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A Model-Based Systems Engineering Journey to Developing a Concept of Operations

Starting in 2017, NASA’s Human Research Program (HRP) Exploration Medical Capability (ExMC) element began a systems engineering transition from traditional, document-centric development to model-centric development when defining its foundation medical systems. These foundation medical systems define a Concept of Operations (ConOps) and identify the generic requirements for a medical system based on assumptions about a generic crew and mission environments and guidance from NASA standards (e.g., Medical “Levels of Care”). By making the transition, ExMC intends to improve communication among stakeholders about foundation medical system requirements and content. In addition, this transition will enable ExMC to lower both development and crew treatment risks for future, mission-specific medical systems. ExMC followed a Model Based Systems Engineering (MBSE) paradigm when developing the foundation medical systems. A model-based approach provides several advantages over a traditional, document-centric approach. First, when Systems Engineers (SE) develop diagrams in a model using a standard modeling language, they produce information dense pictures that facilitate understanding much more efficiently with less room for misinterpretation than text. Second, due to the evolving nature of projects, documentation becomes out of date the minute it is published. This can result in people making decisions based on information that is no longer current, especially if they are referencing a locally-stored copy of a document. A model, on the other hand, is always up to date with the latest approved changes and information. It serves as a single point of truth. Third, a model-centric approach centralizes all important information in one place. Rather than having to flip through separate ConOps documents, design specifications, requirements specifications, and the like to coordinate information, a model captures the content in one, integrated spot. This integration makes tracing information from end-to-end easier with greater reliability. The ExMC Systems Engineering Lifecycle follows a well-defined process. ExMC Systems Engineers perform all major steps of the process, regardless of the development methodology. One of the first steps in the process is developing the ConOps that describes the operation of the system from the point of view of the users. It includes a list of the users and their needs, the goals of the medical system, key assumptions about the system, and definitions of the medical system’s operational environments. For this development effort, ExMC chose to replace the traditional text-based ConOps document with a model. While the decision to change the development workflow was not difficult, implementing the structural and organizational workflows were. It required showing ExMC’s users, most of whom are not Systems Engineers, how the information they require would be presented in the model and to gain their acceptance of this approach. This paper documents key lessons learned during the ConOps transformation by focusing on how the model represents information, the agile workflow used by SEs when developing the model and how it integrates into a project plan, how leadership influenced key users to accept the transformation, and how the users interact with the model information.

Jeffrey Robert Cohen

Computational and Physics-Based Modeling for the Development of in-Space Welding Technology

Welding will be an enabling technology for in-space assembly and manufacturing (ISAM) and in-space repair operations in support of the growing Space Economy. Prospective use cases of welding include metal repair on long-duration lunar surface missions and assembly of large structures that exceed dimensions of the currently available launch vehicle envelopes such as space arrays, tall lunar transmission towers, or even large transit vehicles powered by nuclear propulsion. There is a brief history of beam welding for in-space use. Soviet and NASA astronauts performed electron beam welds (EBW) in space in the late-1960s through mid-1980s and several parabolic flights of laser beam welding (LBW) were undertaken in the USA and Canada in the early-1990s. Work has since stagnated until the recent boom of the in-space economy has demonstrated need for continued development of EBW and LBW processes, which are desirable for their compactness, low mass, low power consumption, and high wall plug efficiency. No space-based manufacturing laboratory capable of demonstrating, developing, and applying welding processes exists, and costs are high to develop and fly individual space-based trials. This drives the current approach to develop welding technology with computational and physics-based models in tandem with earth-based experiments. Several approaches are taken to complement and drive the selection of instrumentation for planned parabolic and suborbital flights. First, a thermal model of Skylab EBW experiments is established and compared to empirical data. Next, the model is used to show variation between Earth-based and in-space weld structure and properties through exploration of key variables that define the Low earth orbit and lunar surface space environments, namely temperature (40 – 400 K), pressure (10-10 to 104 Pa), and gravity (10-6 g to 1 g). Finally, physical processes associated with heat and mass transport during welding are evaluated through several case studies across the above variable ranges demonstrating need for further research.

in-space welding

A Model-based Approach to Developing the Concept of Operations for Potential Mars Sample Return

Mars Sample Return (MSR) is a proposed multi-agency effort that would return soil and rock samples from the surface of Mars to Earth. Both the complexity of the potential missions, as well as the involvement of multiple geographically distributed organizations, presents a challenge from an information management perspective. In this paper, a Model-based Systems Engineering (MBSE) approach to developing the Concept of Operations of a potential Mars Sample Return effort using the System Modeling Language(SysML) is presented.

Muirhead, Brian

Analysis of an algae-based CELSS. I - Model development

A steady state chemical model and computer program have been developed for a life support system and applied to trade-off studies. The model is based on human demand for food and oxygen determined from crew metabolic needs. The model includes modules for water recycle, waste treatment, CO2 removal and treatment, and food production. The computer program calculates rates of use and material balance for food, O2, the recycle of human waste and trash, H2O, N2, and food production/supply. A simple noniterative solution for the model has been developed using the steady state rate equations for the chemical reactions. The model and program have been used in system sizing and subsystem trade-off studies of a partially closed life support system.

Holtzapple, Mark T.

Constituent-Based Life Models Being Developed for SiC/SiC Composites

For the successful utilization of ceramic matrix composites (CMC) as hot-section components in advanced aeropropulsion engines, the CMC constituents will need to be tailored and optimized to meet all the critical property demands of each component. Under the High-Speed Research (HSR) and Advanced High-Temperature Engine Materials Technology (HITEMP) Programs, the NASA Glenn Research Center at Lewis Field initiated research to develop mechanistic models for key CMC thermostructural properties. These models would describe the effects of different constituent factors (composition, geometry, and volume fraction) and of potential application conditions (stress, time, temperature, and environment) on these properties. Particular focus was placed on both analytical and numerical modeling of state-of-the-art SiC/SiC composites where the primary load-bearing constituents are stoichiometric SiC fibers in a complex multiphase SiC matrix produced by chemical vapor infiltration and melt infiltration. Recent studies have resulted in computer-based numerical models for the elastic modulus, thermal expansion, and thermal conductivity properties of the SiC/SiC system. Additional studies have generated analytical and empirical models for the time dependence of composite rupture strength at temperatures above 2200 F (1200 C), where CMC's have an important thermostructural advantage over current nickel-based superalloys. These life models utilize thermal activation theory and fiber stress-rupture results measured at Glenn to generate Larson-Miller (L M) plots of fiber rupture strength versus q, a single time- and temperature-dependent parameter. Assuming a worse case in which the SiC matrix is cracked, rupture is then controlled by the time-dependent fracture characteristics of the fiber bundles bridging the matrix cracks. With this as the controlling mechanism, one can then use simple composite theory and the fiber L M plots to predict CMC rupture strength versus the q parameter. The dashed line shows the predicted rupture strength of a SiC/SiC composite that is reinforced by a state-of-the-art stoichiometric SiC fiber. For the q parameter, time is in hours and temperature in degrees kelvin. To generate these predictions, a two-dimensional 0 /90 composite with approximately 16 percent fiber in the applied stress direction and an air test environment were assumed. As such, it is possible to compare the model predictions against limited stress-rupture data for this CMC as shown by the data points. The good agreement confirms the rupture model at least for the selected CMC and test conditions. Thus for this particular SiC/SiC composite, one can estimate a 1000-hr rupture strength of approximately 12 ksi at 2400 F (T = 1588 K and q = 39 700 K). At lower CMC application stresses, the SiC matrix is typically uncracked, so both the fiber and matrix constituents share the composite load. In this case, CMC rupture is controlled by the constituent with the longest rupture time based on the creep rate of the composite. Measured Monkman-Grant plots of rupture time versus creep rate for the two SiC constituents have been used to develop CMC life models for this important application condition. NASA and DOD are currently using this information to establish application and material goals for more advanced CMC's that can be used at even higher temperatures.

DiCarlo, James A.

A software development and evolution model based on decision-making

Design is a complex activity whose purpose is to construct an artifact which satisfies a set of constraints and requirements. However the design process is not well understood. The software design and evolution process is the focus of interest, and a three dimensional software development space organized around a decision-making paradigm is presented. An initial instantiation of this model called 3DPM(sub p) which was partly implemented, is presented. Discussion of the use of this model in software reuse and process management is given.

Wild, J. Christian

Developing a Model-based Capability to Analyze Requirements for the Climate Observing System

Models are foundational for estimating states of the earth's climate system, both as tools to extrapolate information in time and space, and as observation 'operators' used to relate what is analyzed and predicted to what is observed. Expanding the simulation approach further, observing system simulation experiments (OSSEs) are designed to mimic the complete process of analyzing the climate state by replacing real observations with entirely simulated ones determined from a model-based depiction of nature. OSSEs provide a framework to 'fly' simulated satellite instruments through a synthetic atmosphere and investigate the trade-spaces of measurements for various satellite configurations and sampling strategies, and assess their measurement impact on modeling and forecasting capabilities. Such a tool is a crucial but as yet unfulfilled need for future mission selection and design. The components of a state-of-the-art OSSE system are being assembled at the Global Modeling and Assimilation Office (GMAO, Code 610.1) at NASA/GSFC, leveraging on the GMAO's existing modeling and data assimilation infrastructure for numerical weather prediction (NWP). The OSSE framework is based on the GMAO's Goddard Earth Observing System atmospheric general circulation model, version 5 (GEOS-5) and the Gridpoint Statistical Interpolation (GSI) observational analysis scheme, combined with the Goddard Chemistry, Aerosol, Radiation, and Transport (GOCART) model developed by the Atmospheric Chemistry and Dynamics Branch (Code 613.3). This system is an evolving, key component of Goddard's planned development of an Integrated Earth System Analysis (IESA) capability, which will bring together into a single, fully interactive system Goddard's modeling and assimilation efforts in atmosphere, ocean and chemistry and aerosols to provide a comprehensive analysis and prediction system for weather and climate In addition to providing a state-of-the-art capability for assimilating current observation types, GEOS-5, and the future IESA, provide the capability to identify the need for, and assess the potential impact of, future observing systems under consideration for improving weather and climate prediction.

Gelaro, Ronald

LADEE Multi-Domain Simulation

The Lunar Atmosphere Dust Environment Explorer (LADEE) was a small explorer class spacecraft that was launched on Sept 7, 2013 and that was de-orbited and successfully impacted the Moons surface on April 17, 2014 after completing all of the mission objectives. The low-cost rapidly prototyped hardware design used for the spacecraft was extend to the development of the software base. To achieve this goal, a Model Based Design approach was utilized to develop the onboard flight software, and out of this development a model based multipurpose simulator was created of the LADEE spacecraft and its mission environment. This simulator extended the traditional function of propagating the vehicle's kinematic and rotational states and included the electrical and thermal states propagation. Traditionally, these domains are handled by domain specific high fidelity simulations that use the states histories from other domains as input. By reducing the fidelity and abstracting the relevant features being monitored and controlled by the flight software, it was possible to model the coupling across these domains resulting in more accurate overall system behavior. A faster than real-time workstation (WSIM) version of the LADEE simulator was used to develop and test the software control algorithms in the Simulink environment. To maximize the performance of the simulation, modeling knobs were introduced to reduce the resolution of the some of the domains models when the effects of that domain were not significant for the scope of that simulation. The automatic code generation feature in Simulink was used to port the simulation to several real-time environments to support Processor-in-the-Loop (PIL) and Hardware-in-the-Loop (HIL) testing, verification and validation. The real-time environment required that the design of each of the domain models be deterministic as possible in the time required to perform all of the calculations to update its states. The simulation interface was designed to be compatible with the command interface employed by the LADEE mission operation team. The WSIM, PIL, and HIL simulators thus used a common interface and thus were used for flight software testing, for mission operations personnel training (nominal and off-nominal operations) prior to the mission and to perform command sequence verification during the mission. This presentation will look at the modeling strategies used to create a common interface to the simulator and to model and couple multiple domains within the simulation, the results of those strategies, and the lessons learned.

Multi-Domain

Model-Based GN and C Simulation and Flight Software Development for Orion Missions beyond LEO

For Orion missions beyond low Earth orbit (LEO), the Guidance, Navigation, and Control (GN&C) system is being developed using a model-based approach for simulation and flight software. Lessons learned from the development of GN&C algorithms and flight software for the Orion Exploration Flight Test One (EFT-1) vehicle have been applied to the development of further capabilities for Orion GN&C beyond EFT-1. Continuing the use of a Model-Based Development (MBD) approach with the Matlab®/Simulink® tool suite, the process for GN&C development and analysis has been largely improved. Furthermore, a model-based simulation environment in Simulink, rather than an external C-based simulation, greatly eases the process for development of flight algorithms. The benefits seen by employing lessons learned from EFT-1 are described, as well as the approach for implementing additional MBD techniques. Also detailed are the key enablers for improvements to the MBD process, including enhanced configuration management techniques for model-based software systems, automated code and artifact generation, and automated testing and integration.

Odegard, Ryan

Explicit robust schemes for implementation of a class of principal value-based constitutive models: Theoretical development

The issue of developing effective and robust schemes to implement a class of the Ogden-type hyperelastic constitutive models is addressed. To this end, explicit forms for the corresponding material tangent stiffness tensors are developed, and these are valid for the entire deformation range; i.e., with both distinct as well as repeated principal-stretch values. Throughout the analysis the various implications of the underlying property of separability of the strain-energy functions are exploited, thus leading to compact final forms of the tensor expressions. In particular, this facilitated the treatment of complex cases of uncoupled volumetric/deviatoric formulations for incompressible materials. The forms derived are also amenable for use with symbolic-manipulation packages for systematic code generation.

Saleeb, A. F.

Development of a Model Based Technique for Gear Diagnostics using the Wigner-Ville method

Imperfections in gear tooth geometry often result from errors in the manufacturing process or excessive material wear during operation. Such faults in the gear tooth geometry can result in large vibrations in the transmission system, and, in some cases, may lead to early failure of the gear transmission system. This report presents the study of the effects of imperfection in gear tooth geometry on the dynamic characteristics of a gear transmission system. The faults in the gear tooth geometry are modeled numerically as the deviation of the tooth profile from its original involute geometry. The changes in gear mesh stiffness due to various profile and pattern variations are evaluated numerically. The resulting changes in the mesh stiffness are incorporated into a computer code to simulate the dynamics of the gear transmission system. A parametric study is performed to examine the sensitivity of gear tooth geometry imperfections on the vibration of a gear transmission system. The parameters variations in this study consist of the magnitude of the imperfection, the pattern of the profile variation, and the total number of teeth affected. Numerical results from the dynamic simulations are examined in both the time and the frequency domains. A joint time-frequency analysis procedure using the Wigner-Ville Distribution is also introduced to identify the location of the damaged tooth from the vibration signature. Numerical simulations of the system dynamics with gear faults were compared to experimental results. An optimal tracker was introduced to quantify the level of damage in the gear mesh system. Conclusions are drawn from the results of this numerical study.

Choy, F.

A Model Based Systems Engineering Approach Towards Developing a Rapid Analysis and Trades Environment

In this work, an integrated and end-to-end modeling environment was developed to assess the system-level impacts of evolving requirements and design parameters. Researchers at the Georgia Institute of Technology's Aerospace Systems Design Laboratory (ASDL) collaborated with JPL engineers to develop, implement, and test a modeling environment to assess design changes to a notional Europa Mission called the Jupiter Europa Buzzer (JEB). This environment was developed using a Model-Based Systems Engineering (MBSE) approach and consists of three major components: the Systems Model, the Mission Simulator, and the Web Based Interactive Dashboard. In summary, utilizing this environment in a representative notional end-to-end scenario, performance margins were calculated in hours while maintaining consistent analytical, hardware, and operational assumptions.

Model Based System Engineering

Application of Model-Based Systems Engineering for the Development of the Asteroid Redirect Robotic Mission

Model-Based Systems Engineering (MBSE) can augment existing Systems Engineering (SE) processes to more efficiently deliver enhanced products over the project life cycle. Using a multi-user accessible System Model, MBSE has been successfully deployed for the conceptual and preliminary design development of the Asteroid Redirect Robotic Mission (ARRM). The paper provides an overview and examples of the targeted MBSE deployment for development of the mission operational concept, system description, and functional requirements. The paper also includes description of the challenges and lessons learned.

Sindiy, Oleg V.

Using Maxwell's Demon to Tame the "Devil in the Details" that are Encountered During System Development

Model-Based Systems Engineering (MBSE) is the formalized application of modeling to support system requirements, design, analysis, verification and validation activities beginning in the conceptual design phase and continuing throughout development and later life cycle phases . This presentation will discuss the value proposition that MBSE has for Systems Engineering, and the associated culture change needed to adopt it.

Model Based Systems Engineering

A Constitutive Model for the Inelastic Multiaxial Cyclic Response of a Nickel Base Superalloy Rene 80

The objective was to develop unified constitutive equations which can model a variety of nonlinear material phenomena observed in Rene 80 at elevated temperatures. A constitutive model was developed based on back stress and drag stress. The tensorial back stress was used to model directional effects; whereas, the scalar drag stress was used to model isotropic effects and cyclic hardening or softening. A flow equation and evolution equations for the state variables were developed in multiaxial form. Procedures were developed to generate the material parameters. The model predicted very well the monotonic tensile, cyclic, creep, and stress relaxation behavior of Rene 80 at 982 C. The model was then extended to 871, 760, and 538 C. It was shown that strain rate dependent behavior at high temperatures and strain rate independent behavior at the lower temperatures could be predicted very well. A large number of monotonic tensile, creep, stress relation, and cyclic experiments were predicted. The multiaxial capabilities of the model were verified extensively for combined tension/torsion experiments. The prediction of the model agreed very well for proportional, nonproportional, and pure shear cyclic loading conditions at 982 and 871 C.

Ramaswamy, V. G.

Thermal behavior spiral bevel gears

An experimental and analytical study of the thermal behavior of spiral bevel gears is presented. Experimental data were taken using thermocoupled test hardware and an infrared microscope. Many operational parameters were varied to investigate their effects on the thermal behavior. The data taken were also used to validate the boundary conditions applied to the analytical model. A finite element-based solution sequence was developed. The three-dimensional model was developed based on the manufacturing process for these gears. Contact between the meshing gears was found using tooth contact analysis to describe the location, curvatures, orientations, and surface velocities. This information was then used in a three-dimensional Hertzian contact analysis to predict contact ellipse size and maximum pressure. From these results, an estimate of the heat flux magnitude and the location on the finite element model was made. The finite element model used time-averaged boundary conditions to permit the solution to attain steady state in a computationally efficient manner.Then time- and position-varying boundary conditions were applied to the model to analyze the cyclic heating and cooling due to the gears meshing and transferring heat to the surroundings, respectively. The model was run in this mode until the temperature behavior stabilized. The transient flash temperature on the surface was therefore described. The analysis can be used to predict the overall expected thermal behavior of spiral bevel gears. The experimental and analytical results were compared for this study and also with a limited number of other studies. The experimental and analytical results attained in the current study were basically within 10% of each other for the cases compared. The experimental comparison was for bulk thermocouple locations and data taken with an infrared microscope. The results of a limited number of other studies were compared with those obtained herein and predicted the same basic behavior.

Handschuh, Robert F.