Kristin Rozier, May 2019
Kristin Rozier will visit Caltech on 17 May (Fri). Kristin is an Assistant Professor at Iowa State University, in the Aerospace Engineering and Computer Science Departments. Previous to that, she spent three semesters at the University of Cincinnati (2015-2016) and 14 years as a Research Scientist at NASA, holding civil service positions at NASA Ames Research Center (2008-2014) and NASA Langley Research Center (2001-2008).
- 10 am-10:30: Soon-Jo Chung (235 Guggenheim)
- 10:45 am: Seminar setup
- 11:00 am: Seminar
- 12:00 pm: Lunch with Richard
- 1:15 pm: Tung Phan (Steele library)
- 2:00 pm: Open
- 2:45 pm: Apurva
- 3:30 pm: Open (if needed)
- 4:15 pm: Open (if needed)
- 5:00 pm: Done for the day
From Unmanned Aerial Systems to Robonaut2: On-board Runtime Reasoning in Air and Space
Kristin Rozier Iowa State University
Runtime Verification (RV) has become critical to the deployment of a wide range of systems, including aircraft, spacecraft, satellites, rovers, and robots. The most useful, important, and safety-critical jobs will require these systems to operate both intelligently and autonomously, with the ability to sense and respond to both nominal and off-nominal conditions. It is essential that we enable reasoning sufficient to react to challenging environments and detect critical failures on-board, in real time, to enable mitigation triggering. We are challenged by the constraints of real-life embedded operation that limit the system instrumentation, space, timing, power, weight, cost, and other operating conditions of on-board, runtime verification. While the research area of RV is vast, there is a dearth of RV tools that can operate within these constraints, and without violating, e.g., FAA rules for flight certification.
The Realizable, Responsive, Unobtrusive Unit (R2U2) analyzes specifications that combine temporal logics with probabilistic reasoning to provide formal assurances during runtime, enabling self-assessment of critical systems. This presentation overviews the achievements of the three-year NASA Early Career Faculty proposal, "Multi-Platform, Multi-Architecture Runtime Verification of Autonomous Space Systems." We discuss the unique design of R2U2 and demo R2U2 on-board Robonaut2, disambiguation emergent faults in the knee joint. We highlight on-going work in predictive and adaptable runtime verification, including adaptations for other platforms, and seek future collaborations with JPL missions.