Smart Health Management for Swarm-based Space ......1 Smart Health Management for Swarm-based Space...

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Smart Health Management for

Swarm-based Space Exploration

Systems

Mike Hinchey, mike.hinchey@lero.ie

Emil Vassev, emil.vassev@lero.ie

Roy Sterritt, r.sterritt@ulster.ac.uk

Definitions

au·to·nom·ic (àwtə nómmik)adj.

Physiology.

Of, relating to, or controlled by the autonomic nervous system.

Occurring involuntarily; automatic: an autonomic reflex.

Resulting from internal stimuli; spontaneous.

au·ton·o·mic·i·ty (àwtə nóm i síttee)n.

The state of being autonomic.

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Definitions

au·ton·o·mous (aw tónnəməs)adj.

Not controlled by others or by outside forces; independent: an autonomous judiciary; an autonomous division of a corporate conglomerate.

Independent in mind or judgment; self-directed.

Independent of the laws of another state or government; self-governing.

Of or relating to a self-governing entity: an autonomous legislature.

Self-governing with respect to local or internal affairs: an autonomous region of a country.

Autonomic.

[From Greek autonomos : auto-, auto- + nomos, law]

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Autonomic Nervous System

Fight or Flight Rest and Digest

sympathetic (SyNS) parasympathetic (PaNS)

what

how

AUTONOMIC

COMPUTING

ATTRIBUTES

SELF AWARE

ENVIRONMENT AWARE

OBJECTIVES

SELF HEALING

SELF OPTIMISING

SELF PROTECTING

SELF ADJUSTING

SELF CONFIGURING

SELF MONITORING Knowledge

Analyze Plan

Monitor Execute

ElementSensors Effectors

Sensors EffectorsAutonomic Element

SELF *

SELF *

Autonomic Computing

Self-* properties

• self-anticipating,

• self-adapting,

• self-critical,

• self-defining,

• self-diagnosis,

• self-governing,

• self-installing

• self-organized,

• self-recovery,

• self-reflecting,

• self-simulation

• self-stabilizing

• self-*

Self-managing :

human in the loop?

.

Managed Component

Autonomic Element (stationary agent or other)

Self-Monitor Self-Adjuster

Environment-

MonitorAMAM Comms

Adapter / plannerKnowledge

Autonomic Communications Channel

Reflex Signal

Self-Aware

Environment-

Aware

Autonomic Manager

Autonomic Element

Reflection

S*

Key

Self-* event messages AE

MC

AM

Managed Component

Autonomic Manager (Stationary agent)

Autonomic Element (AM+MC)

Autonomic Agent (Mobile agent)

Autonomic Environment

AE

Autonomic Communications Channel

MC

AM

S*

S*

S*

S*

S*S*

S*S*

AE

MC

AM

AE

MC

AM

S*

S*

S*

S*

S*

S*

S*

S*

S*

S*

NASA’s Beacon Monitoring

A similar concept used by NASA

is the Beacon monitor, deep

space craft send back a signal

containing a urgency level tone.

Nominal All functions as expected no need to downlink.

Interesting Interesting – non-urgent event. Establish comms when convenient.

Important Comms need to take place within timeframe or else state could

deteriorate.

Urgent Emergency. A critical component has failed. Cannot recover

autonomously and intervention is necessary immediately.

No Tone Beacon mode is not operating.

Pulse-beat monitoring

The HBM only informs if a process is alive or dead

(assuming communications are working correctly)

– not the processes actual health or state of being.

PBM = HBM + Beacon urgency concept

With a pulse monitor instead of just checking the presence of a

beat,

the rate or tone within the beat would also be measured.

This can give a quick measurement as to the state of health of a

process

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S*

Pulse Monitor (PBM)

Key

Self-* event messages AE

MC

AMHeart-Beat Monitor (HBM)

Managed Component

Autonomic Manager (Stationary agent)

Autonomic Element (AM+MC)

Autonomic Agent (Mobile agent) Autonomic Agent Apoptosis Controls

AE

Autonomic Communications Channel

MC

AM

S*

S*

S*

S*

S*S*

S*S*

AE

MC

AM

AE

MC

AM

S*

S*

S*

S*

S*

S*

S*

S*

S*

S*

Zzz

I am

alive

I am

healthy

Stay awake

sSleep

ALice

Signal

Self-Sacrifice

• When it gets cold, worker bees gather around the queen bee to

warm her with the heat of their bodies, resulting in some of them

freezing to death.

• Bee stingers are a relatively strong defense mechanism for

protecting a hive, but whenever a bee stings, it dies.

• The soldier termites defend the colony by blocking tunnels with

their body. Usually more soldiers stand by behind the initial

soldier so once the first one falls, another soldier will take his

place. In the case that the intrusion is coming from a large

breach that cannot be blocked by a single soldier, more solder

termites form a phalanx-like formation that blocks the entire

breach, until the latter is repaired by other termites.

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Metamorphosis

• Metamorphosis is a biological process whereby a living

organism physically changes its form or structure during

development.

• Perhaps the most notable form of metamorphosis is the

transformation from the immature insect into the adult form.

• Another form of metamorphosis is observed in chameleons,

which are famous for their ability to change their skin color to

blend in with their surroundings.

• Living organisms called sequential hermaphrodites (or

dichogamy) which are organisms born as one sex and which

then later change into the other sex. A few species in this group

can change gender multiple times, but they can only function as

one sex at a time. Unlike humans, these species’ DNA does not

determine their gender, allowing full functional gender change

without modifying the DNA.

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Sunday Times (19 Sept 2010)

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Swarm Technologies

Coordinated swarms of smaller spacecraft or UAVs will

offer:

• More effective use of solar power;

• Access where large craft could not go;

• Ability to perform more complex tasks;

• Greater accuracy and flexibility;

• Stealth.

Motivation

• Controlling Complexity;

• New models of search and computation;

• New paradigms of self-management,

exploration and evolution of complex

systems;

• Development of classes of systems not

heretofore feasible.

Application Areas

• Medicine / drug design

• Military applications

• TV on computers

• Exploration

Autonomous NanoTechnology Swarm

Three concept sub-missions:

1. Lander Amorphous Rover Antenna (LARA)

2. Saturn Autonomous Ring Array (SARA)

3. Prospecting Asteroid Mission (PAM)

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Tet Walkers

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LARA Walkers

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ANTS Concept Mission - PAM

Health Management in ANTS

• Self-CHOP

• Collisions• With other spacecraft

• With asterooids

• Solar Storms• Self-protection

• Shielding

• Self-Healing

• Self-Sacrifice

• Proactive and Reactive Health-Management

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Look deep into nature,

and you will understand everything better.

Albert Einstein

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Thank You