Hierarchical Controllers and Diagnostic Units for Semi-Autonomous Teleoperation of a Fluid Handling Laboratory

Hessam S. Sarjoughian
Assistant Professor
Dept. of Computer Science & Engr.
Ira A. Fulton School of Engr.
Arizona State University
Brickyard Suite 501
699, South Mill Ave.
Tempe, Arizona, 85281-8809
U.S.A.
Phone: +1(480)965-3983
Fax: +1(480)965-2751
Email: Hessam.Sarjoughian@ASU.Edu
François E. Cellier
Institute of Computational Science
ETH Zürich
CH-8092 Zürich
Switzerland
Email: FCellier@Inf.ETHZ.CH
Bernard P. Zeigler
Arizona Center for Integrative Modeling & Simulation
Department of Electrical and Computer Engineering
The University of Arizona
Tucson, Arizona 85721
U.S.A.
Email: Zeigler@ECE.Arizona.Edu

Abstract

This paper discusses the utilization of hierarchical diagnosers for hierarchical event-based control systems for robot-controlled experiments aboard the forthcoming Space Station Freedom. The analysis was performed using discrete-event simulation. The hierarchical discreteÑevent model was implemented in DEVS/Scheme. The concepts are exemplified at hand of a general-purpose fluid handling facility which has been proposed to be included as one component of the Life Science Module. The proposed methodology will provide the laboratory robot with sufficient intelligence that it can perform most of the needed tasks in a semi-autonomous mode. Experiments can be remotely guided by the scientific investigator from the ground. Thereby, the need for crew interaction is minimized.

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