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NASA NTRS2011

RAPID and DDS

This talk gives an overview of the the Robot Applications Programmers Interface Delegate (RAPID) as well as the distributed systems middleware Data Distribution Service (DDS). DDS is an open software standard, RAPID is cleared for open-source release under NOSA. RAPID specifies data-structures and semantics for high-level telemetry published by NASA robotic software. These data-structures are supported by multiple robotic platforms at Johnson Space Center (JSC), Jet Propulsion Laboratory (JPL) and Ames Research Center (ARC), providing high-level interoperability between those platforms. DDS is used as the middleware for data transfer. The feature set of the middleware heavily influences the design decision made in the RAPID specification. So it is appropriate to discuss both in this introductory talk.

Utz, Hans Heinrich↗

NASA NTRS2012

Telerobotics Workstation (TRWS) for Deep Space Habitats

On medium- to long-duration human spaceflight missions, latency in communications from Earth could reduce efficiency or hinder local operations, control, and monitoring of the various mission vehicles and other elements. Regardless of the degree of autonomy of any one particular element, a means of monitoring and controlling the elements in real time based on mission needs would increase efficiency and response times for their operation. Since human crews would be present locally, a local means for monitoring and controlling all the various mission elements is needed, particularly for robotic elements where response to interesting scientific features in the environment might need near- instantaneous manipulation and control. One of the elements proposed for medium- and long-duration human spaceflight missions, the Deep Space Habitat (DSH), is intended to be used as a remote residence and working volume for human crews. The proposed solution for local monitoring and control would be to provide a workstation within the DSH where local crews can operate local vehicles and robotic elements with little to no latency. The Telerobotics Workstation (TRWS) is a multi-display computer workstation mounted in a dedicated location within the DSH that can be adjusted for a variety of configurations as required. From an Intra-Vehicular Activity (IVA) location, the TRWS uses the Robot Application Programming Interface Delegate (RAPID) control environment through the local network to remotely monitor and control vehicles and robotic assets located outside the pressurized volume in the immediate vicinity or at low-latency distances from the habitat. The multiple display area of the TRWS allows the crew to have numerous windows open with live video feeds, control windows, and data browsers, as well as local monitoring and control of the DSH and associated systems.

Mittman, David S.↗

NASA NTRS2012

Assessing Tsunami Vulnerabilities of Geographies with Shallow Water Equations

Tsunami preparedness is crucial for saving human lives in case of disasters that involve massive water movement. In this work, we develop a framework for visual assessment of tsunami preparedness of geographies. Shallow water equations (also called Saint Venant equations) are a set of hyperbolic partial differential equations that are derived by depth-integrating the Navier-Stokes equations and provide a great abstraction of water masses that have lower depths compared to their free surface area. Our specific contribution in this study is to use Microsoft's XNA Game Studio to import underwater and shore line geographies, create different tsunami scenarios, and visualize the propagation of the waves and their impact on the shore line geography. Most importantly, we utilized the computational power of graphical processing units (GPUs) as HLSL based shader files and delegated all of the heavy computations to the GPU. Finally, we also conducted a validation study, in which we have tested our model against a controlled shallow water experiment. We believe that such a framework with an easy to use interface that is based on readily available software libraries, which are widely available and easily distributable, would encourage not only researchers, but also educators to showcase ideas.

Aras, Rifat↗

NASA NTRS2014

Exploration Systems Development (ESD) Approach to Enterprise Risk Management

The National Aeronautics and Space Administration (NASA) Exploration Systems Development (ESD) Division has implemented an innovative approach to Enterprise Risk Management under a unique governance structure and streamlined integration model. ESD's mission is to design and build the capability to extend human existence to deep space. The Enterprise consists of three Programs: Space Launch System (SLS), Orion, and Ground Systems Development and Operations (GSDO). The SLS is a rocket and launch system that will be capable of powering humans, habitats, and support systems to deep space. Orion will be the first spacecraft in history capable of taking humans to multiple destinations within deep space. GSDO is modernizing Kennedy's spaceport to launch spacecraft built and designed by both NASA and private industry. ESD's approach to Enterprise Risk Management is commensurate with affordability and a streamlined management philosophy. ESD Enterprise Risk Management leverages off of the primary mechanisms for integration within the Enterprise. The Enterprise integration approach emphasizes delegation of authority to manage and execute the majority of cross-program activities and products to the individual Programs, while maintaining the overall responsibility for all cross-program activities at the Division. The intent of the ESD Enterprise Risk Management approach is to improve risk communication, to avoid replication and/or contradictory strategies, and to minimize overhead process burden. This is accomplished by the facilitation and integration of risk information within ESD. The ESD Division risks, Orion risks, SLS risks, and GSDO risks are owned and managed by the applicable Program. When the Programs have shared risks with multiple consequences, they are jointly owned and managed. When a risk is associated with the integrated system that involves more than one Program in condition, consequence, or mitigation plan, it is considered an Exploration Systems Integration (ESI) Risk. An ESI risk may require visibility and risk handling by multiple organizations. The Integrated Risk Working Group (IRWG) is a small team of Risk experts that are responsible for collaborating and communicating best practices. In addition, the forum facilitates proper integration of risks across the Enterprise. The IRWG uses a Continuous Risk Management approach for facilitating the identification, analysis, planning, tracking, and controlling of ESI Risks. The ESD Division, Programs, and Integrated Task Teams identify ESI Risks. The IRWG maintains a set of metrics for understanding Enterprise Risk process and the overall Risk Posture. The team is also actively involved in the modeling of risk for Enterprise Performance Management. With the Enterprise being constrained in Schedule and Budget, and with significant technical complexity, the appropriate use of Risk Management techniques is crucial to the success of the Enterprise. The IRWG achieves this through the modified approach, providing a forum for collaboration on risks that cross boundaries between the separate entities.

Bauder, Stephen P.↗

NASA NTRS2010

Managing the Development of the Wide-Field Infrared Survey Explorer Mission

The Wide-field Infrared Survey Explorer (WISE), a NASA Medium-Class Explorer (MIDEX) mission, is surveying the entire sky in four bands from 3.4 to 22 microns with a sensitivity hundreds to hundreds of thousands times better than previous all-sky surveys at these wavelengths. The single WISE instrument consists of a 40 cm three-mirror anastigmatic telescope, a two-stage solid hydrogen cryostat, a scan mirror mechanism, and reimaging optics giving 6" resolution (full-width-half-maximum). WISE was placed into a Sun-synchronous polar orbit on a Delta II 7320 launch vehicle on December 14, 2009. NASA selected WISE as a MIDEX in 2002 following a rigorous competitive selection process. To gain further confidence in WISE, NASA extended the development period one year with an option to cancel the mission if certain criteria were not met. MIDEX missions are led by the principal investigator who in this case delegated day-to-day management to the project manager. With a cost cap and relatively short development schedule, it was essential for all WISE partners to work seamlessly together. This was accomplished with an integrated management team representing all key partners and disciplines. The project was developed on budget and on schedule in spite of the need to surmount significant technical challenges. This paper describes our management approach, key challenges and critical decisions made. Results are described from a programmatic, technical and scientific point of view. Lessons learned are offered for projects of this type.

cryogenic↗

NASA NTRS2010

The WISE Satellite Development: Managing the Risks and the Opportunities

NASA's Wide-field Infrared Survey Explorer (WISE) MIDEX mission is surveying the entire sky in four infrared bands from 3.4 to 22 micrometers. The WISE instrument consists of a 40 cm telescope, a solid hydrogen cryostat, a scan mirror mechanism, and four 1K x1K infrared detectors. The WISE spacecraft bus provides communication, data handling, and avionics including instrument pointing. A Delta 7920 successfully launched WISE into a Sun-synchronous polar orbit on December 14, 2009. WISE was competitively selected by NASA as a Medium cost Explorer mission (MIDEX) in 2002. MIDEX missions are led by the Principal Investigator who delegates day-to-day management to the Project Manager. Given the tight cost cap and relatively short development schedule, NASA chose to extend the development period one year with an option to cancel the mission if certain criteria were not met. To meet this and other challenges, the WISE management team had to learn to work seamlessly across institutional lines and to recognize risks and opportunities in order to develop the flight hardware within the project resources. In spite of significant technical issues, the WISE satellite was delivered on budget and on schedule. This paper describes our management approach and risk posture, technical issues, and critical decisions made.

Risk Management↗

NASA NTRS2009

RAPID: Collaboration Results from Three NASA Centers in Commanding/Monitoring Lunar Assets

Three NASA centers are working together to address the challenge of operating robotic assets in support of human exploration of the Moon. This paper describes the combined work to date of the Ames Research Center (ARC), Jet Propulsion Laboratory (JPL) and Johnson Space Center (JSC) on a common support framework to control and monitor lunar robotic assets. We discuss how we have addressed specific challenges including time-delayed operations, and geographically distributed collaborative monitoring and control, to build an effective architecture for integrating a heterogeneous collection of robotic assets into a common work. We describe the design of the Robot Application Programming Interface Delegate (RAPID) architecture that effectively addresses the problem of interfacing a family of robots including the JSC Chariot, ARC K-10 and JPL ATHLETE rovers. We report on lessons learned from the June 2008 field test in which RAPID was used to monitor and control all of these assets. We conclude by discussing some future directions to extend the RAPID architecture to add further support for NASA's lunar exploration program.

Torres, R. Jay↗

NASA NTRS2015

Charter for Systems Engineer Working Group

This charter establishes the International Space Station Program (ISSP) Mobile Servicing System (MSS) Systems Engineering Working Group (SEWG). The MSS SEWG is established to provide a mechanism for Systems Engineering for the end-to-end MSS function. The MSS end-to-end function includes the Space Station Remote Manipulator System (SSRMS), the Mobile Remote Servicer (MRS) Base System (MBS), Robotic Work Station (RWS), Special Purpose Dexterous Manipulator (SPDM), Video Signal Converters (VSC), and Operations Control Software (OCS), the Mobile Transporter (MT), and by interfaces between and among these elements, and United States On-Orbit Segment (USOS) distributed systems, and other International Space Station Elements and Payloads, (including the Power Data Grapple Fixtures (PDGFs), MSS Capture Attach System (MCAS) and the Mobile Transporter Capture Latch (MTCL)). This end-to-end function will be supported by the ISS and MSS ground segment facilities. This charter defines the scope and limits of the program authority and document control that is delegated to the SEWG and it also identifies the panel core membership and specific operating policies.

Suffredini, Michael T.↗

NASA NTRS2015

PTM Along Track Algorithm to Maintain Spacing During Same Direction Pair-Wise Trajectory Management Operations

Pair-wise Trajectory Management (PTM) is a cockpit based delegated responsibility separation standard. When an air traffic service provider gives a PTM clearance to an aircraft and the flight crew accepts the clearance, the flight crew will maintain spacing and separation from a designated aircraft. A PTM along track algorithm will receive state information from the designated aircraft and from the own ship to produce speed guidance for the flight crew to maintain spacing and separation

Carreno, Victor A.↗

NASA NTRS2015

Risky Business

During my internship I worked on two major projects, recommending improvements for the Center's Risk Management Workshop and helping with the strategic planning efforts for Safety and Mission Assurance (S&MA). The risk management improvements is the key project I worked on this semester through my internship, while the strategic planning is the secondary assignment. S&MA Business Office covers both aspects in its delegation, getting both spans some of the work done in the office. A risk is a future event with a negative consequence that has some probability of occurring. Safety and Mission Assurance identifies, analyzes, plans, and tracks risk. The directorate offers the Center a Risk Management Workshop, and part of the ongoing efforts of S&MA is to make continuous improvements to the RM Workshop. By using the Project Management Institute's (PMI) Standard for Risk Management, I performed a gap analysis to make improvements for our materials. I benchmarked the PMI's Risk Management Standard, compared our Risk Management Workshop materials to PMI's standard, and identified any gaps in our material. My major findings were presented to the Business Office of S&MA for a decision on whether or not to incorporate the improvements. These suggestions were made by attending JSC working group meetings, Health, Safety and Environment (HSE) panel reviews and various risk review meetings. The improvements provide better understanding of risk management processes and enhanced risk tracking knowledge and skills. Risk management is an integral part of any engineering discipline, getting exposed to this section of engineering will greatly help shape my career in the future. Johnson Space Center is a world leader in risk management processes; learning risk management here gives me a huge advantage over my peers, as well as understanding decision making in the context of risk management will help me to be a well-rounded engineer. Strategic planning is an area I had not previously studied. Helping with the strategic planning efforts in S&MA has taught me how organizations think and function as a whole. S&MA is adopting a balanced scorecard approach to strategic planning. As part of this planning method strategic themes, objectives, and initiatives are formed. I attended strategic theme team workshops that formed the strategy map for the directorate and gave shape to the plan. Also during these workshops the objectives were discussed and built. Learning the process for strategic planning has helped me better understand how organizations and businesses function, which also helps me to be a more effective employee. Other assignments I had during my internship included completing the Safety and Mission Assurance Technical Excellent Program (STEP) Level 1, as well as doing a two week rotation through the Space Exploration division in S&MA, specifically working with a thermal protection systems (TPS) engineer. While working there, I learned about the Orion capsule and the SpaceX Dragon cargo capsule. I attended meetings to prepare the engineers for the upcoming Critical Design Reviews for both capsules and reviewed test data. Learning risk management, strategic planning, and working in the Space Exploration division has taught me about many aspects of S&MA. My internship at NASA has given me new experiences and taught me numerous subjects that I would have otherwise not learned. This opportunity has expanded my educational horizons and is helping me to become a more useful engineer and employee.

Yarbrough, Katherine↗

NASA NTRS2016

A Multi-Center Space Data System Prototype Based on CCSDS Standards

Deep space missions beyond earth orbit will require new methods of data communications in order to compensate for increasing Radio Frequency (RF) propagation delay. The Consultative Committee for Space Data Systems (CCSDS) standard protocols Spacecraft Monitor & Control (SM&C), Asynchronous Message Service (AMS), and Delay/Disruption Tolerant Networking (DTN) provide such a method. However, the maturity level of this protocol stack is insufficient for mission inclusion at this time. This Space Data System prototype is intended to provide experience which will raise the Technical Readiness Level (TRL) of this protocol set. In order to reduce costs, future missions can take advantage of these standard protocols, which will result in increased interoperability between control centers. This prototype demonstrates these capabilities by implementing a realistic space data system in which telemetry is published to control center applications at the Jet Propulsion Lab (JPL), the Marshall Space Flight Center (MSFC), and the Johnson Space Center (JSC). Reverse publishing paths for commanding from each control center are also implemented. The target vehicle consists of realistic flight computer hardware running Core Flight Software (CFS) in the integrated Power, Avionics, and Power (iPAS) Pathfinder Lab at JSC. This prototype demonstrates a potential upgrade path for future Deep Space Network (DSN) modification, in which the automatic error recovery and communication gap compensation capabilities of DTN would be exploited. In addition, SM&C provides architectural flexibility by allowing new service providers and consumers to be added efficiently anywhere in the network using the common interface provided by SM&C's Message Abstraction Layer (MAL). In FY 2015, this space data system was enhanced by adding telerobotic operations capability provided by the Robot API Delegate (RAPID) family of protocols developed at NASA. RAPID is one of several candidates for consideration and inclusion in a new international standard being developed by the CCSDS Telerobotic Operations Working Group. Software gateways for the purpose of interfacing RAPID messages with the existing SM&C based infrastructure were developed. Telerobotic monitor, control, and bridge applications were written in the RAPID framework, which were then tailored to the NAO telerobotic test article hardware, a product of Aldebaran Robotics.

Rich, Thomas M.↗

NASA NTRS2016

Function Allocation between Automation and Human Pilot for Airborne Separation Assurance

Maintaining safe separation between aircraft is a key determinant of the airspace capacity to handle air transportation. With the advent of satellite-based surveillance, aircraft equipped with the needed technologies are now capable of maintaining awareness of their location in the airspace and sharing it with their surrounding traffic. As a result, concepts and cockpit automation are emerging to enable delegating the responsibility of maintaining safe separation from traffic to the pilot; thus increasing the airspace capacity by alleviating the limitation of the current non-scalable centralized ground-based system. In this paper, an analysis of allocating separation assurance functions to the human pilot and cockpit automation is presented to support the design of these concepts and technologies. A task analysis was conducted with the help of Petri nets to identify the main separation assurance functions and their interactions. Each function was characterized by three behavior levels that may be needed to perform the task: skill, rule and knowledge based levels. Then recommendations are made for allocating each function to an automation scale based on their behavior level characterization and with the help of Subject matter experts.

Idris, Husni↗

NASA NTRS2017

Additive Manufacturing (AM) Activities and Non-Destructive Evaluation (NDE) at GSFC

NASA personnel will be meeting with a delegation from the Japan Aerospace Exploration Agency (JAXA) Office of Safety and Mission Assurance (OSMA) at Langley Research Center on 2217 through 3217. The purpose of the meeting is a technical interchange between NASA and JAXA to discuss Non-Destructive Evaluation (NDE) of Additive Manufacturing (AM) parts and the HALT process (relates to accelerated life testing). The visitors will be a small group of Japanese citizens. Goddard Space Flight Center (GSFC) has been asked to participate in the meeting, either in person or via teleconference. This presentation covers NDE efforts at GSFC and provides a cursory overview of AM and lab capabilities.

additive manufacturing↗

NASA NTRS2017

Cyber Safety and Security for Reduced Crew Operations (RCO)

NASA and the Aviation Industry is looking into reduced crew operations (RCO) that would cut today's required two-person flight crews down to a single pilot with support from ground-based crews. Shared responsibility across air and ground personnel will require highly reliable and secure data communication and supporting automation, which will be safety-critical for passenger and cargo aircraft. This paper looks at the different types and degrees of authority delegation given from the air to the ground and the ramifications of each, including the safety and security hazards introduced, the mitigation mechanisms for these hazards, and other demands on an RCO system architecture which would be highly invasive into (almost) all safety-critical avionics. The adjacent fields of unmanned aerial systems and autonomous ground vehicles are viewed to find problems that RCO may face and related aviation accident scenarios are described. The paper explores possible data communication architectures to meet stringent performance and information security (INFOSEC) requirements of RCO. Subsequently, potential challenges for RCO data communication authentication, encryption and non-repudiation are identified.

Communications↗

NASA NTRS2017

Autonomous System Technologies for Resilient Airspace Operations

Increasing autonomous systems within the aircraft cockpit begins with an effort to understand what autonomy is and developing the technology that encompasses it. Autonomy allows an agent, human or machine, to act independently within a circumscribed set of goals; delegating responsibility to the agent(s) to achieve overall system objective(s). Increasingly Autonomous Systems (IAS) are the highly sophisticated progression of current automated systems toward full autonomy. Working in concert with humans, these types of technologies are expected to improve the safety, reliability, costs, and operational efficiency of aviation. IAS implementation is imminent, which makes the development and the proper performance of such technologies, with respect to cockpit operation efficiency, the management of air traffic and data communication information, vital. A prototype IAS agent that attempts to optimize the identification and distribution of "relevant" air traffic data to be utilized by human crews during complex airspace operations has been developed.

Houston, Vincent E.↗

NASA NTRS2017

Cyber Safety and Security for Reduced Crew Operations (RCO)

Aircraft Communication↗

NASA NTRS2017

Overview of Intelligent Power Controller Development for the Deep Space Gateway

Intelligent, or autonomous, control of a spacecraft is an enabling technology that must be developed for deep space human exploration. NASAs current long term human space platform, the International Space Station, which is in Low Earth Orbit, is in almost continuous communication with ground based mission control. This allows near real-time control of all the vehicle core systems, including power, to be controlled by the ground. As focus shifts from Low Earth Orbit, communication time-lag and communication bandwidth limitations beyond geosynchronous orbit does not permit this type of operation. This presentation contains ongoing work at NASA to develop an architecture for autonomous power control and the vehicle manager which monitors, coordinates, and delegates to all the on-board subsystems to enable autonomous control of the complete spacecraft.

power management↗

NASA NTRS2016

Weather Research and Integration for Air Traffic Management

An overview of AF ATM Weather Research for Korean Airlines delegation. This was organized by NASA HQ. Will discuss previous work in aviation weather and discuss UTM weather.

convection↗