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Smart Health Management for
Swarm-based Space Exploration
Systems
Mike Hinchey, [email protected]
Emil Vassev, [email protected]
Roy Sterritt, [email protected]
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
