Planning and Execution (CHAP-E) J. Benton, John Kaneshige, David - PowerPoint PPT Presentation

Cockpit Hierarchical Activity Planning and Execution (CHAP-E) J. Benton, John Kaneshige, David Smith, Chris Plaunt, Leslie Keely, Thomas Stucky Dmitry Luchinsky NASA Ames Research Center

Pilot Challenges • Complex modern cockpits • Loss of situational awareness • Competing goals: • Unclear idea of what to do next dispatch, ATC, pilots themselves • Dynamically changing situations • Incorrect assumptions on automation mode / state • Aircraft state • Assuming automation will • Weather prevent unsafe actions • Changing airport status • Assuming automation will • ATC and dispatch directions take necessary actions

The Meat of CHAP-E • M aintain situational awareness • E nable automated piloting assistance • A void human error • T ake over flight tasks (on request) Art by James Nuanez

Autonomous Flight & Decision Support • Flying • Monitoring • Make critical decisions • Monitor flight situation • Awareness of aircraft state • Check that pilot stays within • Find procedures to follow operational limits • Decide when to contact ATC • Ensure procedures followed • Follow flight procedures • Awareness of ATC clearances • Decide when to execute • Monitor flight procedures steps in procedure • Monitor procedure compliance • Adapt flight procedures for • Ensure procedures safely situation carried out

CHAP-E Technologies ANML Task Models • Planning • ANML Hierarchical Planner • FAPE (FAPE) • CHAP-EL Task Execution TPS • Fast Simulation TPS Scheduler Forecaster • TPS • Execution Task Execution • PLEXIL PLEXIL

Planning – Capture Pilot Procedures • Standard Operating Procedures Flight Processes Periodic Monitoring / Triggers Initial Approach Clearance Monitoring ATC: "NASA123 clear for ATC Periodic ILS approach to RWY 28R Approach monitoring speed <airspeed> to Airspeed Setting Process Clearance • Carrier Flight Manuals Yes descend via MODESTO 5 ” Set airspeed to <airspeed> Airspeed Monitoring Verify speed setting Call out <airspeed> Periodic Periodic Airspeed airspeed check airspeed check Clearance Process Communicate with Is airspeed Is airspeed ATC: "NASA123, within limits? ‘ reasonable ’ ? cleared ILS to 28R, slowing to • Pilot Operating Handbook <airspeed>" No No Inform PF: “ Check speed ” Altitude Setting Process Request “ set Set MCP altitude to altitude to <altitude> <altitude> ” Altitude Monitoring Verify altitude Verify altitude Periodic altitude Collect Periodic altitude Altitude check check Flap Setting Process • Quick Reference Guides Request Flaps to procedures <flaps setting> Is altitude Is altitude within limits? ‘ reasonable ’ ? Speed appropriate for flaps <flaps Yes No setting>? No Confirm flap setting at <flaps setting> No Inform PF: “ Check altitude ” Flap Change Monitoring Move flaps to <flaps setting> Altitude Airspeed • Checklists Periodic Inform PF: “ Check airspeed ” monitoring Call out “ Flaps <flaps setting> ” FMAs Altitude within Airspeed Localizer Capture Process FMAs ..? limits?x within limits? Call out Confirm localizer captured “ localizer No captured ” Inform PF: “ check altitude ” Inform PF: “ check airspeed ” Call out “ ??? ” Glideslope Capture Process • Pilot Experience Call out Confirm glideslope captured “ glideslope captured ” Localizer Monitoring Cancel Approach Process Periodic localizer Localizer check Call out Confirm glideslope captured “ glideslope captured ” “ ”

Planning – Hierarchical Procedures • Procedures classified into flight phases, clearances and Flight (from, to) procedures • During flight, procedures may be FileFPlan(from,to) ObtainClearance Taxi(rnwy) Fly(from,to) Taxi(gate) Shutdown modified or added to so that we may maintain flight constraints Takeoff(rnwy) Climb Cruise Descend Approach Land SetFlaps(15) CaptureLocalizer SetMCPSpeedVref20(0) SetFlaps(20) SetGear(down) CaptureGlideslope SetMissedApprAlt CheckRadarAltimeterAlive ArmSpeedBrakes SetAutoBrakes(3) SetFlaps(30) SetMCPSpeedVref30(5) VerifyStabilizedAppr RunLdgChecklist

Planning – Hierarchical Procedures • Tasks Approach • Primitive … … • Realized actions performed by pilots CaptureGlideslope SetMissedApprAlt • Non-primitive … … • High-level tasks to perform SetSpeed(VREF+5) SetFlaps(LandingFlaps) • E.g., approach, set flaps (PF) RequestFlaps • Methods Realized Actions (PM) CheckSpeed • Method T: (PM) MoveFlaps Parameters: x,y Subtasks: T1, T2, T3, T4 (PM) CallOutFlaps Constraints/Limitations: T1 -> T3, C -> T3 (PF) ConfirmFlaps • Planner • Expansion of tasks using methods • Satisfaction of constraints

Planning – Activity Plan Construction Flight Processes Periodic Monitoring / Triggers Initial Approach Clearance Monitoring Approach ATC: "NASA123 clear for ATC Periodic ILS approach to RWY 28R Approach monitoring speed <airspeed> to Airspeed Setting Process Clearance Yes descend via MODESTO 5 ” Set airspeed to … … <airspeed> Airspeed Monitoring Verify speed setting Call out <airspeed> Periodic Periodic Airspeed airspeed check airspeed check Clearance Process CaptureGlideslope SetMissedApprAlt Communicate with Is airspeed Is airspeed ATC: "NASA123, within limits? ‘ reasonable ’ ? cleared ILS to 28R, slowing to … … <airspeed>" No No Inform PF: “ Check speed ” Altitude Setting Process Request “ set Set MCP altitude to altitude to <altitude> <altitude> ” SetSpeed(VREF+5) SetFlaps(LandingFlaps) Altitude Monitoring Verify altitude Verify altitude Periodic altitude Periodic altitude Altitude check check Translate to Flap Setting Process (PF) RequestFlaps Request Flaps to <flaps setting> Is altitude Is altitude within limits? ‘ reasonable ’ ? Speed appropriate Hierarchy for flaps <flaps Yes No Realized Actions setting>? No Confirm flap setting at <flaps setting> (PM) CheckSpeed No Inform PF: “ Check altitude ” Flap Change Monitoring Move flaps to <flaps setting> (PM) MoveFlaps Altitude Airspeed Periodic Inform PF: “ Check airspeed ” monitoring Call out “ Flaps <flaps setting> ” FMAs (PM) CallOutFlaps Altitude within Airspeed Localizer Capture Process FMAs ..? limits?x within limits? Call out Confirm localizer captured “ localizer No captured ” (PF) ConfirmFlaps Inform PF: “ check altitude ” Inform PF: “ check airspeed ” Call out “ ??? ” Glideslope Capture Process Call out Confirm glideslope captured “ glideslope captured ” Localizer Monitoring Cancel Approach Process Periodic localizer Localizer check Call out Confirm glideslope captured “ glideslope captured ” Is localizer “ ”

Scheduling - Procedure Assistance • Execution window for each action in a procedure • Provide estimates on best time to execute the procedure • Earliest Start Time (EST), Latest Start Time (LST), Preferred Earliest Start Time (PEST), Preferred Latest Start Time (PLST), Preferred Start Time (PST) • Defines when a pilot should perform tasks, includes exact time point • Automated agent performs tasks at Preferred Start Time (PST) • Windows found through a combination of domain modeling and fast time simulation (using TPS) Gear Down PEST PST EST PLST LST Displayed

Procedure Execution “You have to fly before you can monitor.” Flying: As long as all the external events happened, do this: Gear Down PEST PST EST PLST LST Monitoring: Is this happening too early or late? Did the pilots meet the constraints of this procedure? Is this safe? Can we still land using this procedure? Gear Down PST PEST EST PLST LST

Monitoring - Procedure Execution CHAP-EL Events • Monitor flight constraints before[ARCHI-2] {CLR: start(Clearance = • Aircraft constraints {ClearedApproach(ILS28R.ARCHI)})} ; before[ARCHI] {F5max: start(IAS <= Vmax5)} ; • Vmax ≥ IAS ≥ Vref F20: start(Flaps = 20); • Airline operational constraints A1000: start[Alt <= 1000 + TDZE) ; ... Example: Between capturing localizer and Actions the runway, MCP-Lmode should be LOC after[CLR] & between[ARCHI, GIRRR] {ArmLocalizer} ; Example: Stabilized approach between after[CLR] & after[F5max] & between[ARCHI, GIRRR] 1000 AGL & runway threshold <<SetFlaps(5), SetMCP-SPD(Vref5)>> ; • Procedure execution constraints between[CLR, ARCHI] {SetMCP-Alt(1800)} ; after[F20] & between[AXMUL-2, AXMUL] Example: After clearance, and between {Gear: SetGear(Down)} ; ARCHI and GIRRR: Arm the localizer ... • Trigger re-planning if constraints Monitors violated throughout[CEDES, RW28L] IAS in [Vref,Vmax] ; throughout[LocCap, RW28L] MCP-LMODE = LOC ; throughout[CEDES, RW28R] Vmax ≥ IAS ≥ Vref ; throughout[A1000, RW28R] StabilizedApproach ; ...

Monitoring - Constraint Violations Before Flaps 20 Flaps 20 Airspeed < Vmax20 Airspeed Procedure Segment: Flaps 5 Flaps 20 Vref5 Airspeed Actual Pilot Actions: Flaps 5 Flaps 20 Vref5+10 Does this violate the procedure? No: if condition Airspeed < Vmax20 satisfied by Vref5+10