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NASA NTRS2016

Evolving Reliability and Maintainability Allocations for NASA Ground Systems

This paper describes the methodology that was developed to allocate reliability and maintainability requirements for the NASA Ground Systems Development and Operations (GSDO) program's subsystems. As systems progressed through their design life cycle and hardware data became available, it became necessary to reexamine the previously derived allocations. Allocating is an iterative process; as systems moved beyond their conceptual and preliminary design phases this provided an opportunity for the reliability engineering team to reevaluate allocations based on updated designs and maintainability characteristics of the components. Trade-offs in reliability and maintainability were essential to ensuring the integrity of the reliability and maintainability analysis. This paper will discuss the value of modifying reliability and maintainability allocations made for the GSDO subsystems as the program nears the end of its design phase.

allocations↗
NASA NTRS2018

From Apollo to the Future, the NASA Curation Model for Engaging the Sample Science Community Maximizes Science on Extraterrestrial Samples

The Astromaterials Acquisition and Curation Office at Johnson Space Center (JSC) has enjoyed a long-term partnership (50 years!) with a broad community of planetary sample scientists. This partnership has enabled the curators of planetary samples to plan for and enact evolving requirements for preservation of sample scientific integrity and for handling and long-term storage. The basis for this relationship is a standing peer review advisory committee composed of leading scientists who are recognized for achievements in sample analysis. The committee and its descendants have brought familiarity with the most relevant scientific investigations and the associated analytical and contamination challenges. Beginning with Apollo, the review committee was charged with oversight of curatorial operations and with ensuring fair access to samples. As additional samples from other planetary bodies were acquired, the committee evolved, taking on new responsibilities, reflected in committee name changes. However, oversight of curatorial operations and fair allocation of samples remain basic responsibilities. Committee recommendations are sent to the NASA Headquarters Discipline Scientist for approval. To minimize conflict of interest and maximize fair access, the rules governing the make-up of the committee is structured. Systematic rotation of leadership and staggered terms of membership allow the committee to retain expertise while bringing in fresh ideas. The first peer review committee was called the Lunar Sample Analysis and Planning Team (LSAPT) and was formalized in early 1968 with about 15 members. Their function was to review a) the equipment and procedures used in the new Lunar Receiving Laboratory (LRL); b) the proficiency and capability of the LRL staff; c) the sequence of sample analysis and allocation after quarantine release; and d) the findings of the Preliminary Examination Team (PET). According to LSAPT member Gerald Wasserburg, one of the first issues they faced was deciding whether to have most of the sample analyses performed in house at the LRL or to distribute samples to members of the scientific community. LSAPT concluded that the major scientific investigations should be carried out externally to the LRL by scientists chosen for their expertise in specific disciplines. Further they recommended that the PET's basic characterization of samples be circulated to the broad scientific community. LSAPT set its own agenda, paid attention to facility details, closely monitored the move of samples from the LRL to the interim curatorial facility in 1973, and was active in inspecting curation facilities. Between 1975 and 1979, a Facility Subcommittee of LSAPT oversaw the design and construction of a permanent facility for preservation of lunar samples. The result was an outstanding facility still in use today. In 1977, a separate peer review committee, the Meteorite Working Group (MWG), was formed to evaluate requests for new meteorites then being collected in Antarctica under what would in 1980 become a 3-agency agreement (National Science Foundation, NASA, Smithsonian Institution). By 1979, after lunar samples were moved into the new permanent facility, the vacated gloveboxes and laboratory were prepared for meteorite curation. Recognizing that LSAPT had been helpful in setting up the JSC curatorial facility for Antarctic meteorites, JSC recommended the review committee be given expanded duties, including advice on curation and analysis of materials from other planetary bodies and the name be changed to Lunar and Planetary Sample Team (LAPST). In 1993, LAPST was renamed the Curation and Analysis Planning Team for Extraterrestrial Materials (CAPTEM) to reflect additional functions. CAPTEM is chartered to be (1) a community-based, interdisciplinary forum for discussion and analysis of matters concerning the collection and curation of extraterrestrial samples, including planning future sample return missions and (2) a standing review panel, charged with evaluating proposals requesting allocation of all extraterrestrial samples contained in NASA collections. Efficiency and flexibility are gained through use of subcommittees, both ad hoc and standing. Transition of the MWG to a subcommittee of CAPTEM was completed in 2017. Today subcommittees review allocation requests for lunar samples, Antarctic meteorites, cosmic dust, Stardust cometary samples, Genesis solar wind samples, and samples returned from asteroids. Other subcommittees address facilities, informatics, and micro-cratered substrates. Planetary samples have been sent to research teams in over 30 countries world-wide. The expertise in the care and fair distribution of astromaterials by NASA using this model spans generations of planetary sample scientists and is a valuable resource to be tapped for future sample returns - OSIRIS-REx, Hayabusa 2, and Mars 2020.

Allton, Judith↗
NASA NTRS2003

Software for Allocating Resources in the Deep Space Network

TIGRAS 2.0 is a computer program designed to satisfy a need for improved means for analyzing the tracking demands of interplanetary space-flight missions upon the set of ground antenna resources of the Deep Space Network (DSN) and for allocating those resources. Written in Microsoft Visual C++, TIGRAS 2.0 provides a single rich graphical analysis environment for use by diverse DSN personnel, by connecting to various data sources (relational databases or files) based on the stages of the analyses being performed. Notable among the algorithms implemented by TIGRAS 2.0 are a DSN antenna-load-forecasting algorithm and a conflict-aware DSN schedule-generating algorithm. Computers running TIGRAS 2.0 can also be connected using SOAP/XML to a Web services server that provides analysis services via the World Wide Web. TIGRAS 2.0 supports multiple windows and multiple panes in each window for users to view and use information, all in the same environment, to eliminate repeated switching among various application programs and Web pages. TIGRAS 2.0 enables the use of multiple windows for various requirements, trajectory-based time intervals during which spacecraft are viewable, ground resources, forecasts, and schedules. Each window includes a time navigation pane, a selection pane, a graphical display pane, a list pane, and a statistics pane.

Wang, Yeou-Fang↗
NASA NTRS2016

Evolving Reliability and Maintainability Allocations for NASA Ground Systems

This paper describes the methodology and value of modifying allocations to reliability and maintainability requirements for the NASA Ground Systems Development and Operations (GSDO) program’s subsystems. As systems progressed through their design life cycle and hardware data became available, it became necessary to reexamine the previously derived allocations. This iterative process provided an opportunity for the reliability engineering team to reevaluate allocations as systems moved beyond their conceptual and preliminary design phases. These new allocations are based on updated designs and maintainability characteristics of the components. It was found that trade-offs in reliability and maintainability were essential to ensuring the integrity of the reliability and maintainability analysis. This paper discusses the results of reliability and maintainability reallocations made for the GSDO subsystems as the program nears the end of its design phase.

allocations↗
NASA NTRS2009

X-48B Flight Research Progress Overview

Program Objectives; I. Assess stability & control characteristics of a BWB class vehicle in free-flight conditions: a) Assess dynamic interaction of control surfaces; b) Assess control requirements to accommodate asymmetric thrust; c) Assess stability and controllability about each axis at a range of flight conditions II. Assess flight control algorithms designed to provide desired flight characteristics: a) Assess control surface allocation and blending; b) Assess edge of envelope protection schemes; c) Assess takeoff and landing characteristics; d) Test experimental control laws and control design methods. III. Evaluate prediction and test methods for BWB class vehicles: a) Correlate flight measurements with ground-based predictions and measurements.

Risch, Tim↗
NASA NTRS2009

X-48B Flight Research - Test Progress and Instrumentation Needs for the Future

Program Objectives: I. Assess stability & control characteristics of a BWB class vehicle in free-flight conditions: a) Assess dynamic interaction of control surfaces; b) Assess control requirements to accommodate asymmetric thrust; and c) Assess stability and controllability about each axis at a range of flight conditions. II. Assess flight control algorithms designed to provide desired flight characteristics: a) Assess control surface allocation and blending; b) Assess edge of envelope protection schemes; c) Assess takeoff and landing characteristics; and d) Test experimental control laws and control design methods III. Evaluate prediction and test methods for BWB class vehicles: a) Correlate flight measurements with ground-based predictions and measurements.

Risch, Tim↗
NASA NTRS2009

Tracking Debris Shed by a Space-Shuttle Launch Vehicle

The DEBRIS software predicts the trajectories of debris particles shed by a space-shuttle launch vehicle during ascent, to aid in assessing potential harm to the space-shuttle orbiter and crew. The user specifies the location of release and other initial conditions for a debris particle. DEBRIS tracks the particle within an overset grid system by means of a computational fluid dynamics (CFD) simulation of the local flow field and a ballistic simulation that takes account of the mass of the particle and its aerodynamic properties in the flow field. The computed particle trajectory is stored in a file to be post-processed by other software for viewing and analyzing the trajectory. DEBRIS supplants a prior debris tracking code that took .15 minutes to calculate a single particle trajectory: DEBRIS can calculate 1,000 trajectories in .20 seconds on a desktop computer. Other improvements over the prior code include adaptive time-stepping to ensure accuracy, forcing at least one step per grid cell to ensure resolution of all CFD-resolved flow features, ability to simulate rebound of debris from surfaces, extensive error checking, a builtin suite of test cases, and dynamic allocation of memory.

Stuart, Phillip C.↗
NASA NTRSDate not supplied

Soluble Organic Matter (SOM) analysis of the Hayabusa2 samples: The first results

The Hayabusa2 spacecraft successfully collected the surface and possible sub-surface materials of the asteroid 162173 Ryugu. Ryugu is a C-type asteroid characterized by a low-albedo surface probably consisting of hydrous minerals and carbonaceous materials. [1] The direct optical and spectral analysis of the returned samples indicates that Ryugu material is dominated by hydrous carbonaceous chondrite-like matter (similar to CI chondrites) [2]. Since carbonaceous chondrites have generally yielded various types of organic matter, the collected Ryugu grains are expected to contain diverse types of organic compounds including bio-related molecules. The occurrence of organic compounds in the Ryugu surface will provide clues to the evolution of prebiotic molecules and their preservations associated with aqueous alteration of the primitive asteroid. The initial analysis of soluble organic matter (SOM) of the Hayabusa2-returned samples has been performed by an international team consisting of 32 members. Because the sample amount available for comprehensive SOM analyses is limited, and because the SOM is expected to be present as a complex mixture of various types of organic compounds with very small concentrations of each compound, high-sensitivity and high-resolution analytical techniques have been developed using carbonaceous meteorites [e.g. 3]. Two aggregate samples of the Ryugu grains (A106 and C107) were allocated for the solvent extractions and bulk carbon (C), hydrogen (H), nitrogen (N), sulfur (S) and oxygen (O) measurements. The A106 sample was collected during the 1st sampling in February 2019 and the C107 sample was collected during the 2nd sampling in July 2019 after the Small Carry Impactor (SCI) operation. They consist mainly of particles smaller than 1 mm in diameter, and each sample mass was 38-39 mg. They were firstly investigated spectroscopically in the near infrared wavelength range by the Stone Team prior to the solvent extractions. Other small grains (A0080 and C0057) were also allocated for this study to investigate the spatial distribution of organic compounds on the sample surface. The extraction and analytical measurements implemented by the SOM Team are summarized in Figure 1. Each powder sample was extracted sequentially with non-polar to polar solvents, i.e., hexane, dichloromethane (DCM), methanol (MeOH) and H2O, for non-targeted analysis to reveal the compound composition. Each solvent extract was analyzed by solution state nuclear magnetic resonance (NMR) spectroscopy [4], Fourier transform- ion cyclotron resonance/mass spectrometry (FT-ICR/MS) with ESI and APPI ionization [5] and by high-resolution mass spectroscopy using Orbitrap MS coupled with nano-liquid chromatography (nanoLC/Orbitrap MS) [6], and using two dimensional gas chromatography/mass spectrometry (GC×GC/MS). The extracted residues were passed to the Chemistry Team for further inorganic element analysis. The other powder sample was subjected to the hot water extraction for amino acid analyses including chiral isomer separation, which was performed by three-dimensional (3D) high-performance liquid chromatography (HPLC) with high-sensitivity fluorescence detection (FD) [7] and by HPLC/FD coupled with quadrupole-time of flight/mass spectrometry (QToF/MS) [8]. After the hot water extraction, the residue was split into two halves. One half was further extracted with hydrochloric acid (HCl) to analyze for amino acids in bound-form. The other half was sequentially extracted with DCM/MeOH (1/1) to analyze semi-polar compounds such as polycyclic aromatic hydrocarbons (PAHs) by GC/MS, followed by further extraction with formic acid to analyze polar heterocyclic compounds, and subsequent extraction with HCl to detect bound-form polar compounds. The extracted residues were passed to the IOM Team for the analysis of insoluble organic matter (IOM). Compound-specific stable isotope analyses will be performed using GC/combustion/isotope ratio mass spectrometry (GC/C/IRMS) if the compound concentration is high enough to enable such an isotopic measurement. All extraction procedures were performed on an ISO 6 (Class 100) clean bench inside an ISO 5 (Class 1000) clean room. Baked serpentine powder was also analyzed as a procedural blank. In situ organic compound analysis with the molecular imaging was performed using desorption electrospray ionization (DESI) equipped with Orbitrap MS [9, 10], followed by spatial imaging of organic compounds using ToF/secondary ion mass spectrometry (ToF/SIMS) [11]. The bulk chemical and isotopic compositions of CNS and HO were determined using nano-elemental analysis/isotope ratio mass spectrometry (nanoEA/IRMS) [12] and EA/pyrolysis/IRMS, respectively. We have identified a variety of indigenous organic compounds in the extracts of both A106 and C107 samples. The Ryugu grains host organic molecules under the high-vacuum and cosmic-ray irradiation environment of the asteroid surface. The analysis of extracted molecules is in progress, and the first results will be presented at the symposium.

Hiroshi Naraoka↗
NASA NTRS2002

Autonomous Reconfigurable Control Allocation (ARCA) for Reusable Launch Vehicles

The role of control allocation (CA) in modern aerospace vehicles is to compute a command vector delta(sub c) is a member of IR(sup n(sub a)) that corresponding to commanded or desired body-frame torques (moments) tou(sub c) = [L M N](sup T) to the vehicle, compensating for and/or responding to inaccuracies in off-line nominal control allocation calculations, actuator failures and/or degradations (reduced effectiveness), or actuator limitations (rate/position saturation). The command vector delta(sub c) may govern the behavior of, e.g., acrosurfaces, reaction thrusters, engine gimbals and/or thrust vectoring. Typically, the individual moments generated in response to each of the n(sub a) commands does not lie strictly in the roll, pitch, or yaw axes, and so a common practice is to group or gang actuators so that a one-to-one mapping from torque commands tau(sub c) actuator commands delta(sub c) may be achieved in an off-line computed CA function.

Hodel, A. S.↗
NASA NTRS2018

Assessment and Verification of SLS Block 1-B Exploration Upper Stage State and Stage Disposal Performance

One of the SLS Navigation System's key performance requirements is a constraint on the payload system's delta-v allocation to correct for insertion errors due to vehicle state uncertainty at payload separation. The SLS navigation team has developed a Delta-Delta-V analysis approach to assess the effect on trajectory correction maneuver (TCM) design needed to correct for navigation errors. This approach differs from traditional covariance analysis based methods and makes no assumptions with regard to the propagation of the state dynamics. This allows for consideration of non-linearity in the propagation of state uncertainties. The Delta-Delta-V analysis approach re-optimizes perturbed SLS mission trajectories by varying key mission states in accordance with an assumed state error. The state error is developed from detailed vehicle 6-DOF Monte Carlo analysis or generated using covariance analysis. These perturbed trajectories are compared to a nominal trajectory to determine necessary TCM design. To implement this analysis approach, a tool set was developed which combines the functionality of a 3-DOF trajectory optimization tool, Copernicus, and a detailed 6-DOF vehicle simulation tool, Marshall Aerospace Vehicle Representation in C (MAVERIC). In addition to delta-v allocation constraints on SLS navigation performance, SLS mission requirement dictate successful upper stage disposal. Due to engine and propellant constraints, the SLS Exploration Upper Stage (EUS) must dispose into heliocentric space by means of a lunar fly-by maneuver. As with payload delta-v allocation, upper stage disposal maneuvers must place the EUS on a trajectory that maximizes the probability of achieving a heliocentric orbit post Lunar fly-by considering all sources of vehicle state uncertainty prior to the maneuver. To ensure disposal, the SLS navigation team has developed an analysis approach to derive optimal disposal guidance targets. This approach maximizes the state error covariance prior to the maneuver to develop and re-optimize a nominal disposal maneuver (DM) target that, if achieved, would maximize the potential for successful upper stage disposal. For EUS disposal analysis, a set of two tools was developed. The first considers only the nominal pre-disposal maneuver state, vehicle constraints, and an a priori estimate of the state error covariance. In the analysis, the optimal nominal disposal target is determined. This is performed by re-formulating the trajectory optimization to consider constraints on the eigenvectors of the error ellipse applied to the nominal trajectory. A bisection search methodology is implemented in the tool to refine these dispersions resulting in the maximum dispersion feasible for successful disposal via lunar fly-by. Success is defined based on the probability that the vehicle will not impact the lunar surface and will achieve a characteristic energy (C3) relative to the Earth such that it is no longer in the Earth-Moon system. The second tool propagates post-disposal maneuver states to determine the success of disposal for provided trajectory achieved states. This is performed using the optimized nominal target within the 6-DOF vehicle simulation. This paper will discuss the application of the Delta-Delta-V analysis approach for performance evaluation as well as trajectory re-optimization so as to demonstrate the system's capability in meeting performance constraints. Additionally, further discussion of the implementation of assessing disposal analysis will be provided.

Patrick, Sean↗
NASA NTRS2009

Human Research Program Requirements Document (Revision C)

The purpose of this document is to define, document, and allocate the Human Research Program (HRP) requirements to the HRP Program Elements. It establishes the flow-down of requirements from Exploration Systems Mission Directorate (ESMD) and Office of the Chief Health and Medical Officer (OCHMO) to the various Program Elements of the HRP to ensure that human research and technology countermeasure investments are made to insure the delivery of countermeasures and technologies that satisfy ESMD's and OCHMO's exploration mission requirements. Requirements driving the HRP work and deliverables are derived from the exploration architecture, as well as Agency standards regarding the maintenance of human health and performance. Agency human health and performance standards will define acceptable risk for each type and duration of exploration mission. It is critical to have the best available scientific and clinical evidence in setting and validating these standards. In addition, it is imperative that the best available evidence on preventing and mitigating human health and performance risks is incorporated into exploration mission and vehicle designs. These elements form the basis of the HRP research and technology development requirements and highlight the importance of HRP investments in enabling NASA's exploration missions. This PRD defines the requirements of the HRP which is comprised of the following major Program Elements: Behavioral Health and Performance (BHP), Exploration Medical Capability (ExMC), Human Health Countermeasures (HHC), ISS Medical Project (ISSMP), Space Human Factors and Habitability (SHFH), and Space Radiation (SR).

Vargas, Paul R.↗
NASA NTRS2016

The Lightweight Integrated Solar Array and Transceiver (LISA-T): Second Generation Advancements and the Future of SmallSat Power Generation

This paper describes the second generation advancements of the Lightweight Integrated Solar Array and Transceiver (LISA-T) currently being developed at NASA's Marshall Space Flight Center. LISA-T is a launch stowed, orbit deployed array on which thin-film photovoltaic and antenna elements are embedded. Inherently, small satellites are limited in surface area, volume, and mass allocation; driving competition between power, communications, and GN&C (guidance navigation and control) subsystems. This restricts payload capability and limits the value of these low-cost satellites. LISA-T is addressing this issue, deploying large-area arrays from a reduced volume and mass envelope - greatly enhancing power generation and communications capabilities of small spacecraft. A matrix of options are in development, including planar (pointed) and omnidirectional (non-pointed) arrays. The former is seeking the highest performance possible while the latter is seeking GN&C simplicity. In both cases, power generation ranges from tens of watts to several hundred with an expected specific power >250W/kg and a stowed power density >200kW/m(sub 3). Options for leveraging both high performance, 'typical cost' triple junction thin-film solar cells as well as moderate performance, low cost cells are being developed. Alongside, both UHF (ultra high frequency) and S-band antennas are being integrated into the array to move their space claim away from the spacecraft and open the door for omnidirectional communications and electronically steered phase arrays.

Carr, John A.↗
NASA NTRS2017

Deployable Propulsion and Power Systems for Solar System Exploration

NASA is developing thin-film based, deployable propulsion, power and communication systems for small spacecraft that could provide a revolutionary new capability allowing small spacecraft exploration of the solar system. The Near Earth Asteroid (NEA) Scout reconnaissance mission will demonstrate solar sail propulsion on a 6U CubeSat interplanetary spacecraft and lay the groundwork for their future use in deep space science and exploration missions. Solar sails use sunlight to propel vehicles through space by reflecting solar photons from a large, mirror-like sail made of a lightweight, highly reflective material. This continuous photon pressure provides propellantless thrust, allowing for very high delta V maneuvers on long-duration, deep space exploration. Since reflected light produces thrust, solar sails require no onboard propellant. The Lightweight Integrated Solar Array and Transceiver (LISA-T) is a launch stowed, orbit deployed array on which thin-film photovoltaic and antenna elements are embedded. Inherently, small satellites are limited in surface area, volume, and mass allocation; driving competition between power, communications, and GN&C (guidance navigation and control) subsystems. This restricts payload capability and limits the value of these low-cost satellites. LISA-T is addressing this issue, deploying large-area arrays from a reduced volume and mass envelope - greatly enhancing power generation and communications capabilities of small spacecraft. The NEA Scout mission, funded by NASA's Advanced Exploration Systems Program and managed by NASA MSFC, will use the solar sail as its primary propulsion system, allowing it to survey and image one or more NEA's of interest for possible future human exploration. NEA Scout uses a 6U cubesat (to be provided by NASA's Jet Propulsion Laboratory), an 86 sq m solar sail and will weigh less than 12 kilograms. NEA Scout will be launched on the first flight of the Space Launch System in 2018. Similar in concept to the NEA Scout solar sail, the LISA-T array is designed to fit into a very small volume and provide abundant power and omnidirectional communications in just about any deployment configuration. The technology is being proposed for flight validation as early as 2019 in a low earth orbit demonstration using a 3U cubesat, of which less than 1U will be devoted to the LISA-T power and propulsion system. By leveraging recent advancements in thin films, photovoltaics and miniaturized electronics, new mission-level capabilities will be enabled aboard lower-cost small spacecraft instead of their more expensive, traditional counterparts, enabling a new generation of frequent, inexpensive deep space missions.

Johnson, Les↗
NASA NTRS2013

Transitioning Resolution Responsibility between the Controller and Automation Team in Simulated NextGen Separation Assurance

As part of an ongoing research effort on separation assurance and functional allocation in NextGen, a controller- in-the-loop study with ground-based automation was conducted at NASA Ames' Airspace Operations Laboratory in August 2012 to investigate the potential impact of introducing self-separating aircraft in progressively advanced NextGen timeframes. From this larger study, the current exploratory analysis of controller-automation interaction styles focuses on the last and most far-term time frame. Measurements were recorded that firstly verified the continued operational validity of this iteration of the ground-based functional allocation automation concept in forecast traffic densities up to 2x that of current day high altitude en-route sectors. Additionally, with greater levels of fully automated conflict detection and resolution as well as the introduction of intervention functionality, objective and subjective analyses showed a range of passive to active controller- automation interaction styles between the participants. Not only did the controllers work with the automation to meet their safety and capacity goals in the simulated future NextGen timeframe, they did so in different ways and with different attitudes of trust/use of the automation. Taken as a whole, the results showed that the prototyped controller-automation functional allocation framework was very flexible and successful overall.

NextGen↗
NASA NTRS1991

Using C to build a satellite scheduling expert system: Examples from the Explorer Platform planning system

A C-based artificial intelligence (AI) development effort which is based on a software tools approach is discussed with emphasis on reusability and maintainability of code. The discussion starts with simple examples of how list processing can easily be implemented in C and then proceeds to the implementations of frames and objects which use dynamic memory allocation. The implementation of procedures which use depth first search, constraint propagation, context switching, and blackboard-like simulation environment are described. Techniques for managing the complexity of C-based AI software are noted, especially the object-oriented techniques of data encapsulation and incremental development. Finally, all these concepts are put together by describing the components of planning software called the Planning And Resource Reasoning (PARR) Shell. This shell was successfully utilized for scheduling services of the Tracking and Data Relay Satellite System for the Earth Radiation Budget Satellite since May of 1987 and will be used for operations scheduling of the Explorer Platform in Nov. of 1991.

Mclean, David R.↗
NASA NTRS1991

Using C to build a satellite scheduling expert system: Examples from the Explorer platform planning system

Recently, many expert systems were developed in a LISP environment and then ported to the real world C environment before the final system is delivered. This situation may require that the entire system be completely rewritten in C and may actually result in a system which is put together as quickly as possible with little regard for maintainability and further evolution. With the introduction of high performance UNIX and X-windows based workstations, a great deal of the advantages of developing a first system in the LISP environment have become questionable. A C-based AI development effort is described which is based on a software tools approach with emphasis on reusability and maintainability of code. The discussion starts with simple examples of how list processing can easily be implemented in C and then proceeds to the implementations of frames and objects which use dynamic memory allocation. The implementation of procedures which use depth first search, constraint propagation, context switching and a blackboard-like simulation environment are described. Techniques for managing the complexity of C-based AI software are noted, especially the object-oriented techniques of data encapsulation and incremental development. Finally, all these concepts are put together by describing the components of planning software called the Planning And Resource Reasoning (PARR) shell. This shell was successfully utilized for scheduling services of the Tracking and Data Relay Satellite System for the Earth Radiation Budget Satellite since May 1987 and will be used for operations scheduling of the Explorer Platform in November 1991.

Mclean, David R.↗