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At least 73 records · Page 4

Control Software for a High-Performance Telerobot

A computer program for controlling a high-performance, force-reflecting telerobot has been developed. The goal in designing a telerobot-control system is to make the velocity of the slave match the master velocity, and the environmental force on the master match the force on the slave. Instability can arise from even small delays in propagation of signals between master and slave units. The present software, based on an impedance-shaping algorithm, ensures stability even in the presence of long delays. It implements a real-time algorithm that processes position and force measurements from the master and slave and represents the master/slave communication link as a transmission line. The algorithm also uses the history of the control force and the slave motion to estimate the impedance of the environment. The estimate of the impedance of the environment is used to shape the controlled slave impedance to match the transmission-line impedance. The estimate of the environmental impedance is used to match the master and transmission-line impedances and to estimate the slave/environment force in order to present that force immediately to the operator via the master unit.

Kline-Schoder, Robert J.

Preliminary Design of Robotic Control Software for Mars Sample Return - Capture, Containment, and Return System

The Mars Sample Return (MSR) campaign aims to acquire and return to Earth a set of Mars samples for investigation in terrestrial laboratories. Mars 2020 has collected an adequate number of samples and deposited them in sealed sample tubes at a designated Martian depot. Sample tubes will be placed in cylindrical containers called Orbiting Samples (OS) by the Perseverance Rover, and later brought to Earth by the Earth Return Orbiter (ERO) and the MSR - Capture, Containment, and Return System (CCRS). Robot Software (RSW) is a set of software processes for commanding and monitoring the avionics that controls robotic mechanisms designed to sterilize and install OS into Earth Entry System (EES) for return to Earth. This paper describes a preliminary design of RSW including motion modes, architecture, and finite state machine. Additionally, software engineering procedures and testing of RSW is provided. A preliminary performance analysis is presented and the paper concludes with future work and a discussion of design decisions.

MSR

Generating Real-Time Robotics Control Software from SysML

In this paper, we outline an approach for autogenerating real-time robotics control code from hierarchical state machines and hardware configurations encoded in Systems Modeling Language (SysML). We propose a software architecture that provides an abstract SysML layer with access to device state information and a set of primitive device commands, such as move actuator and release brake, allowing a user to build up a complete functional state machine directly in SysML. The SysML diagram is then exported to a standard SCXML file format and subsequently used to auto-generate hardware control code. Once this architecture is in place, the only explicit code elements that need to be written are the primitive device commands, which can be easily unit tested and reused across different systems. The motivation for this work was the need for a test bed that enables the rapid prototyping of mechanisms and control algorithms for a spacecraft that could ultimately be used for preparing Martian rock samples for their return to Earth. To this end, our software system was also designed to allow for the run-time specification of the hardware layout in SysML, with the hardware-level control functions kept agnostic to the specific parameters or communication bus of any particular device. Further, we outline a system for specifying both the state machine and hardware configuration in the MagicDraw IDE in such a way that the system can be simulated before any code is generated. The resultant software system is easy to debug, understand, and allows users to choose how much information is encoded as a visual or text-based representation.

Godart, Peter

An Adaptable Power System with Software Control Algorithm

A low cost, flexible and modular spacecraft power system design was developed in response to a call for an architecture that could accommodate multiple missions in the small to medium load range. Three upcoming satellites will use this design, with one launch date in 1999 and two in the year 2000. The design consists of modular hardware that can be scaled up or down, without additional cost, to suit missions in the 200 to 600 Watt orbital average load range. The design will be applied to satellite orbits that are circular, polar elliptical and a libration point orbit. Mission unique adaptations are accomplished in software and firmware. In designing this advanced, adaptable power system, the major goals were reduction in weight volume and cost. This power system design represents reductions in weight of 78 percent, volume of 86 percent and cost of 65 percent from previous comparable systems. The efforts to miniaturize the electronics without sacrificing performance has created streamlined power electronics with control functions residing in the system microprocessor. The power system design can handle any battery size up to 50 Amp-hour and any battery technology. The three current implementations will use both nickel cadmium and nickel hydrogen batteries ranging in size from 21 to 50 Amp-hours. Multiple batteries can be used by adding another battery module. Any solar cell technology can be used and various array layouts can be incorporated with no change in Power System Electronics (PSE) hardware. Other features of the design are the standardized interfaces between cards and subsystems and immunity to radiation effects up to 30 krad Total Ionizing Dose (TID) and 35 Mev/cm(exp 2)-kg for Single Event Effects (SEE). The control algorithm for the power system resides in a radiation-hardened microprocessor. A table driven software design allows for flexibility in mission specific requirements. By storing critical power system constants in memory, modifying the system code for other programs is simple. These constants can be altered also by ground command, or in response to an anomolous event. All critical power system functions have backup hardware functions to prevent a software or computer glitch from propagating. A number of battery charge control schemes can be implemented by selecting the proper control terms in the code. The architecture allows the design engineer to tune the system response to various system components and anticipated load profiles without costly alterations. A design trade was made with the size, weight and power dissipation of the electronics versus the performance of the power bus to load variations. Linear, fine control is maintained with a streamlined electronics design. This paper describes the hardware design as well as the software control algorithm. The challenges of closing the system control loop digitally is discussed. Control loop margin and power system performance is presented. Lab measurements are shown and compared to the system response of a hardware model running actual flight software.

Castell, Karen

Intersection-Controller Software Module

An important part of the emergency-vehicle traffic-light-preemption system summarized in the preceding article is a software module executed by a microcontroller in each intersection controller. This module monitors the broadcasts from all nearby participating emergency vehicles and intersections. It gathers the broadcast data pertaining to the positions and velocities of the vehicles and the timing of traffic and pedestrian lights and processes the data into predictions of the future positions of the vehicles. Analyzing the predictions by a combination of proximity tests, map-matching techniques, and statistical calculations designed to minimize the adverse effects of uncertainties in vehicle positions and headings, the module decides whether to preempt and issues the appropriate commands to the traffic lights, pedestrian lights, and electronic warning signs at the intersection. The module also broadcasts its state to all nearby vehicles and intersections. The module is designed to mitigate the effects of missing data and of unpredictable delays in the system. It has been intensively tested and refined so that it fails to warn in very few cases and issues very few false warnings.

Bachelder, Aaron

Autonomous Navigation, Guidance, and Control Software in a Low SWaP Box

Onboard autonomy is a necessity for responsive space operations. Autonomous navigation, guidance, and control (NGC) enables space missions to reduce their dependence on high demand ground assets and costly ground personnel. It also allows for in-situ decision making and higher return on mission data. A flight software and hardware system providing this capability, called “autoNGC,” is currently being developed at NASA Goddard Space Flight Center for infusion into multiple future missions. The autoNGC flight software is built on the plug-and-play architecture of the core Flight System (cFS) consisting of the standard cFS apps and newly developed autoNGC interface apps and libraries. The various apps cooperate through communication over the message-based software bus. With the plug-and-play architecture of autoNGC, cFS apps can easily be added and replaced to meet the needs of different missions, even after launch. The first flight software release of autoNGC is targeted for Summer 2024 to provide autonomous navigation at the Moon and beyond. It can perform sensor fusion of multiple measurement types including pseudo-range from a Global Navigation Satellite System (GNSS) receiver (including weak signal), 1-way and 2-way range and Doppler from ground stations (i.e., direct to Earth (DTE)), bearing and range from optical camera images, and accelerometer data. Accurate onboard navigation and timing is obtained through the Goddard Enhanced Onboard Navigation System (GEONS) software library which fuses different measurement types through an extended Kalman filter (EKF) framework. Optical measurements that are ingested in GEONS are first extracted from optical images by the cFS Goddard Image Analysis and Navigation Tool (cGIANT) app. If the imaged body is far enough away that it appears as a pixel or cluster of pixels, then bearing angles to the body centroid can be provided. If the body is close enough and the shape is known coarsely, then bearing angles and range to the body centroid can be derived from the limb. Bearing angles to individual surface features can also be extracted (i.e., terrain relative navigation (TRN)). Onboard guidance and control capabilities are being developed for a future release to perform autonomous station-keeping and trajectory correction maneuvers in multiple orbital regimes. Capabilities to enable distributed systems missions and constellations, such as crosslink measurements, and onboard time management are being developed as well. The first hardware implementation of autoNGC is a minimal size, weight, and power (SWaP) design allowing for inclusion into CubeSats and SmallSat-size buses. Advancements in miniaturized space processors, such as the SpaceCube 3.0 Mini and the SpaceCube Mini-Z are utilized for low SWaP while maintaining a high level of performance. The current enclosure design is 12 cm x 17 cm x 13.5 cm. The box mass is expected to be less than 2 kg, and the nominal power is 21 W. In order to accommodate a wide range of missions, the hardware interfaces are designed for flexibility with a variety of sensor inputs. Through comprehensive testing in the software-in-the-loop, processor-in-the-loop, and hardware-in-the-loop test beds that are concurrently being developed, autoNGC is expected to achieve TRL 6 by late 2024.

Sun Hur-Diaz

Command and Control Software Development Memory Management

This internship was initially meant to cover the implementation of unit test automation for a NASA ground control project. As is often the case with large development projects, the scope and breadth of the internship changed. Instead, the internship focused on finding and correcting memory leaks and errors as reported by a COTS software product meant to track such issues. Memory leaks come in many different flavors and some of them are more benign than others. On the extreme end a program might be dynamically allocating memory and not correctly deallocating it when it is no longer in use. This is called a direct memory leak and in the worst case can use all the available memory and crash the program. If the leaks are small they may simply slow the program down which, in a safety critical system (a system for which a failure or design error can cause a risk to human life), is still unacceptable. The ground control system is managed in smaller sub-teams, referred to as CSCIs. The CSCI that this internship focused on is responsible for monitoring the health and status of the system. This team's software had several methods/modules that were leaking significant amounts of memory. Since most of the code in this system is safety-critical, correcting memory leaks is a necessity.

Programmin

Development of visual 3D virtual environment for control software

Virtual environments for software visualization may enable complex programs to be created and maintained. A typical application might be for control of regional electric power systems. As these encompass broader computer networks than ever, construction of such systems becomes very difficult. Conventional text-oriented environments are useful in programming individual processors. However, they are obviously insufficient to program a large and complicated system, that includes large numbers of computers connected to each other; such programming is called 'programming in the large.' As a solution for this problem, the authors are developing a graphic programming environment wherein one can visualize complicated software in virtual 3D world. One of the major features of the environment is the 3D representation of concurrent process. 3D representation is used to supply both network-wide interprocess programming capability (capability for 'programming in the large') and real-time programming capability. The authors' idea is to fuse both the block diagram (which is useful to check relationship among large number of processes or processors) and the time chart (which is useful to check precise timing for synchronization) into a single 3D space. The 3D representation gives us a capability for direct and intuitive planning or understanding of complicated relationship among many concurrent processes. To realize the 3D representation, a technology to enable easy handling of virtual 3D object is a definite necessity. Using a stereo display system and a gesture input device (VPL DataGlove), our prototype of the virtual workstation has been implemented. The workstation can supply the 'sensation' of the virtual 3D space to a programmer. Software for the 3D programming environment is implemented on the workstation. According to preliminary assessments, a 50 percent reduction of programming effort is achieved by using the virtual 3D environment. The authors expect that the 3D environment has considerable potential in the field of software engineering.

Hirose, Michitaka

Developing real-time control software for Space Station Freedom carbon dioxide removal

This paper presents AiResearch experience to date in using the NASA/Boeing Application Generator (AG) to develop real-time control systems for the Carbon Dioxide Removal Assembly (CDRA) in Work Package 01. The AG provides an integrated design and development tool encompassing: system analysis, modeling, control law design, simulation, code generation, real-time hardware-in-the-loop simulation and operation, and documentation. This allows rapid interactive prototyping of real-time control systems in a single, integrated, environment. Advantages and disadvantages of using the AG for real-time control system development will be addressed, with the CDRA specification to delivery cycle serving as a basis for discussion. Suggestions for improving the AG are offered and observations on its potential as a top-level system specification tool are made.

Rowe, Steven A.

Dynamic Assurance of Autonomous Systems Through Ground Control Software

Assurance cases have emerged as a way to build trust in complex autonomous systems. Many assurance case justifications for such systems need to be constantly reevaluated based on the current system context and performance. Autonomous systems, especially those deployed in remote environments, often have a ground control system that enables monitoring and remote operations. In this paper, we propose a dynamic assurance framework that aims at connecting the assurance case with the ground control system. We use the ground control system to facilitate dynamic evaluation of quantitative assurance measures that support various justifications in the assurance case. We demonstrate the proposed dynamic assurance framework on the NASA Ames Research Center project Troupe. We use a combination of in-house and external tools to identify the assurance measures, formalize the related requirements, and generate monitors that feed the data to the external ground control system.

dynamic assurance case

Monitor and control software for ground systems in the Deep Space Network

Currently, the NMC is being utilized for 24/7 operations at the three main DSN complexes supporting all of the major spacecraft supported and managed by JPL. A portable version of NMC is being exercised in a Compatibility Test Trailer for off-site monitor and control. Remote monitoring of the three complexes at JPL is accomplished as part of the NMC infrastructure.

monitor and control infrastructure spacecraft oper

Jitter Controller Software

Sinusoidal jitter is produced by simply modulating a clock frequency sinusoidally with a given frequency and amplitude. But this can be expressed as phase jitter, frequency jitter, or cycle-to-cycle jitter, rms or peak, absolute units, or normalized to the base clock frequency. Jitter using other waveforms requires calculating and downloading these waveforms to an arbitrary waveform generator, and helping the user manage relationships among phase jitter crest factor, frequency jitter crest factor, and cycle-to-cycle jitter (CCJ) crest factor. Software was developed for managing these relationships, automatically configuring the generator, and saving test results documentation. Tighter management of clock jitter and jitter sensitivity is required by new codes that further extend the already high performance of space communication links, completely correcting symbol error rates higher than 10 percent, and therefore typically requiring demodulation and symbol synchronization hardware to operating at signal-to-noise ratios of less than one. To accomplish this, greater demands are also made on transmitter performance, and measurement techniques are needed to confirm performance. It was discovered early that sinusoidal jitter can be stepped on a grid such that one can connect points by constant phase jitter, constant frequency jitter, or constant cycle-cycle jitter. The tool automates adherence to a grid while also allowing adjustments off-grid. Also, the jitter can be set by the user on any dimension and the others are calculated. The calculations are all recorded, allowing the data to be rapidly plotted or re-plotted against different interpretations just by changing pointers to columns. A key advantage is taking data on a carefully controlled grid, which allowed a single data set to be post-analyzed many different ways. Another innovation was building a software tool to provide very tight coupling between the generator and the recorded data product, and the operator's worksheet. Together, these allowed the operator to sweep the jitter stimulus quickly along any of three dimensions and focus on the response of the system under test (response was jitter transfer ratio, or performance degradation to the symbol or codeword error rate). Additionally, managing multi-tone and noise waveforms automated a tedious manual process, and provided almost instantaneous decision- making control over test flow. The code was written in LabVIEW, and calls Agilent instrument drivers to write to the generator hardware.

Lansdowne, Chatwin

A Space Station robot walker and its shared control software

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Xu, Yangsheng

Command and Control Software Development

The future of the National Aeronautics and Space Administration (NASA) depends on its innovation and efficiency in the coming years. With ambitious goals to reach Mars and explore the vast universe, correct steps must be taken to ensure our space program reaches its destination safely. The interns in the Exploration Systems and Operations Division at the Kennedy Space Center (KSC) have been tasked with building command line tools to ease the process of managing and testing the data being produced by the ground control systems while its recording system is not in use. While working alongside full-time engineers, we were able to create multiple programs that reduce the cost and time it takes to test the subsystems that launch rockets to outer space.

Wallace, Michael