerance to failures, adaptability to changing structures and user needs, responsiveness). We propose an autonomous operational framework that provides decentralised decision-making capabilities to DSS by means of local reasoning and individual resource allocation, and satellite-to-satellite interactions. In contrast to previous works, the autonomous decision-making framework is evaluated in this dissertation for generic constellation designs the goal of which is to minimise global revisit times. As part of the characterisation of our solution, we stressed the implications that autonomous operations can have upon satellite platforms with stringent resource constraints (e.g. power, memory, communications capabilities) and evaluated the behaviour of the solution for a large-scale DSS composed of 117 CubeSat-like satellite units.La imatgeria per satèl·lit ha esdevingut un recurs essencial per assolir tasques ambientals, humanitàries o industrials. Per tal de satisfer els requeriments de les noves aplicacions i usuaris, els sistemes d’observació de la Terra (OT) estan explorant la idoneïtat dels Sistemes de Satèl·lit Distribuïts (SSD), on múltiples observatoris espacials mesuren el planeta simultàniament. Degut al les resolucions temporals i espacials requerides, els SSD sovint es conceben com sistemes de gran escala que operen en xarxa. Aquestes noves arquitectures promouen les capacitats emergents dels sistemes distribuïts i, tot i que són possibles gràcies a l’acceptació de les plataformes de satèl·lits petits, encara presenten molts reptes en quant al disseny i operacions. Dos d’ells són els pilars principals d’aquesta tesi, en concret, la concepció d’eines de suport a la presa de decisions pel disseny de SSD, i la definició d’operacions autònomes basades en gestió descentralitzada a bord dels satèl·lits. La primera part d’aquesta dissertació es centra en el disseny arquitectural de SSD heterogenis i en xarxa, imbricant tecnologies de petits satèl·lits amb actius tradicionals. Es presenta un entorn d’optimització orientat al disseny basat en metodologies d’exploració i comparació de solucions. Els objectius d’aquest entorn són: la selecció el disseny de constel·lació més òptim; i facilitar la identificació de tendències de disseny, regions d’incompatibilitat, i tensions entre atributs arquitecturals. Sovint en els SSD d’OT, els requeriments del sistema i l’expressió de prioritats no només s’articulen en quant als atributs funcionals o les restriccions monetàries, sinó també a través de les característiques qualitatives com la flexibilitat, l’evolucionabilitat, la robustesa, o la resiliència, entre d’altres. En línia amb això, l’entorn d’optimització defineix una única figura de mèrit que agrega rendiment, cost i atributs qualitatius. Així l’equip de disseny pot influir en les solucions del procés d’optimització tant en els aspectes quantitatius, com en les característiques dalt nivell. L’aplicació d’aquest entorn d’optimització s’il·lustra en dos casos d’ús actuals identificats en context del projecte europeu ONION: un sistema que mesura paràmetres de l’oceà i gel als pols per millorar la predicció meteorològica i les operacions marines; i un sistema que obté mesures agronòmiques vitals per la gestió global de l’aigua, l’estimació d’estat dels cultius, i la gestió de sequeres. L’anàlisi de propietats arquitecturals ha permès copsar de manera exhaustiva les característiques funcionals i operacionals d’aquests sistemes. Amb això, la tesi ha seguit aprofundint en el disseny de SSD centrant-se, particularment, en un tret funcional: l’autonomia. Minimitzar la intervenció de l’operador humà és comú en altres sistemes espacials i podria ser especialment crític pels SSD de gran escala, d’estructura dinàmica i heterogenis. En els SSD s’espera que l’autonomia solucioni la possible incapacitat d’operar sistemes de gran escala de forma centralitzada, que millori el retorn científic i que n’apuntali les seves propietats emergents (e.g. tolerància a errors, adaptabilitat a canvis estructural i de necessitats d’usuari, capacitat de resposta). Es proposa un sistema d’operacions autònomes que atorga la capacitat de gestionar els sistemes de forma descentralitzada, a través del raonament local, l’assignació individual de recursos, i les interaccions satèl·lit-a-satèl·lit. Al contrari que treballs anteriors, la presa de decisions autònoma s’avalua per constel·lacions que tenen com a objectius de missió la minimització del temps de revisita global

A Framework for Collaborative Multi-task, Multi-robot Missions

Robotics is a transformative technology that will empower our civilization for a new scale of human endeavors. Massive scale is only possible through the collaboration of individual or groups of robots. Collaboration allows specialization, meaning a multirobot system may accommodate heterogeneous platforms including human partners. This work develops a unified control architecture for collaborative missions comprised of multiple, multi-robot tasks. Using kinematic equations and Jacobian matrices, the system states are transformed into alternative control spaces which are more useful for the designer or more convenient for the operator. The architecture allows multiple tasks to be combined, composing tightly coordinated missions. Using this approach, the designer is able to compensate for non-ideal behavior in the appropriate space using whatever control scheme they choose. This work presents a general design methodology, including analysis techniques for relevant control metrics like stability, responsiveness, and disturbance rejection, which were missing in prior work. Multiple tasks may be combined into a collaborative mission. The unified motion control architecture merges the control space components for each task into a concise federated system to facilitate analysis and implementation. The task coordination function defines task commands as functions of mission commands and state values to create explicit closed-loop collaboration. This work presents analysis techniques to understand the effects of cross-coupling tasks. This work analyzes system stability for the particular control architecture and identifies an explicit condition to ensure stable switching when reallocating robots. We are unaware of any other automated control architectures that address large-scale collaborative systems composed of task-oriented multi-robot coalitions where relative spatial control is critical to mission performance. This architecture and methodology have been validated in experiments and in simulations, repeating earlier work and exploring new scenarios and. It can perform large-scale, complex missions via a rigorous design methodology

Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited