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Mobile Agents: A Distributed Voice-Commanded Sensory and Robotic System for Surface EVA AssistanceA model-based, distributed architecture integrates diverse components in a system designed for lunar and planetary surface operations: spacesuit biosensors, cameras, GPS, and a robotic assistant. The system transmits data and assists communication between the extra-vehicular activity (EVA) astronauts, the crew in a local habitat, and a remote mission support team. Software processes ("agents"), implemented in a system called Brahms, run on multiple, mobile platforms, including the spacesuit backpacks, all-terrain vehicles, and robot. These "mobile agents" interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. Different types of agents relate platforms to each other ("proxy agents"), devices to software ("comm agents"), and people to the system ("personal agents"). A state-of-the-art spoken dialogue interface enables people to communicate with their personal agents, supporting a speech-driven navigation and scheduling tool, field observation record, and rover command system. An important aspect of the engineering methodology involves first simulating the entire hardware and software system in Brahms, and then configuring the agents into a runtime system. Design of mobile agent functionality has been based on ethnographic observation of scientists working in Mars analog settings in the High Canadian Arctic on Devon Island and the southeast Utah desert. The Mobile Agents system is developed iteratively in the context of use, with people doing authentic work. This paper provides a brief introduction to the architecture and emphasizes the method of empirical requirements analysis, through which observation, modeling, design, and testing are integrated in simulated EVA operations.
Document ID
20040043668
Acquisition Source
Ames Research Center
Document Type
Preprint (Draft being sent to journal)
Authors
Clancey, William J. (NASA Ames Research Center Moffett Field, CA, United States)
Sierhuis, Maarten (NASA Ames Research Center Moffett Field, CA, United States)
Alena, Rick (NASA Ames Research Center Moffett Field, CA, United States)
Crawford, Sekou (Stanford Univ. Stanford, CA, United States)
Dowding, John (NASA Ames Research Center Moffett Field, CA, United States)
Graham, Jeff (NASA Johnson Space Center Houston, TX, United States)
Kaskiris, Charis (California Univ. Berkeley, CA, United States)
Tyree, Kim S. (NASA Johnson Space Center Houston, TX, United States)
vanHoof, Ronnie (NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
September 7, 2013
Publication Date
October 30, 2003
Subject Category
Aircraft Communications And Navigation
Meeting Information
Meeting: Earth and Space 2004
Location: Houston, TX
Country: United States
Start Date: March 1, 2004
Distribution Limits
Public
Copyright
Public Use Permitted.

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