Team Members
- PI: Kristin Y. Rozier, civil servant, NASA Ames Research Center, Moffett Field, CA 94035, USA
- Co-I: Johann Schumann, SGT, Inc., NASA Ames Research Center, Moffett Field, CA 94035, USA
- Co-I: Corey Ippolito, civil servant, NASA Ames Research Center, Moffett Field, CA 94035, USA
Abstract
Unmanned Aerial Systems (UAS) can only be deployed if
they can effectively complete their mission and respond to
failures and uncertain environmental conditions while maintaining
safety with respect to other aircraft as well as humans
and property on the ground. We are designing a real-time, onboard
system health management (SHM) capability to continuously
monitor essential system components such as sensors, software, and hardware systems for
detection and diagnosis of failures and violations of safety or
performance rules during the flight of a UAS. Our approach
to SHM is three-pronged, providing: (1) real-time monitoring
of sensor and software signals; (2) signal analysis, preprocessing,
and advanced on-the-fly temporal and Bayesian
probabilistic fault diagnosis; (3) an unobtrusive, lightweight,
read-only, low-power hardware realization using Field Programmable
Gate Arrays (FPGAs) in order to avoid overburdening limited
computing resources or costly re-certification of flight software
due to instrumentation. No currently available SHM capabilities (or combinations of currently existing SHM capabilities) come anywhere close to satisfying these three criteria yet NASA will require such intelligent, hardware-enabled sensor and software safety and health management for introducing autonomous UAS into the National Airspace System (NAS).
We are pursuing
a novel approach of creating modular building blocks for combining
responsive runtime monitoring of temporal logic system safety
requirements with model-based diagnosis and Bayesian
network-based probabilistic analysis. Our research program includes both developing this novel approach and demonstrating
its capabilities using the NASA Swift UAS as a demonstration platform.
Collaborators
- Johannes Geist, M.S. research intern, University of Applied Sciences Technikum Wien, Vienna, Austria
- Chetan S. Kulkarni, Research Engineer, SGT, Inc., NASA Ames Research Center, Moffett Field, CA
- Eddy Mazmanian, civil servant, NASA Ames Research Center, Moffett Field, CA 94035, USA
- Patrick Moosbrugger, M.S. research intern, University of Applied Sciences Technikum Wien, Vienna, Austria
- Quoc-Sang Phan, Ph.D. research intern, Queen Mary University of London, UK
- Thomas Reinbacher, Ph.D. research intern, Vienna University of Technology, Vienna, Austria
- Indranil Roychoudhury, Computer Scientist, SGT, Inc., NASA Ames Research Center, Moffett Field, CA
- Iyal Suresh, sophomore undergraduate intern, University of California, Los Angeles
The project team worked closely with members of the airborne science group at NASA Ames Research Center in Code SG. We would like to give special thanks to Matt Fladeland (ARC/SG), Ric Kolyer (ARC/SG), Bruce Storms (ARC/AOX), and the rest of the Dragon Eye team who we collaborated with for modification and flight testing of the NASA Dragon Eye aircraft systems.
Publications
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Johann Schumann, Kristin Y. Rozier, Thomas Reinbacher, Ole J. Mengshoel, Timmy Mbaya, and Corey Ippolito. ``Towards Real-time, On-board, Hardware-supported Sensor and Software Health Management for Unmanned Aerial Systems.'' In International Journal of Prognostics and Health Management (IJPHM). (Invited journal paper; To appear)
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Johannes Geist, Kristin Yvonne Rozier, and Johann Schumann. "Runtime Observer Pairs and Bayesian Network Reasoners On-board FPGAs: Flight-Certifiable System Health Management for Embedded Systems." In 14th International Conference on Runtime Verification (RV14), Springer-Verlag, Toronto, Canada, September 22-25, 2014. To appear.
PDF
(Proceedings version: PDF)
BibTeX
Experiments/Downloads
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Thomas Reinbacher, Kristin Y. Rozier, and Johann Schumann. "Temporal-Logic Based Runtime Observer Pairs for System Health Management of Real-Time Systems." In 20th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), volume 8413 of
Lecture Notes in Computer Science (LNCS), pages 357--372, Springer-Verlag, Grenoble, France, 5-13
April 2014.
PDF
(Proceedings version: PDF)
BibTeX
Tools and Simulation Traces
Seminars
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PI is Featured Speaker: K.Y. Rozier: "No More Helicopter Parenting: Intelligent Autonomous Unmanned Aerial Systems." NASA Ames' premier seminar series, the Director's Colloquium, special edition in honor of NASA Ames' 75th Anniversary celebration, by special invitation of the Office of the Chief Scientist. NASA Ames Research Center, Moffett Field, California, June 10, 2014. [Now available on the NASA Ames YouTube Channel under "Dr. Kristin Yvonne Rozier - No More Helicopter Parenting: Intelligent, Autonomous UAS" ]
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Co-I gives Invited Talk: J. Schumann: ``Towards on-board, hardware-supported Sensor and Software Health Management for UAS.'' FORTISS, Technische Universitat Munchen, Germany, June 2014.
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