Using the 3T architecture for tracking Shuttle RMS procedures

Describes the use of a three-tiered robot control software architecture, known as 3T, as the software framework for automating the job of NASA flight controllers as they track procedures executed by on-orbit astronauts. The project discussed focuses on automating the procedures relating to the Shuttle´s Remote Manipulator System and is a pathfinder project for the automation of other Shuttle operations. The RMS Assistant system 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 configurations as well as improper or incomplete procedures by the crew. In this regard, it is a “flight controller in a box”. Moving the flight controller functions on-orbit is part of a larger program of downsizing general Space Shuttle operations. The 3T architecture was designed for intelligent autonomous robots, but has an added capability that allows for variable autonomy to include full teleoperation. In that mode, the software acts as a monitoring system, and thus provides an “assistant” framework now and accommodates more autonomous operations in the future