l18_autonomy_lec

l18_autonomy_lec - Spacecraft Autonomy Seung H. Chung...

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16.851 Satellite Engineering Fall 2003 Massachusetts Institute of Technology Spacecraft Autonomy Seung H. Chung
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2 Massachusetts Institute of Technology Why Autonomy? Failures Anomalies Communication Coordination courtesy of NASA JPL Europa Probe New Horizons Courtesy of the Johns Hopkins University courtesy of NASA Apollo 13 Quintuple fault (three shorts, tank- line and pressure jacket burst, panel flies off). Mars Polar Lander courtesy of NASA JPL Mars Outpost courtesy of NASA JPL Applied Physics Laboratory . Used with permission.
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3 Massachusetts Institute of Technology Autonomy Technologies • Fault Detection, Isolation and Recovery • Planning & Scheduling • Intelligent Data Understanding • Path Planning – Gradient method – Mixed integer linear programming (Prof John How) – Graph search (Prof Brian Williams) • Localization & Mapping – Concurrent mapping and localization (Prof John Leonard)
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4 Massachusetts Institute of Technology Why Fault Detection Isolation & Recovery (FDIR)? • Improve the likelihood of mission success by minimizing the downtime. – Increase productivity – Prevent loss of opportunities – Reduce safety risk • For manned missions, longer system downtime implies higher risk to the astronauts.
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5 Massachusetts Institute of Technology FDIR Techniques If-then-else – Hard coded set of FDIR statements Rule-based – Set of rules written by the engineers – Fires a rule (i.e. executes a rule) when the rule is satisfied –E x am p l e • #24 (ID > 1A) And (Ishunt_D > 6A) for 10 sec, then Try_Sec_Bus_Reg_Off. • #27 (Red Battery Charger is ON) for 5 sec, then rule (28,29) stop. – The core software is reusable. – Engineers must enumerate all possible faults and combinations thereof along with the corresponding recovery methods.
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l18_autonomy_lec - Spacecraft Autonomy Seung H. Chung...

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