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At least 91 records · Page 5

The K9 On-Board Rover Architecture

This paper describes the software architecture of NASA Ames Research Center s K9 rover. The goal of the onboard software architecture team was to develop a modular, flexible framework that would allow both high- and low-level control of the K9 hardware. Examples of low-level control are the simple drive or pan/tilt commands which are handled by the resource managers, and examples of high-level control are the command sequences which are handled by the conditional executive. In between these two control levels are complex behavioral commands which are handled by the pilot, such as drive to goal with obstacle avoidance or visually servo to a target. This paper presents the design of the architecture as of Fall 2000. We describe the state of the architecture implementation as well as its current evolution. An early version of the architecture was used for K9 operations during a dual-rover field experiment conducted by NASA Ames Research Center (ARC) and the Jet Propulsion Laboratory (JPL) from May 14 to May 16, 2000.

Bresina, John L.

Open Source Principles Utilized by the CERES Edition 5 Level-3 Framework

The Clouds and the Earth’s Radiant Energy System (CERES) Science Team integrates and fuses observations from six CERES instruments aboard the Terra, Aqua, S-NPP, and NOAA-20 missions with data from twenty-five geostationary imagers, in creating a nearly 25-year, ongoing record of the Earth’s radiation budget. In preparation for the next version of CERES data products, the team has been exploring software development methods leveraging open-source principles and software to streamline data product configuration and algorithm implementation. This effort will provide robust software for production while maintaining greater flexibility for the algorithm developers to explore new science.

T. Nelson Hillyer

Open Source Principles Utilized by the CERES Edition 5 Level-3 Framework

The Clouds and the Earth’s Radiant Energy System (CERES) Science Team integrates and fuses observations from six CERES instruments aboard the Terra, Aqua, S-NPP, and NOAA-20 missions with data from twenty-five geostationary imagers, in creating a nearly 25-year, ongoing record of the Earth’s radiation budget. In preparation for the next version of CERES data products, the team has been exploring software development methods leveraging open-source principles and software to streamline data product configuration and algorithm implementation. This effort will provide robust software for production while maintaining greater flexibility for the algorithm developers to explore new science.

Thomas N Hillyer

Flight Software for the LADEE Mission

The Lunar Atmosphere and Dust Environment Explorer (LADEE) spacecraft was launched on September 6, 2013, and completed its mission on April 17, 2014 with a directed impact to the Lunar Surface. Its primary goals were to examine the lunar atmosphere, measure lunar dust, and to demonstrate high rate laser communications. The LADEE mission was a resounding success, achieving all mission objectives, much of which can be attributed to careful planning and preparation. This paper discusses some of the highlights from the mission, and then discusses the techniques used for developing the onboard Flight Software. A large emphasis for the Flight Software was to develop it within tight schedule and cost constraints. To accomplish this, the Flight Software team leveraged heritage software, used model based development techniques, and utilized an automated test infrastructure. This resulted in the software being delivered on time and within budget. The resulting software was able to meet all system requirements, and had very problems in flight.

LADEE

Application of Agile for Systems Engineering, Project Management and Modeling and Lessons Learned

The Systems Engineering team within the Human Research Program (HRP) Exploration Medical Capability (ExMC) Element has been transforming its development processes to be more efficient, robust,and responsive to change and to its stakeholders. To these ends, the Systems Engineering team trialed the integration of agile development techniques into existing and new processes. Agile development methods are well understood within the software development community. Outside ofsoftware development, however, how non-software project management (PM) and systems engineering (SE) teams implement agile development techniques is less well understood. In its transformation efforts, the ExMC SE team focused on three main areas: Improving the project communications among subsystem teams and stakeholders by adopting a scrum-like process, Changing the status and reporting mechanisms to improve schedule coordination between the subsystem team, SE leadership, and ExMC Element leadership, and Unifying the model-based SE workflow to improve understanding of Concepts of Operations across projects.This presentation highlights several of these transformations and what the SE team learned while undergoing the transformation.

S Lumpkins

Multidisciplinary Concurrent Design Optimization via the Internet

A methodology is presented which uses commercial design and analysis software and the Internet to perform concurrent multidisciplinary optimization. The methodology provides a means to develop multidisciplinary designs without requiring that all software be accessible from the same local network. The procedures are amenable to design and development teams whose members, expertise and respective software are not geographically located together. This methodology facilitates multidisciplinary teams working concurrently on a design problem of common interest. Partition of design software to different machines allows each constituent software to be used on the machine that provides the most economy and efficiency. The methodology is demonstrated on the concurrent design of a spacecraft structure and attitude control system. Results are compared to those derived from performing the design with an autonomous FORTRAN program.

Woodard, Stanley E.

Software Development and Testing Support for the Avionics Systems Telemetry Tool Suite

The Customer Avionics Interface Development and Analysis (CAIDA) team helps to provide modeling and simulation software for the verification of the Launch Control System (LCS). With a new iteration of telemetry tools being developed, extensive work must be done to ensure features are implemented in an efficient manner. The authors worked to develop new functionalities in the telemetry tools, update documentation, and perform various tests on the CAIDA Advanced Telemetry Tool (CATT). This was accomplished with Python through built-in library frameworks. In addition, work needed to be performed to set up a training document for new engineers and interns joining the team in the future. The outcome of this internship was the completion of several new features, unit and functional tests on CATT, thorough documentation, and a developer’s guide to programming under CAIDA.

Negron-Martinez, Antonio Jose

A Genuine TEAM Player

Qualtech Systems, Inc. developed a complete software system with capabilities of multisignal modeling, diagnostic analysis, run-time diagnostic operations, and intelligent interactive reasoners. Commercially available as the TEAMS (Testability Engineering and Maintenance System) tool set, the software can be used to reveal unanticipated system failures. The TEAMS software package is broken down into four companion tools: TEAMS-RT, TEAMATE, TEAMS-KB, and TEAMS-RDS. TEAMS-RT identifies good, bad, and suspect components in the system in real-time. It reports system health results from onboard tests, and detects and isolates failures within the system, allowing for rapid fault isolation. TEAMATE takes over from where TEAMS-RT left off by intelligently guiding the maintenance technician through the troubleshooting procedure, repair actions, and operational checkout. TEAMS-KB serves as a model management and collection tool. TEAMS-RDS (TEAMS-Remote Diagnostic Server) has the ability to continuously assess a system and isolate any failure in that system or its components, in real time. RDS incorporates TEAMS-RT, TEAMATE, and TEAMS-KB in a large-scale server architecture capable of providing advanced diagnostic and maintenance functions over a network, such as the Internet, with a web browser user interface.

Source record

Biomechanical Modeling of the Deadlift Exercise to Improve the Efficacy of Resistive Exercise Microgravity Countermeasures

During long-duration spaceflight missions, astronauts exposure to microgravity without adequate countermeasures can result in losses of muscular strength and endurance, as well as loss of bone mass. As a countermeasure to this challenge, astronauts engage in resistive exercise during spaceflight to maintain their musculoskeletal function. The Hybrid Ultimate Lifting Kit (HULK) has been designed as a prototype exercise device for an exploration-class vehicle; the HULK features a much smaller footprint than previous devices such as the Advanced Resistive Exercise Device (ARED) on the International Space Station (ISS), which makes the HULK suitable for extended spaceflight missions in vehicles with limited volume. As current ISS exercise countermeasure equipment represents an improvement over previous generations of such devices, the ARED is being employed as a benchmark of functional performance. This project involves the development of a biomechanical model of the deadlift exercise, and is novel in that it is the first exercise analyzed in this context to include the upper limbs in the loading path, in contrast to the squat, single-leg squat, and heel raise exercises also being modeled by our team. OpenSim software is employed to develop these biomechanical models of humans performing resistive exercises to assess and improve the new exercise device designs. Analyses include determining differences in joint and muscle forces when using different loading strategies with the device, comparing and contrasting with the ARED benchmark, and determining whether the loading is sufficient to maintain musculoskeletal health. During data collection, the number of repetitions, load, cadence, stance, and grip width are controlled in order to facilitate comparisons between loading configurations. To date, data have been collected for two human subjects performing the deadlift exercise on the HULK device using two different loading conditions. Recorded data include motion capture, electromyography (EMG), ground reaction forces, device load cell data, photos and videos, and anthropometric data. Work is ongoing to perform biomechanical analyses including inverse kinematics and inverse dynamics to compare different versions of the deadlift model in order to determine which provides an appropriate level of detail to study this exercise. This work is supported by the National Space Biomedical Research Institute through NCC 9-58.

physical exercise

OOD/OOP experience in the Science Operations Center part of the ground system for X ray Timing Explorer mission

The Science Operations Center (SOC) for the X-ray Timing Explorer (XTE) mission is an important component of the XTE ground system. Its mandate includes: (1) command and telemetry for the three XTE instruments, using CCSDS standards; (2) monitoring of the real-time science operations, reconfiguration of the experiment and the instruments, and real-time commanding to address the targets of opportunity (TOO) and alternate observations; and (3) analysis, processing, and archival of the XTE telemetry, and the timely delivery of the data products to the principal investigator (PI) teams and the guest observers (GO). The SOC has two major components: the science operations facility (SOF) that addresses the first two objectives stated above and the guest observer facility (GOF) that addresses the third. The SOF has subscribed to the object oriented design and implementation; while the GOF uses the traditional approach in order to take advantage of the existing software developed in support of previous missions. This paper details the SOF development using the object oriented design (OOD), and its implementation using the object oriented programming (OOP) in C++ under Unix environment on client-server architecture using Sun workstations. It also illustrates how the object oriented (OO) and the traditional approaches coexist in SOF and GOF, the lessons learned, and how the OOD facilitated the distributed software development collaboratively by four different teams. Details are presented for the SOF system, its major subsystems, its interfaces with the rest of the XTE ground data system, and its design and implementation approaches.

Choudhary, Abdur Rahim

Analysis of the Value Added When Deploying a Model-Based Approach for the Validation and Verification of the Medical Database Software

The Medical Database (MD) is a virtual repository consisting of two software components: Medical Item Database (MedID) and the Evidence Library (EL). MedID consists of engineering data and associated information for specific medical resource items (e.g., pharmaceutical, medical devices, and supporting components), while the EL is a tool which provides all of the medical evidence necessary. The MD will 1) serve as the single “source of truth” for the Informing Mission Planning via Analysis of Complex Tradespaces (IMPACT) tool suite for both medical evidence and medical resource engineering data and 2) will be used in conjunction with the IMPACT tool suite to inform research prioritizations and perform systematic trade study evaluations to aid stakeholders in making informed decisions regarding simulated human spaceflight missions. The MD project used a Model-Based Systems Engineering (MBSE) approach to support all life cycles of the software development, while in parallel the human factors engineering team used modeling to support Human Centered Design (HCD) strategies in an effort to improve software usability. HCD is a frequently used approach in design frameworks that develops resolutions to complexities and challenges by involving the human perspective in all steps of the problem-solving process. By integrating the model-based approaches used for systems engineering and human factors activities, the project is able to leverage the model-based artifacts originally created for HCD activities for system level and human factors validation. In this presentation, our team highlights the value added when leveraging these model-based artifacts to support the on-going verification and validation activities.

C. Laing

Benefits of using Electronic Data Sheets (EDS) with coreFlight Systems (cFS) - A Project Example

Recently there has been interest in the incorporation of core Flight Systems (cFS) with Spacecraft Onboard Interface Services (SOIS) Electronic Data Sheets (EDS) in the spaceflight software community. The Regenerative Fuel Cell project at the Glenn Research Center is using cFS architecture with EDS support for its monitoring and control software. The presentation will outline the benefits to using cFS with EDS support: First, EDS establishes a single source of truth for the definitions of data structures used throughout an entire mission that may otherwise be programmed in different languages and designed with different processor architectures. Not only does this help with inter-application communication via the software bus, but it also greatly simplifies communication between systems. An EDS Application Programming Interface (API) library allows the conversion of EDS data structures to and from native data structures. Second, bindings for other programming languages (e.g. Lua, Python, JSON) have been written to allow the creation and manipulation of EDS data objects within those languages. The RFC project uses Lua scripts to automatically generate binary configuration files at build time to be loaded into our cFS programs. We also use Python bindings in a graphical user interface (GUI) to allow an operator to send commands and view telemetry messages sent from cFS instances. Finally, using Lua scripts we can set up specific simulation scenarios to perform automatic functional testing. During the development of the RFC software, the software team put together a generic python GUI called “cFS-EDS-GroundStation” that provides a basic interface to an instance of cFS with EDS support. The GUI includes a basic telecommand and telemetry system that reads directly from the generated EDS databases. In the telecommand system, dropdown menus are populated with all user commands that are defined in EDS. In the telemetry system, telemetry messages are automatically decoded, written to the screen, and saved to a binary file. Additional Python scripts have been written to convert the binary data files into a comma separated value (CSV) format for further processing. We will demonstrate the basic use of the cFS-EDS-GroundStation software including adding additional commands and telemetry payload values in EDS and see them appear automatically in the cFS-EDS-Groundstation software. About the RFC project: The Regenerative Fuel Cell project is tasked with developing and demonstrating a power system consisting of a fuel cell and electrolyzer to provide power during a lunar day/night cycle. During the night, the fuel cell takes Hydrogen and Oxygen gasses and converts them into electricity, water, and heat. During the day, the electrolyzer takes input power (e.g. from a photovoltaic array) and converts water back into Hydrogen and Oxygen gasses.

Mathew Mccaskey

Prototype maneuver decomposition algorith for genesis

This paper addresses a prototype of a maneuver decomposition algorithm developed by the Genesis Navigation Team at JPL. The algorithm described herein is an early prototype designed to support navigation analyses and to provide the basis for later development of operational software by the Spacecraft Team. The basis algorithm is applicable to any spin-stabilized spacecraft with axisymmetric thrusters.

Genesis

Transportable Payload Operations Control Center reusable software: Building blocks for quality ground data systems

The Mission Operations Division (MOD) at Goddard Space Flight Center builds Mission Operations Centers which are used by Flight Operations Teams to monitor and control satellites. Reducing system life cycle costs through software reuse has always been a priority of the MOD. The MOD's Transportable Payload Operations Control Center development team established an extensive library of 14 subsystems with over 100,000 delivered source instructions of reusable, generic software components. Nine TPOCC-based control centers to date support 11 satellites and achieved an average software reuse level of more than 75 percent. This paper shares experiences of how the TPOCC building blocks were developed and how building block developer's, mission development teams, and users are all part of the process.

Mahmot, Ron

Reactive control and reasoning assistance for scientific laboratory instruments

Scientific laboratory instruments that are involved in chemical or physical sample identification frequently require substantial human preparation, attention, and interactive control during their operation. Successful real-time analysis of incoming data that supports such interactive control requires: (1) a clear recognition of variance of the data from expected results; and (2) rapid diagnosis of possible alternative hypotheses which might explain the variance. Such analysis then aids in decisions about modifying the experiment protocol, as well as being a goal itself. This paper reports on a collaborative project at the NASA Ames Research Center between artificial intelligence researchers and planetary microbial ecologists. Our team is currently engaged in developing software that autonomously controls science laboratory instruments and that provides data analysis of the real-time data in support of dynamic refinement of the experiment control. the first two instruments to which this technology has been applied are a differential thermal analyzer (DTA) and a gas chromatograph (GC). coupled together, they form a new geochemicstry and microbial analysis tool that is capable of rapid identification of the organiz and mineralogical constituents in soils. The thermal decomposition of the minerals and organics, and the attendance release of evolved gases, provides data about the structural and molecular chemistry of the soil samples.

Thompson, David E.

Modeling contamination migration on the Chandra X-Ray Observatory

During its first 5 years of operation, the cold (-60 C) optical blocking filter of the Advanced CCD Imaging Spectrometer (ACIS), on board the Chandra X-ray Observatory, has accumulated a contaminating layer that attenuates the low-energy x rays. To assist in assessing the likelihood of successfully baking off the contaminant, members of the Chandra Team developed contamination-migration simulation software. The simulation follows deposition onto and (temperature-dependent) vaporization from surfaces comprising a geometrical model of the Observatory. A separate thermal analysis, augmented by on-board temperature monitoring, provides temperatures for each surface of the same geometrical model. This paper describes the physical basis for the simulations, the methodologies, and the predicted migration of the contaminant for various bake-out scenarios and assumptions.

O'Dell, Stephen L.

Workflow-Based Software Development Environment

The Software Developer's Assistant (SDA) helps software teams more efficiently and accurately conduct or execute software processes associated with NASA mission-critical software. SDA is a process enactment platform that guides software teams through project-specific standards, processes, and procedures. Software projects are decomposed into all of their required process steps or tasks, and each task is assigned to project personnel. SDA orchestrates the performance of work required to complete all process tasks in the correct sequence. The software then notifies team members when they may begin work on their assigned tasks and provides the tools, instructions, reference materials, and supportive artifacts that allow users to compliantly perform the work. A combination of technology components captures and enacts any software process use to support the software lifecycle. It creates an adaptive workflow environment that can be modified as needed. SDA achieves software process automation through a Business Process Management (BPM) approach to managing the software lifecycle for mission-critical projects. It contains five main parts: TieFlow (workflow engine), Business Rules (rules to alter process flow), Common Repository (storage for project artifacts, versions, history, schedules, etc.), SOA (interface to allow internal, GFE, or COTS tools integration), and the Web Portal Interface (collaborative web environment

Izygon, Michel E.

X-57 Traction Power and Command Systems Development

This paper describes the final, as-built design of the X‑57 Maxwell aircraft power and command system architecture that implements the electrified propulsion capability. The development of the traction power, command, and avionics power subsystems proceeded as planned at the initial project critical design review, but improvements to the design were identified following the development of detailed operations concepts and integrated subsystem and system testing. The redundant architecture with A‑side and B‑side buses provided a robust framework for a developmental system that would turn out to have a lower technology readiness than had been assumed upon project formulation. As the project team identified reliability or performance gaps in the electrified propulsion powertrain components and their interactions with the other vehicle systems, the traction power, command, and avionics architectures were modified to accommodate the modified systems. Following the publication of the planned design approach at the critical design review milestone [1], the project team developed the flight hardware and software, integrated the systems, and adjusted the design and qualification activities to address gaps in the components, system architecture, and requirements as the gaps were realized. In addition to inherent challenges in development of these subsystems, the integration of this new technology with adjacent critical systems in an aircraft configuration posed additional challenges that drove design considerations across the subsystem development and the other vehicle systems. Integration complications included electromagnetic compatibility, thermal performance, and tolerance of single-point failures internal and external to the powerplant. Development of a qualification program was required for the new motors, inverters, and batteries, and hardware performance during component qualification fed back into the development process and led lessons learned and redesign of key elements.

distributed propulsion