NDLI: A situated reasoning architecture for space-based repair and replace tasks

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A situated reasoning architecture for space-based repair and replace tasks

Content Provider	NASA Technical Reports Server (NTRS)
Author	McGrath, Debra Sanborn, Jim Bloom, Ben
Copyright Year	1989
Description	Space-based robots need low level control for collision detection and avoidance, short-term load management, fine-grained motion, and other physical tasks. In addition, higher level control is required to focus strategic decision making as missions are assigned and carried out. Reasoning and control must be responsive to ongoing changes in the environment. Research aimed at bridging the gap between high level artificial intelligence (AI) planning techniques and task-level robot programming for telerobotic systems is described. Situated reasoning is incorporated into AI and Robotics systems in order to coordinate a robot's activity within its environment. An integrated system under development in a component maintenance domain is described. It is geared towards replacing worn and/or failed Orbital Replacement Units (ORUs) designed for use aboard NASA's Space Station Freedom based on the collection of components available at a given time. High level control reasons in component space in order to maximize the number operational component-cells over time, while the task-level controls sensors and effectors, detects collisions, and carries out pick and place tasks in physical space. Situated reasoning is used throughout the system to cope with component failures, imperfect information, and unexpected events.
File Size	693594
Page Count	11
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_19890017212
Archival Resource Key	ark:/13960/t9r25v62p
Language	English
Publisher Date	1989-04-01
Access Restriction	Open
Subject Keyword	Cybernetics Computer Vision Teleoperators Decision Making Heuristic Methods Space Maintenance Scheduling Architecture Computers Orbital Servicing Artificial Intelligence Collision Avoidance Robotics Telerobotics Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Article

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