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Utilizing a Common Model Architecture for the Simulation of On-Orbit Human Spaceflight Operations
Advances in computing and simulation technology during the 1980 s promoted the development of multiple simulations for on-orbit human spaceflight operations at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC). By the late 1980 s, it became increasingly clear that redundancy risked leading to inefficiencies in dissemination and incorporation of models across simulations, institutional organizations, and spaceflight programs. Software development tools, such as the Trick Simulation Environment, began to emerge providing a generalized framework for the development, integration, and operation of simulations. Throughout the 1990s, engineering, operations, and training simulations began to migrate to Trick in order to take advantage of a common simulation environment. Due to forecasted reductions in funding to the Shuttle and International Space Station (ISS) programs in the early 2000s, the common framework that arose from this simulation migration was formalized as the Common Model Architecture (CMA). The CMA was established in order to further reduce redundancy, while promoting model sharing and enhancing model integrity. A minimal set of standards for data flows, functional interactions, and model organization based on Trick were defined for those features found to be most important in facilitating model interaction. Model-providing organizations within NASA JSC took ownership of models for their specific areas of expertise, and agreements were reached on common model sharing and usage. This paper describes the evolution of commonality enabled by the Trick Simulation Environment at JSC leading to the CMA, the standards defined by the CMA, a recent CMA simulation example, and potential application of the CMA to NASA s new Exploration program.
Simulation of Mission Phases
This position with the Simulation and Graphics Branch (ER7) at Johnson Space Center (JSC) provided an introduction to vehicle hardware, mission planning, and simulation design. ER7 supports engineering analysis and flight crew training by providing high-fidelity, real-time graphical simulations in the Systems Engineering Simulator (SES) lab. The primary project assigned by NASA mentor and SES lab manager, Meghan Daley, was to develop a graphical simulation of the rendezvous, proximity operations, and docking (RPOD) phases of flight. The simulation is to include a generic crew/cargo transportation vehicle and a target object in low-Earth orbit (LEO). Various capsule, winged, and lifting body vehicles as well as historical RPOD methods were evaluated during the project analysis phase. JSC core mission to support the International Space Station (ISS), Commercial Crew Program (CCP), and Human Space Flight (HSF) influenced the project specifications. The simulation is characterized as a 30 meter +V Bar and/or -R Bar approach to the target object's docking station. The ISS was selected as the target object and the international Low Impact Docking System (iLIDS) was selected as the docking mechanism. The location of the target object's docking station corresponds with the RPOD methods identified. The simulation design focuses on Guidance, Navigation, and Control (GNC) system architecture models with station keeping and telemetry data processing capabilities. The optical and inertial sensors, reaction control system thrusters, and the docking mechanism selected were based on CCP vehicle manufacturer's current and proposed technologies. A significant amount of independent study and tutorial completion was required for this project. Multiple primary source materials were accessed using the NASA Technical Report Server (NTRS) and reference textbooks were borrowed from the JSC Main Library and International Space Station Library. The Trick Simulation Environment and User Training Materials version 2013.0 release was used to complete the Trick tutorial. Multiple network privilege and repository permission requests were required in order to access previous simulation models. The project was also an introduction to computer programming and the Linux operating system. Basic C++ and Python syntax was used during the completion of the Trick tutorial. Trick's engineering analysis and Monte Carlo simulation capabilities were observed and basic space mission planning procedures were applied in the conceptual design phase. Multiple professional development opportunities were completed in addition to project duties during this internship through the System for Administration, Training, and Education Resources for NASA (SATERN). Topics include: JSC Risk Management Workshop, CCP Risk Management, Basic Radiation Safety Training, X-Ray Radiation Safety, Basic Laser Safety, JSC Export Control, ISS RISE Ambassador, Basic SharePoint 2013, Space Nutrition and Biochemistry, and JSC Personal Protective Equipment. Additionally, this internship afforded the opportunity for formal project presentation and public speaking practice. This was my first experience at a NASA center. After completing this internship I have a much clearer understanding of certain aspects of the agency's processes and procedures, as well as a deeper appreciation from spaceflight simulation design and testing. I will continue to improve my technical skills so that I may have another opportunity to return to NASA and Johnson Space Center.
Using Open Standards and NASA Open Source Simulation Tools to Model Artemis Base Camp Mission Timelines
The United States’ National Aeronautics and Space Administration (NASA) has announced that the Artemis Program will return humans to the Moon, establishing a persistent presence with the Artemis Base Camp (ABC), and extend human exploration to Mars. The NASA Exploration Systems Simulations (NExSyS) team at NASA’s Johnson Space Center is using internationally developed simulation interoperability standards and NASA open source simulation tools to support Artemis concept, analysis, designs, development, training, and ultimately operations. The NExSyS team has been tasked to support early ABC architecture and mission analysis using mission time lines developed by the crew operations mission planning team. The NExSyS team is developing a distributed simulation framework with initial Artemis element implementations to model the ABC mission timelines using the international simulation interoperability standard High Level Architecture (HLA), the Simulation Interoperability Standards Organization’s Space Reference Federation Object Model (SpaceFOM), the NASA open source Trick Simulation Environment, and another NASA open source interface package called TrickHLA. The ABC architecture is composed of a number of key surface elements and resources. Some examples of modeled elements (also known as entities) are landers, habitats, rovers, logistics carriers, and astronauts. Some examples of modeled transferable and consumable resources are power, water, oxygen, nitrogen, scientific samples, and food. These entities and resources are modeled in a collection of individual simulations called Federates. A coordinated collection of interoperable federates is called a Federation and when these federates are tied together in a coordinated simulation run, it is referred to as a Federation Execution. The federates communicate through HLA using data exchange formats defined by a collection of machine readable files called Federation Object Models (FOMs). These FOM files are based on extensions to the SpaceFOM. This enables the instantiation and sharing of objects and interactions between federates in the federation. These provide for entity and resource tracking, object transfer, and data collection. Federate interactions are used to trigger events and notify federates of entity or resource transfers. For the initial implementation, the constituent federates are Trick-based simulations that use TrickHLA to provide the required HLA-base interoperability. These Trick-based simulations provide the required modeling for the individual Artemis elements along with the associated element resources. These federates provide a means to explore traverses between surface elements and exploration sites as scheduled in a mission timeline and explore the affects traverse times have on the overall mission timeline. The mission time lines are modeled using a Trick input file event handling capabilities. Each timeline operation is handled as individual simulation events, and triggered based on previous event status, time of operation, and simulated task completions. In addition, the ABC Federation can be used to perform Monte Carlo analysis. The Monte Carlo tool can vary the inputs, timings, and malfunctions to show how various contingencies in the mission can affect the mission timeline.
An Influenced Future
Phobos is a vital precursor and catalyst before our next giant leap to Mars. The principle period of a Phobos' mission could be a series of robotic precursor missions for experimental perception, soil examination, ecological approval and landing site distinguishing proof. For my summer intern position at Johnson Space Center I chipped away at creating a GUNNS (General Use Nodal Network Solver) based power subsystem model for the miniATHLETE hopper, which is a conceptual (idea-based) robotic lander that will operate on Phobos. Keeping in mind the end goal to begin on my venture, I needed to comprehend my undertaking before whatever else, in which I concentrated on C++ to see how to implement the code that GUNNS generates to a Trick S_define file. Prior to coming to this internship at Johnson Space Center Dr. Edwin Zack Crues provided a class on modeling and simulation, which introduced me to the Trick simulation environment. The goal of my project was to develop a GUNNS based power subsystem model for the miniATHLETE hopper. The model needed to incorporate a solar array, battery, hopping legs, and onboard scientific instruments (sensitive measuring/recording devices). The secondary bonus goal after I completed the electrical aspect of my model was to develop a GUNNS based thermal subsystem model for the miniATHLETE hopper. Stringing the two aspects together, I would need to code up a signal aspect to make the system work as one. Accomplishing my goals would not be an easy thing, however I had successfully completed the electrical aspect model with twenty-four servos, six cameras, and multiple sensors. Venturing to complete my project has eluded me to many failures in my design to tune many things like the battery to the proper voltage and the load to the proper wattage. During this time I had touched up on advanced topics in calculus in which I implemented in the converter in my electrical model. I am currently working with my mentor Zu Qun Li to create a signal aspect to control the temperatures inside my electrical aspect model. During my time at JSC I had effectively figured out how to create subsystem models utilizing Trick and GUNNS. I obtain essential knowledge of power and thermal subsystem design for a robotic vehicle. I also learned how to work and communicate in a team effectively to accomplish a goal. Before coming to Johnson Space Center my future career and educational goals included uncertainty, however now I have a completely new look on my path to a prosperous future. My NASA experience has unquestionably impacted me to accomplish and surpass my own particular desires. After my time at Johnson Space Center I plan to apply for a coop position for NASA. This has been a dream come true that I adored each moment being at JSC realizing that I am far fit for doing things most individuals can just long for.
Designing a Distributed Space Systems Simulation in Accordance with the Simulation Interoperability Standards Organization (SISO)
Simulations are essential for engineering design. These virtual realities provide characteristic data to scientists and engineers in order to understand the details and complications of the desired mission. A standard development simulation package known as Trick is used in developing a source code to model a component (federate in HLA terms). The runtime executive is integrated into an HLA based distributed simulation. TrickHLA is used to extend a Trick simulation for a federation execution, develop a source code for communication between federates, as well as foster data input and output. The project incorporates international cooperation along with team collaboration. Interactions among federates occur throughout the simulation, thereby relying on simulation interoperability. Communication through the semester went on between participants to figure out how to create this data exchange. The NASA intern team is designing a Lunar Rover federate and a Lunar Shuttle federate. The Lunar Rover federate supports transportation across the lunar surface and is essential for fostering interactions with other federates on the lunar surface (Lunar Shuttle, Lunar Base Supply Depot and Mobile ISRU Plant) as well as transporting materials to the desired locations. The Lunar Shuttle federate transports materials to and from lunar orbit. Materials that it takes to the supply depot include fuel and cargo necessary to continue moon-base operations. This project analyzes modeling and simulation technologies as well as simulation interoperability. Each team from participating universities will work on and engineer their own federate(s) to participate in the SISO Spring 2011 Workshop SIW Smackdown in Boston, Massachusetts. This paper will focus on the Lunar Rover federate.
The General-Use Nodal Network Solver (GUNNS) Modeling Package for Space Vehicle Flow System Simulation
The General-Use Nodal Network Solver (GUNNS) is a modeling software package that combines nodal analysis and the hydraulic-electric analogy to simulate fluid, electrical, and thermal flow systems. GUNNS is developed by L-3 Communications under the TS21 (Training Systems for the 21st Century) project for NASA Johnson Space Center (JSC), primarily for use in space vehicle training simulators at JSC. It has sufficient compactness and fidelity to model the fluid, electrical, and thermal aspects of space vehicles in real-time simulations running on commodity workstations, for vehicle crew and flight controller training. It has a reusable and flexible component and system design, and a Graphical User Interface (GUI), providing capability for rapid GUI-based simulator development, ease of maintenance, and associated cost savings. GUNNS is optimized for NASA's Trick simulation environment, but can be run independently of Trick.
Simscape Modeling of a Custom Closed-Volume Tank
The library for Mathworks Simscape does not currently contain a model for a closed volume fluid tank where the ullage pressure is variable. In order to model a closed-volume variable ullage pressure tank, it was necessary to consider at least two separate cases: a vertical cylinder, and a sphere. Using library components, it was possible to construct a rough model for the cylindrical tank. It was not possible to construct a model for a spherical tank, using library components, due to the variable area. It was decided that, for these cases, it would be preferable to create a custom library component to represent each case, using the Simscape language. Once completed, the components were added to models, where filling and draining the tanks could be simulated. When the models were performing as expected, it was necessary to generate code from the models and run them in Trick (a real-time simulation program). The data output from Trick was then compared to the output from Simscape and found to be within acceptable limits.
Hexapod Robot
The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to right or up and down. The hexapod will eventually be able to track the object moving its head and body in sync with on another and being able to rotate its body at 360 degrees. This is the plans and possible end results for the hexapod robot I will be working on during my summer internship at NASA Johnson Space Center. Since working on the hexapod project I have gained an increase interest in robotics. I enjoy the process of critical thinking. Also will working on this project I was challenged in a way that made more passionate to strive even more to become an engineer. I've learned that asking questions is an important part of the learning process. Also I learn that much more is accomplished when teamwork is applied.
SISO Space Reference FOM - Tools and Testing
The Simulation Interoperability Standards Organization (SISO) Space Reference Federation Object Model (SpaceFOM) version 1.0 is nearing completion. Earlier papers have described the use of the High Level Architecture (HLA) in Space simulation as well as technical aspects of the SpaceFOM. This paper takes a look at different SpaceFOM tools and how they were used during the development and testing of the standard.The first organizations to develop SpaceFOM-compliant federates for SpaceFOM development and testing were NASA's Johnson Space Center (JSC), the University of Calabria (UNICAL), and Pitch Technologies.JSC is one of NASA's lead centers for human space flight. Much of the core distributed simulation technology development, specifically associated with the SpaceFOM, is done by the NASA Exploration Systems Simulations (NExSyS) team. One of NASA's principal simulation development tools is the Trick Simulation Environment. NASA's NExSyS team has been modifying and using Trick and TrickHLA to help develop and test the SpaceFOM.The System Modeling And Simulation Hub Laboratory (SMASH-Lab) at UNICAL has developed the Simulation Exploration Experience (SEE) HLA Starter kit, that has been used by most SEE teams involved in the distributed simulation of a Moon base. It is particularly useful for the development of federates that are compatible with the SpaceFOM. The HLA Starter Kit is a Java based tool that provides a well-structured framework to simplify the formulation, generation, and execution of SpaceFOM-compliant federates.Pitch Technologies, a company specializing in distributed simulation, is utilizing a number of their existing HLA tools to support development and testing of the SpaceFOM. In addition to the existing tools, Pitch has developed a few SpaceFOM specific federates: Space Master for managing the initialization, execution and pacing of any SpaceFOM federation; EarthEnvironment, a simple Root Reference Publisher; and Space Monitor, a graphical tool for monitoring reference frames and physical entities.Early testing of the SpaceFOM was carried out in the SEE university outreach program, initiated in SISO. Students were given a subset of the FOM, that was later extended. Sample federates were developed and frameworks were developed or adapted to the early FOM versions.As drafts of the standard matured, testing was performed using federates from government, industry, and academia. By mixing federates developed by different teams the standard could be tested with respect to functional correctness, robustness and clarity.These frameworks and federates have been useful when testing and verifying the design of the standard. In addition to this, they have since formed a starting point for developing SpaceFOM-compliant federations in several projects, for example for NASA, ESA as well as SEE.
Thermal Bekenstein-Hawking entropy from the worldsheet
We define and compute the leading sphere diagram contribution to the entropy of the BTZ black hole supported by Kalb-Ramond flux in bosonic string theory. In a winding condensate description, integrating exactly over the constant mode for the radial direction of AdS 3 reduces the problem to one of the correlation functions of winding operators in the free theory. The volume of the residual PSL(2,ℂ) gauge group of the sphere is canceled by the action of conformal transformations on the winding interaction insertions. We formulate a precise version of the replica trick in terms of (infinitesimally) non-integer winding condensates to produce the entropy of the BTZ black hole. The resulting entropy can be calculated from the one-point function of a non-local operator on the worldsheet.
An apologia for islands
Entanglement islands have played a key role in the recent derivation of the Page curve and other progress on the black hole information problem. Arising from the inclusion of connected wormhole saddles in a gravitational replica trick, islands signal that degrees of freedom in the black hole interior are not microscopically independent of the exterior Hawking radiation. Islands were originally discovered in the context of AdS/CFT coupled to an external, nongravitating reservoir, where the coupling gives graviton excitations an anomalous boundary scaling dimension (or “mass”). It has been claimed in the literature that this mass is crucial for the existence of islands and even the Page curve itself. In this paper, however, we explain how entanglement islands can also appear in setups with massless gravitons and no external reservoir, giving a number of examples including the entanglement wedges of boundary CFT regions, of radiation at null infinity in asymptotically flat spacetimes, and of radiation inside a semiclassical but gravitating spacetime. In each case, the Page curve is physically observable and can be determined with sufficiently careful experiments on many copies of the black hole. We give general arguments for the existence of gauge-invariant operators in gravity which are compactly supported to all orders in perturbation theory (whenever no isometries of the background spacetime exist) and refine a recently-proposed explicit construction of such operators. When applied to islands, these results — together with entanglement wedge reconstruction — guarantee that semiclassical operators in the island can be approximated by nonperturbative operators on the Hawking radiation.
Entanglement entropy of a color flux tube in (2+1)D Yang-Mills theory
We construct a novel flux tube entanglement entropy (FTE 2 ), defined as the excess entanglement entropy relative to the vacuum of a region of color flux stretching between a heavy quark-anti-quark pair in pure gauge Yang-Mills theory. We show that FTE 2 can be expressed in terms of correlators of Polyakov loops, is manifestly gauge-invariant, and therefore free of the ambiguities in computations of the entanglement entropy in gauge theories related to the choice of the center algebra. Employing the replica trick, we compute FTE 2 for SU(2) Yang-Mills theory in (2+1)D and demonstrate that it is finite in the continuum limit. We explore the properties of FTE 2 for a half-slab geometry, which allows us to vary the width and location of the slab, and the extent to which the slab cross-cuts the color flux tube. Following the intuition provided by computations of FTE 2 in (1+1)D, and in a thin string model, we examine the extent to which our FTE 2 results can be interpreted as the sum of an internal color entropy and a vibrational entropy corresponding to the transverse excitations of the string.
Twisting the Hubbard model into the momentum-mixing Hatsugai–Kohmoto model
The Hubbard model is a standard theoretical tool for studying materials with strong electron–electron interactions, such as cuprate superconductors. Unfortunately, interaction-driven phenomena, such as a transition into the strongly correlated Mott insulator phase, are difficult to treat with established theoretical techniques. However, the exactly solvable Hatsugai–Kohmoto model displays similar Mott physics. In this work we show how the Hatsugai–Kohmoto model can be deformed continuously into the Hubbard model. The trick is to systematically reintroduce all the momentum mixing that the original Hatsugai–Kohmoto model omits. This can be accomplished by grouping n momenta into a cell and hybridizing them, resulting in the momentum-mixing Hatsugai–Kohmoto model. We recover the Bethe ansatz ground-state energy of the one-dimensional Hubbard model to within 1% from only ten mixed momenta. Overall, the convergence scales as 1/n2 as opposed to the inverse linear behaviour of standard finite-cluster techniques. Our results for a square lattice reproduce all the known features from state-of-the-art simulations also with only a few mixed momenta. Consequently, we believe that the momentum-mixing Hatsugai–Kohmoto model offers an alternative tool for strongly correlated quantum matter.
Black Hole Airy Tail
In Jackiw-Teitelboim (JT) gravity, which is dual to a random matrix ensemble, the annealed entropy differs from the quenched entropy at low temperatures and goes negative. However, computing the quenched entropy in JT gravity requires a replica limit that is poorly understood. To circumvent this, we define an intermediate quantity called the semiquenched entropy, which has the positivity properties of the quenched entropy, while requiring a much simpler replica trick. We compute this in JT gravity in different regimes using (i) a bulk calculation involving wormholes corresponding to the Airy limit of the dual matrix integral and (ii) a boundary calculation involving one-eigenvalue instanton saddles proposed by Hernández-Cuenca, demonstrating consistency between these two calculations in their common regime of validity. We also clarify why similar one-eigenvalue instanton saddles cannot be used to compute the quenched entropy due to a breakdown of the saddle-point approximation for the one-eigenvalue instanton in the replica limit. Our results show how to use the gravitational path integral to prove that black holes in JT gravity have isolated ground states and to study their properties.
A Graph-Net with Node Embeddings to Detect False Data Injection Attacks in Photovoltaic Systems
Distributed energy resources (DER) contribute to the operational stability of the larger power grid both at utility-scale as well as commercial and residential scales in aggregated forms. These DER in-turn are susceptible to increasing cyber threats. An adversary can plug into the same local network that a field photovoltaic (PV) system uses to interconnect its data loggers and inverters and manipulate certain measurements collected from the network or trick existing irradiance and inverter readings through false data injection attacks (FDIA). Control routines that rely on these measurements can propagate the false data, impacting critical decisions that result in a suboptimal operation or even cause intentional harm leading to inverter-tripping or unscheduled loads that need to be shed. To detect FDIA in PV systems, the paper introduces an attention-based graph neural network with node embeddings and applied it to a simple prototypical DC-coupled microgrid with PV, energy storage, and load. The algorithm shows a detection accuracy of up to 98.95%. The proposed FDIA detection technique will provide micro-grid operators with an effective method to safeguard their systems, guaranteeing the secure and reliable operation.
A Black Hole Airy Tail
In Jackiw-Teitelboim (JT) gravity, which is dual to a random matrix ensemble, the annealed entropy differs from the quenched entropy at low temperatures and goes negative. However, computing the quenched entropy in JT gravity requires a replica limit that is poorly understood. To circumvent this, we define an intermediate quantity called the semi-quenched entropy, which has the positivity properties of the quenched entropy, while requiring a much simpler replica trick. We compute this in JT gravity in different regimes using i) a bulk calculation involving wormholes corresponding to the Airy limit of the dual matrix integral and ii) a boundary calculation involving one-eigenvalue instanton saddles proposed by Hernández-Cuenca, demonstrating consistency between these two calculations in their common regime of validity. We also clarify why similar one-eigenvalue instanton saddles cannot be used to compute the quenched entropy due to a breakdown of the saddle-point approximation for the one-eigenvalue instanton in the replica limit. Our results show how to use the gravitational path integral to prove that black holes in JT gravity have isolated ground states and to study their properties.
Data representations in PDP-10 MacLISP
The internal representations of the various MacLISP data types are presented and discussed. Certain implementation tradeoffs are considered. The ultimate decisions on these tradeoffs are discussed in the light of MacLISP's prime objective of being an efficient high-level language for the implementation of large systems such as MACSYMA. The basic strategy of garbage collection is outlined, with reference to the specific representations involved. Certain clever tricks are explained and justified. The address space crunch is explained and some alternative solutions explored.