Search NASA⌕ Search

SEARCH · Search NASA

Results for “Software Testing”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Software fault tolerance using data diversity

Research on data diversity is discussed. Data diversity relies on a different form of redundancy from existing approaches to software fault tolerance and is substantially less expensive to implement. Data diversity can also be applied to software testing and greatly facilitates the automation of testing. Up to now it has been explored both theoretically and in a pilot study, and has been shown to be a promising technique. The effectiveness of data diversity as an error detection mechanism and the application of data diversity to differential equation solvers are discussed.

Knight, John C.↗
NASA NTRS1990

Progress on control experiments of flexible structures

Progress at the NASA Langley Research Center in the area of control experiments for flexible structures is described. First the author presents the experimental results for a linear model which represents slewing maneuvers of a generic space station solar panel carried out to evaluate experimentally some control technologies. Then the status of the rotational/translational maneuvering experiment of a flexible steel panel carried by a translation cart is presented. Finally, experimental results of the NASA minimast testbed using velocity command stepper motors as reaction mass reactors are shown. All the test configurations are briefly described, including actuator and sensor, test setup, and test software. The status of some research activities oriented primarily to the experimental methods for control of flexible structures is presented.

Juang, Jer-Nan↗
NASA NTRS1994

Low-Earth-Orbiter resource allocation and capacity planning for the DSN using LEO4CAST

The Deep Space Network provides tracking and communication services for a number of U.S. and international low-Earth-orbiting (LEO) and near-Earth missions. This service is supplied by the 26-m subnet (located at each of the DSN complexes), the 9-m and the 34-m Antenna Research System antennas at Goldstone, and the 11-m antennas (following the orbital VLBI mission). An increasing number of LEO missions are planned for DSN support, which will result in increasingly complex ground resource allocation and mission support trades. To support TDA decision making on mission support and cost-effective ground system evolution for this 26-m subnet, LEO4CAST has been developed. LEO4CAST is a tool that uses statistical approaches to provide useful information for long-term ground system capacity planning and near-term resource allocation (prior to detailed time-of-day scheduling). LEO4CAST is currently beta-test software and is being exercised by both the Office of Telecommunications and Data Acquisition (TDA) and the JPL Systems Division.

Fox, G.↗
NASA NTRS1995

Wideband propagation measurement system using spread spectrum signaling and TDRS

In this paper, a wideband propagation measurement system, which consisted of a ground-based transmitter, a mobile receiver, and a data acquisition system, was constructed. This system has been employed in a study of the characteristics of different propagation environments, such as urban, suburban and rural areas, by using a pseudonoise spreading sequence transmitted over NASA's Tracking and Data Relay Satellite System. The hardware and software tests showed that it met overall system requirements and it was very robust during a 3-month-long outdoor data collection experiment.

Jenkins, Jeffrey D.↗
NASA NTRS1996

Virtual Reality Simulation of the International Space Welding Experiment

Virtual Reality (VR) is a set of breakthrough technologies that allow a human being to enter and fully experience a 3-dimensional, computer simulated environment. A true virtual reality experience meets three criteria: (1) It involves 3-dimensional computer graphics; (2) It includes real-time feedback and response to user actions; and (3) It must provide a sense of immersion. Good examples of a virtual reality simulator are the flight simulators used by all branches of the military to train pilots for combat in high performance jet fighters. The fidelity of such simulators is extremely high -- but so is the price tag, typically millions of dollars. Virtual reality teaching and training methods are manifestly effective, and we have therefore implemented a VR trainer for the International Space Welding Experiment. My role in the development of the ISWE trainer consisted of the following: (1) created texture-mapped models of the ISWE's rotating sample drum, technology block, tool stowage assembly, sliding foot restraint, and control panel; (2) developed C code for control panel button selection and rotation of the sample drum; (3) In collaboration with Tim Clark (Antares Virtual Reality Systems), developed a serial interface box for the PC and the SGI Indigo so that external control devices, similar to ones actually used on the ISWE, could be used to control virtual objects in the ISWE simulation; (4) In collaboration with Peter Wang (SFFP) and Mark Blasingame (Boeing), established the interference characteristics of the VIM 1000 head-mounted-display and tested software filters to correct the problem; (5) In collaboration with Peter Wang and Mark Blasingame, established software and procedures for interfacing the VPL DataGlove and the Polhemus 6DOF position sensors to the SGI Indigo serial ports. The majority of the ISWE modeling effort was conducted on a PC-based VR Workstation, described below.

Phillips, James A.↗
NASA NTRS2001

Chandra Space Flight Software: Using Software to Autonomously Operation the Largest and Most Sensitive X-Ray Telescope in the World

Chandra is the world's largest and most sensitive X-ray telescope. The Chandra X-ray Observatory is the third in NASA's family of "Great Observatories." The Chandra X-ray Observatory, launched by Space Shuttle Columbia on July 23, 1999, is NASA's newest Great Observatory. The Chandra space flight software is the operational software, which controls and directs the Chandra X-ray Observatory. The Chandra flight software has executed faultlessly for over 13,000 hours on-orbit. The Chandra flight software directly controls the Pointing, Aspect Determination, Electrical Power Subsystem, Propulsion system, and the Command, Communications, and Data Management subsystems. The software controls the spacecraft operations during all phases of the mission. The software also performs thermal control of the telescope to maintain pointing accuracy and monitors radiation levels throughout the orbit so that the Science Instruments can be safed if radiation thresholds are exceeded. The efficient operation of Chandra flight software has enabled the gathering of crucial science data. The Chandra flight software fault protection is the key to early detection and prevention of science instrument or spacecraft damage in an operating platform/environment, which is completely unforgiving. Permanently open Sun Shade Door and ACIS focal plane radiator sensitivity exposes science instruments and mirrors to damage for pointing anomalies causing an attitude excursion. The Chandra flight software must prevent these attitude excursions from occurring for ANY failure. Another example is that the power system has an unregulated bus, which imposes severe operating requirements on Chandra flight software to control array pointing and battery connection/disconnect using a unique algorithmic and logic approach. The Chandra flight software has enabled a truly autonomous vehicle with greater than 99% of all mission data collected as planned. Less than 15% of spacecraft operations are conducted in view (1 hour out of 8) leading to very extended periods without ground contact. The Chandra flight software implements the flexible mission plan during this out of view period, manages the solid state recorder capacity, controls all pointing and maneuvers, provides fault detection for all satellite subsystems, and initiates communications with the ground at the appropriate time. This paper will describe the software architecture features, key design elements and software testing techniques that have facilitated Chandra's success.

Crumbley, Tim↗
NASA NTRS2004

Expanding Remote Science Operations Capabilities Onboard the International Space Station

EXPRESS Racks have been supporting payload science operations onboard the International Space Station (ISS) since April of 2001. EXPRESS is an acronym that stands for "EXpedite the PRocessing of Experiments to Space Station." This name reflects NASA's focus to simplify the process of manifesting experiments and maximizing scientific research capabilities by providing a robust, remotely operated payload support platform. The EXPRESS Rack System was developed by NASA's Marshall Space Flight Center (MSFC) and built by The Boeing Company in Huntsville, Alabama. Eight EXPRESS racks were built and five are currently onboard the ISS supporting science operations. The design and development of the EXPRESS Rack System is a long story that has been documented in previous publications. This paper briefly describes the facilities used to develop and verify flight software, test operational capabilities. It then traces the advancements made in the operational capabilities of the EXPRESS Racks from the time they were launched on STS-100 through the present. The paper concludes with a description of potential enhancements that will make the EXPRESS racks one of the most advanced and capable remote science platforms ever developed.

Cruzen, Craig A.↗
NASA NTRS2005

Concrete Model Checking with Abstract Matching and Refinement

We propose an abstraction-based model checking method which relies on refinement of an under-approximation of the feasible behaviors of the system under analysis. The method preserves errors to safety properties, since all analyzed behaviors are feasible by definition. The method does not require an abstract transition relation to he generated, but instead executes the concrete transitions while storing abstract versions of the concrete states, as specified by a set of abstraction predicates. For each explored transition. the method checks, with the help of a theorem prover, whether there is any loss of precision introduced by abstraction. The results of these checks are used to decide termination or to refine the abstraction, by generating new abstraction predicates. If the (possibly infinite) concrete system under analysis has a finite bisimulation quotient, then the method is guaranteed to eventually explore an equivalent finite bisimilar structure. We illustrate the application of the approach for checking concurrent programs. We also show how a lightweight variant can be used for efficient software testing.

Pasareanu Corina S.↗
NASA NTRS2007

Determining Desirable Cursor Control Device Characteristics for NASA Exploration Missions

The Crew Exploration Vehicle (CEV) that will travel to the moon and Mars, and all future Exploration vehicles and habitats will be highly computerized, necessitating an accurate method of interaction with the computers. The design of a cursor control device will have to take into consideration g-forces, vibration, gloved operations, and the specific types of tasks to be performed. The study described here is being undertaken to begin identifying characteristics of cursor control devices that will work well for the unique Exploration mission environments. The objective of the study is not to identify a particular device, but to begin identifying design characteristics that are usable and desirable for space missions. Most cursor control devices have strengths and weaknesses; they are more appropriate for some tasks and less suitable for others. The purpose of this study is to collect some initial usability data on a large number of commercially available and proprietary cursor control devices. A software test battery was developed for this purpose. Once data has been collected using these low-level, basic point/click/drag tasks, higher fidelity, scenario-driven evaluations will be conducted with a reduced set of devices. The standard tasks used for testing cursor control devices are based on a model of human movement known as Fitts law. Fitts law predicts that the time to acquire a target is logarithmically related to the distance over the target size. To gather data for analysis with this law, fundamental, low-level tasks are used such as dragging or pointing at various targets of different sizes from various distances. The first four core tasks for the study were based on the ISO 9241-9:(2000) document from the International Organization for Standardization that contains the requirements for non-keyboard input devices. These include two pointing tasks, one dragging and one tracking task. The fifth task from ISO 9241-9, the circular tracking task was not used because it is a movement that is not applicable to most of the applications used on aviation displays. Additionally, we opted to add a multi-size and multi-distance pointing task, and two ecologically more valid tasks which included text selection, and interaction with drop down menus, sliders, and checkboxes. The Visual Basic test battery tracks the task and trial numbers, measures the pointing, tracking or dragging time, as well as the number and types of errors. The testing session includes a practice set for each input device, then the randomized 7 tasks, and finally a questionnaire about the device. This is repeated for all the devices tested within a session. The experiment is a within-subjects design, with participants returning for multiple sessions to test additional devices. The input devices will be compared based on objective performance data from the tasks, as well as subjective feedback and ratings on the questionnaire.

Aniko Sandor↗
NASA NTRS2009

Surface Habitat Systems

The Surface Habitat Systems (SHS) Focused Investment Group (FIG) is part of the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) effort to provide a focused direction and funding to the various projects that are working on human surface habitat designs and technologies for the planetary exploration missions. The overall SHS-FIG effort focuses on directing and guiding those projects that: 1) develop and demonstrate new surface habitat system concepts, innovations, and technologies to support human exploration missions, 2) improve environmental systems that interact with human habitats, 3) handle and emplace human surface habitats, and 4) focus on supporting humans living and working in habitats on planetary surfaces. The activity areas of the SHS FIG described herein are focused on the surface habitat project near-term objectives as described in this document. The SHS-FIG effort focuses on mitigating surface habitat risks (as identified by the Lunar Surface Systems Project Office (LSSPO) Surface Habitat Element Team; and concentrates on developing surface habitat technologies as identified in the FY08 gap analysis. The surface habitat gap assessment will be updated annually as the surface architecture and surface habitat definition continues to mature. These technologies are mapped to the SHS-FIG Strategic Development Roadmap. The Roadmap will bring to light the areas where additional innovative efforts are needed to support the development of habitat concepts and designs and the development of new technologies to support of the LSSPO Habitation Element development plan. Three specific areas of development that address Lunar Architecture Team (LAT)-2 and Constellation Architecture Team (CxAT) Lunar habitat design issues or risks will be focused on by the SHS-FIG. The SHS-FIG will establish four areas of development that will help the projects prepare in their planning for surface habitat systems development. Those development areas are the 1) surface habitat concept definition, 2) inflatable surface habitat development, and 3) autonomous habitat operations, and 4) cross-cutting / systems engineering. In subsequent years, the SHS-FIG will solicit a call for innovations and technologies that will support the development of these four development areas. The other development areas will be assessed yearly and identified on the SHS-FIG s Strategic Development Roadmap. Initial investment projects that are funded by the Constellation Program Office (CxPO), LSSPO, or the Exploration Technology Development Projects (ETDP) will also be included on the Roadmap. For example, in one or two years from now, the autonomous habitat operations and testbed would collaborations with the Integrated Systems Health Management (ISHM) and Automation for Operations ETDP projects, which will give the surface habitat projects an integrated habitat autonomy testbed to test software and systems. The SHS-FIG scope is to provide focused direction for multiple innovations, technologies and subsystems that are needed to support humans at a remote planetary surface habitat during the concept development, design definition, and integration phases of that project. Subsystems include: habitability, lightweight structures, power management, communications, autonomy, deployment, outfitting, life support, wireless connectivity, lighting, thermal and more.

Kennedy, Kriss J.↗
NASA NTRS2000

NASA Tech Briefs, October 2000

Topics include: special coverage sections on CAD, CAE, and PDM, and, Composites and Plastics, and sections on electronic components and systems, software, test and measurement, mechanics, manufacturing/fabrication, physical sciences, information sciences, book and reports, and special sections of Electronics Tech Briefs and Motion Control Tech Briefs

Source record↗
NASA NTRS2011

Fault Detection, Isolation and Recovery (FDIR) Portable Liquid Oxygen Hardware Demonstrator

The Fault Detection, Isolation and Recovery (FDIR) hardware demonstration will highlight the effort being conducted by Constellation's Ground Operations (GO) to provide the Launch Control System (LCS) with system-level health management during vehicle processing and countdown activities. A proof-of-concept demonstration of the FDIR prototype established the capability of the software to provide real-time fault detection and isolation using generated Liquid Hydrogen data. The FDIR portable testbed unit (presented here) aims to enhance FDIR by providing a dynamic simulation of Constellation subsystems that feed the FDIR software live data based on Liquid Oxygen system properties. The LO2 cryogenic ground system has key properties that are analogous to the properties of an electronic circuit. The LO2 system is modeled using electrical components and an equivalent circuit is designed on a printed circuit board to simulate the live data. The portable testbed is also be equipped with data acquisition and communication hardware to relay the measurements to the FDIR application running on a PC. This portable testbed is an ideal capability to perform FDIR software testing, troubleshooting, training among others.

Oostdyk, Rebecca L.↗
NASA NTRS2011

Constellation Program Lessons Learned: Detailed Lessons Learned - Volume 2

These lessons learned are part of a suite of hardware, software, test results, designs, knowledge base, and documentation that comprises the legacy of the Constellation Program. The context, summary information, and lessons learned are presented in a factual format, as known and described at the time. While our opinions might be discernable in the context, we have avoided all but factually sustainable statements. Statements should not be viewed as being either positive or negative; their value lies in what we did and what we learned that is worthy of passing on. The lessons include both "dos" and "don ts." In many cases, one person s "do" can be viewed as another person s "don t"; therefore, we have attempted to capture both perspectives when applicable and useful. While Volume I summarizes the views of those who managed the program, this Volume II encompasses the views at the working level, describing how the program challenges manifested in day-to-day activities. Here we see themes that were perhaps hinted at, but not completely addressed, in Volume I: unintended consequences of policies that worked well at higher levels but lacked proper implementation at the working level; long-term effects of the "generation gap" in human space flight development, the need to demonstrate early successes at the expense of thorough planning, and the consequences of problems and challenges not yet addressed because other problems and challenges were more immediate or manifest. Not all lessons learned have the benefit of being operationally vetted, since the program was cancelled shortly after Preliminary Design Review. We avoid making statements about operational consequences (with the exception of testing and test flights that did occur), but we do attempt to provide insight into how operational thinking influenced design and testing. The lessons have been formatted with a description, along with supporting information, a succinct statement of the lesson learned, and recommendations for future programs and projects that may be placed in similar circumstances.

Jennifer Rhatigan↗
NASA NTRS2008

ESMD Space Grant Faculty Report

The strength of the Exploration Systems Mission Directorate ESMD Faculty Project lies in its ability to meet National Aeronautics Space Administration NASA's Strategic Educational Outcome 1 by developing a sustainable and long-term integration of student involvement at academic institutions with all NASA Centers. This outcome is achieved by a three-fold approach: 1) by collecting Senior Design projects pertaining to Constellation work performed at each of the ten NASA Centers, 2) by engaging students at Minority Serving Institutions in the art of systems engineering and systems design of technologies required for space exploration, and 3) by identifying potential internships at each Center relative to exploration that provide students who are supported by their institutional Space Grant to engage in on-going mission-level and explorative systems designs. The objectives of the ESMD Faculty Project are to: 1. Aid the Centers (both Education Offices and associated technical organizations) in providing relevant opportunities for the ESMD Space Grant Program to support student and faculty in Senior Design projects 2. Enable better matches between the ESMD work required and what the Space Grant Consortia can do to effectively contribute to NASA programs 3. Provide the Space Grant Consortia an opportunity to strengthen relations with the NASA Centers 4. Develop better collective understanding of the U.S. Space Exploration Policy by the Center, Space Grant, faculty, Education Office, and students 5. Enable Space Grant institution faculty to better prepare their students to meet current and future NASA needs 6. Enable the Center Education Offices to strengthen their ties to their technical organizations and Space Grant Consortia 7. Aid KSC in gaining a greater and more detailed understanding of each of the Center activities Senior Design projects are intended to stimulate undergraduate students on current NASA activities related to lunar, Mars, and other planetary missions and to bring out innovative and novel ideas that can be used to complement those currently under development at respective NASA Centers. Additionally, such academic involvement would better the prospects for graduating seniors to pursue graduate studies and to seek careers in the space industry with a strong sense for systems engineering and understanding of design concepts. Internships, on the other hand, are intended to provide hands-on experience to students by engaging them in diverse state-of-the-art technology development, prototype bread-boarding, computer modeling and simulations, hardware and software testing, and other activities that provide students a strong perspective of NASA's vision and mission in enhancing the knowledge of Earth and space planetary sciences. Ten faculty members, each from a Space Grant Consortium-affiliated university, worked at ten NASA Centers for five weeks between June 2 and July 3, 2008. The project objectives listed above were achieved. In addition to collecting data on Senior Design ideas and identifying possible internships that would benefit NASA/ESMD, the faculty fellows promoted and collected data when required for other ESMD-funded programs and helped the Center's Education Office, as,needed. 4

Guo, Jiang↗
NASA NTRS2014

Upgrading Custom Simulink Library Components for Use in Newer Versions of Matlab

The Spaceport Command and Control System (SCCS) at Kennedy Space Center (KSC) is a control system for monitoring and launching manned launch vehicles. Simulations of ground support equipment (GSE) and the launch vehicle systems are required throughout the life cycle of SCCS to test software, hardware, and procedures to train the launch team. The simulations of the GSE at the launch site in conjunction with off-line processing locations are developed using Simulink, a piece of Commercial Off-The-Shelf (COTS) software. The simulations that are built are then converted into code and ran in a simulation engine called Trick, a Government off-the-shelf (GOTS) piece of software developed by NASA. In the world of hardware and software, it is not uncommon to see the products that are utilized be upgraded and patched or eventually fade away into an obsolete status. In the case of SCCS simulation software, Matlab, a MathWorks product, has released a number of stable versions of Simulink since the deployment of the software on the Development Work Stations in the Linux environment (DWLs). The upgraded versions of Simulink has introduced a number of new tools and resources that, if utilized fully and correctly, will save time and resources during the overall development of the GSE simulation and its correlating documentation. Unfortunately, simply importing the already built simulations into the new Matlab environment will not suffice as it will produce results that may not be expected as they were in the version that is currently being utilized. Thus, an upgrade execution plan was developed and executed to fully upgrade the simulation environment to one of the latest versions of Matlab.

Matlab Simulation↗
NASA NTRS2013

Texturecam: A Smart Camera for Microscale, Mesoscale, and Deep Space Applications

The TextureCam project is developing a 'smart camera' that can classify geologic surfaces in planetary images. This would allow autonomous spacecraft to collect data opportunisitcally during intervals between communications with Earth, such as during long traverses. Its surface classifications can identify new targets that were not anticipated in advance. The spacecraft might use this information to target these features with high-resolution instruments such as spectrometers nd narrow-field cameras. Classifications could also inform data 'triage' decisions, identifying high value images for prioritized downlink. Finally, the surface classification can serve as compressed maps of image content. Each of these strategies can improve the science data returned at each command cycle and speed reconnaissance during site survey and astrobiology investigation. Our first year of development has completed the image analysis algorithms and validated them in software tests. Here we survey these initial results and explore several application areas relevant to Mars and beyond.

Hyperspectral imagery↗
NASA NTRSDate not supplied

Digital Prototyping Methods to Enable Product Development Analysis Cycle Compression in Aerospace Systems

Historically, the product development life cycle (spanning from origination of a systems concept to initial delivery or fielding) for large-scale aerospace systems is 10-25 years. Examples of recent programs exhibiting this timeline are the Space Shuttle (13 years), , International Space Station (18 years), NASA Hubble telescope (16 years), USAF F-35 Strike Fighter (22 years), Missile Defense Agency THAAD (21 years), USAF V-22 Osprey (26 years), USAF B-2 Spirt (19 years), US Army RAH-66 Comanche (22 years, cancelled prior to fielding), James Webb Space Telescope (25 years), Space Launch System (10 years). This list illustrates the challenges of developing and fielding a modern integrated multi-disciplinary aerospace system. These development timelines are often preceded by significant research and development programs and followed by multiple increments, blocks, or spirals to reach planned operational capability. In the modern era of aerospace system acquisition, there is significant pressure to reduce system development timelines to meet system objectives and enable competitiveness in the current industry and landscape. Across the aerospace industry, a range of rapid acquisition and prototyping programs are seeking to achieve system development within timelines considerably less than 10 years. Notably, in September of 2019, NASA issued a solicitation for the development and demonstration of a Human Landing System (HLS) to deliver humans to the lunar surface by 2024 (5 years) and for the development and demonstration of a more sustainable HLS by 2026 (7 years). Lengthy product development cycle timelines are a product of multiple factors ranging from programmatic, sociological, technical, and systems engineering issues. New approaches in systems engineering provide new ways to enable these compressed development timelines. These approaches employ expanded application of advanced systems engineering methods and cross-cutting digital tools to accelerate system development, utilizing digital prototyping to connect maturing sub-system or component technologies into system or system-of-systems hardware prototypes. Approaches such as the use of system integrating physics relationships to reduce the number of design analysis cycle iterations and state analysis modeling to reduce necessary software testing (and improving coverage of system execution scenarios) represent steps forward in reducing the engineering time needed to field new systems. In addition to cost, schedule and performance benefits, expanded digital exploration and demonstration reduce risk in live system test and demonstration. This incremental demonstration approach, where digital prototyping and demonstration leads and informs full system test and demonstration, could be more important for space applications because of the increased difficulty of test and demonstration of space systems and architectures. The Advanced Concepts Office (ACO) at Marshall Space Flight Center merges traditional multi-disciplinary concept definition methods with modern, cross-cutting systems engineering concepts to enable iterative design and analysis of space architectures and systems through coordinated, strategic management of human capital, technical processes, and technology. This paper provides an overview of that approach, including recent examples and a strategic path forward to enabling continued reduction of aerospace system product development life cycles.

Michael D Watson↗
NASA NTRSDate not supplied

An Augmented Ground Station Architecture for Spacecraft-Initiated Communication Service Requests

Spacecraft performing science and exploration missions have increasingly complex and event-driven objectives, making communication needs difficult to predict in advance. Additional flexibility is required in space communication provider networks to effectively meet time-varying demand. We envision a framework for automated resource allocation in which requests for communications service are initiated by spacecraft based on current mission needs. We propose an augmented ground station configuration featuring a wide field-of-view antenna to receive transmissions from spacecraft requesting high-rate communications. A software suite to automate the service fulfillment process, including interfacing with external scheduling systems such as NASA’s Near Space Network, is described. Experimental results characterizing the physical-layer link between the wide field-of-view antenna and a software-defined radio testbed on the International Space Station are presented. We also discuss long-duration software testing on a ground-based testbed. Taken together, these proof-of-concept results demonstrate the feasibility of the concept to improve the responsiveness of space communications.

user-initiated service↗