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Sliding Autonomy for a Human Centered System in a Space Exploration Domain

This thesis focuses on the topics of sliding autonomy and situation awareness.
The first addresses the capability of an agent to act at different levels of autonomy depending on internal and/or external contingencies. It is also possible to change the autonomy level during the execution as a result of previous accomplished tasks or directed by the human supervisor.
The main aim is to maximize the agent efficiency in facing unexpected situations and adapt its behavior according to the situation.
The second topic regards the amount and type of information the agent must provide to the human supervisor in order to let him/her be aware about what is going on. This helps the human supervisor to response to the agent's direct requests for help and able him/her to direct intervene anytime exploiting the human skills to help the agent to act at the best performances. This topic includes also the way in which the information are shown to the user, that means there is a preliminary study on possible graphical/augmented user interfaces.
The two topics are related each other in the sense that the more autonomy means (usually) the less information to the human supervisor and vice-versa, hence the autonomy level implies the quality and quantity of information to be sent.
During this thesis work I developed a prototype using a tool provided by NASA called PLEXIL, accompained with a task interpreter called Universal Executive for executing the tasks previously defined through the PLEXIL language. A C++ module has been developed to complete the simulation software.

Mostra/Nascondi contenuto.
Chapter 1 Introduction The aim of this thesis is the design and development of a demonstrator implementing some aspects of the sliding autonomy approach for space ex- ploration. This work is involved in the more general context of the ”STEPS” project. STEPS stands for ”Sistemi e Tecnologie per l’EsPlorazione Spaziale” (systems and technologies for space exploration) and is a large project, started on December 1, 2008 and lasting 3 years, financially supported by Regione Piemonte. The project is leaded by ”Thales Alenia Space - Italia” and involves academic institutions (in particular, Politecnico di Torino, Uni- versita´ di Torino, Universita´ del Piemonte Orientale), and 24 small/medium companies operating in Piemonte, each one interested in some specific as- pects. The whole project is aimed at the construction of simulation software and then physical demonstrators of lander and rover systems. The development of the prototype involved my colleague Enrico Scala and me: our two theses should be considered as complementary, since he focused his attention on matters like planning and task languages whereas I focused my work on sliding autonomy requirements. Part of the development of the thesis was carried out at the Thales Alenia Space laboratories and part at the University of Turin under the supervision of the professor Torasso. The results obtained during the thesis (even at in- termediate steps) have already been presented to the other project partners during the STEPS meetings. A copy of the demo has been installed on the facilities of COSE at Thales Alenia Space. This thesis is structured as follows:

Laurea liv.II (specialistica)

Facoltà: Scienze Matematiche, Fisiche e Naturali

Autore: Giancarlo Nuzzolo Contatta »

Composta da 119 pagine.

 

Questa tesi ha raggiunto 38 click dal 07/07/2010.

Disponibile in PDF, la consultazione è esclusivamente in formato digitale.