Using a robot control architecture to automate space shuttle operations

摘要

This paper describes preliminary results from using an AI robot control software architecture, known as 3T, as the software framework for a procedure tracking system for the space shuttle Remote Manipulator System (RMS). The system, called 3TPT, is designed to track the expected steps of the crew as they carry out RMS operations, detecting malfunctions in the RMS system from failures or improper con gurations as well as improper or incomplete procedures by thecrew. Scheduled for a ground demonstration in February 1997, and a test ight the following fall, 3TPT, was employed this past fall to track the RMS checkout procedures on a space shuttle mission. It successfully carried out its task because the reactive nature of the architecture allowed it to stay synchronized with the procedures even in the face of intermittent loss of telemetry and unexpected crew actions.