Report from the Fall 1999 Embedded Systems Conference
This report contains a lot of technical content, but it also contains substantial amounts of information of interest to managers.
embedded system software↗
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Embedded Control of a Miniature Science Rover for Planetary Exploration
A rover prototype has been integrated into a package of several hundred grams in mass. Aspects of the embedded rover control and software implementation are discussed which enable mobility and operation of science instruments for navigation and surface exploration.
Rovers Planetary Exploration↗
Wearable Biosensor Monitor to Support Autonomous Crew Health and Readiness to Perform
For future human exploration missions, NASA needs a health monitoring system composed of hardware that is compact, fully interoperable with an integrated data management system, and requires minimal consumables. Such a system will be achieved through the integration of small, easy to use biomedical sensors that will have the ability to measure, store and transmit physiological parameters during operational and ambulatory activity. Since 2012, the Canadian Space Agency (CSA) has been active in funding the development of wearable biomonitoring sensors. The Astroskin is the first prototype and consists of a shirt-based garment and headband with embedded sensors, and associated software and technology that measure vital signs, sleep quality and activity level of the wearer. NASA and CSA have been collaborating since 2014 to test and validate this system in a lab environment at Ames Research Center and more recently in the Human Exploration Research Analog (HERA) located at Johnson Spaceflight Center. Specific objectives of the HERA study were: 1) to assess the performance of the Astroskin biosensor system for long-term health monitoring (24-hours) capabilities and during exercise as a measure of crew fitness; 2) to obtain crew feedback on comfort and usability of the Astroskin system; 3) to demonstrate performance of Bluetooth communication during real-time transmission and for verification of data in this environment; and 4) to obtain baseline data for further development of algorithms and tools that facilitate decision support for diagnosing and monitoring of a sick or injured crewmember. HERA Campaign 3 included four missions (each 30-days in duration) with four crewmembers assigned to each mission. A total of 9 men and 7 women participated in the Astroskin evaluation that included continuous physiological monitoring (24-hours) on mission days MD-11, MD1 (high workload), MD15 (low workload), MD19, MD29, and MD+7. Mission days 19 and 29 also included 30 minutes of sub-maximal exercise on a cycle ergometer. Following each 24-hour monitoring session crew physiological data were downloaded to laptops and each crewmember completed a 28 question survey on their experiences with the Astroskin hardware and software. This presentation will focus on lessons learned from the HERA missions. Specifically it will address Astroskin system performance in terms of data loss and data quality (no comparison to lab standard devices), wireless communication with the onboard mobile device, crew usability and comfort, and future development of a next generation biomonitoring system.
crew fitness↗
Artificial Intelligence: Powering Human Exploration of the Moon and Mars
Artificial Intelligence (AI) is a growing field of computa- tional science techniques designed to mimic functions per- formed by people. Advancements in autonomy will depend on a portfolio of AI technologies. Automated planning and scheduling is a venerable field of study in AI, and is needed for a variety of mission planning functions. Plan execution technology is less well studied, but important for auton- omy and robotics. Specialized forms of automated reason- ing and machine learning are key technologies to enable fault management. Over the past decade, the NASA Au- tonomous Systems and Operations (ASO) project has devel- oped and demonstrated numerous autonomy enabling tech- nologies employing AI techniques. Our work has employed AI in three distinct ways to enable autonomous mission op- erations capabilities. Crew Autonomy gives astronauts tools to assist in the performance of each of these mission oper-ations functions. Vehicle System Management uses AI tech- niques to turn the astronaut's spacecraft into a robot, allow- ing it to operate when astronauts are not present, or to reduce astronaut workload. AI technology also enables Autonomous Robots as crew assistants or proxies when the crew are not present. When these capabilities are used to enable astro- nauts to operate autonomously, they must be integrated with user interfaces, introducing numerous human factors con- siderations; when these capabilities are used to enable vehi- cle system management, they must be integrated with flight software, and run on embedded processors under the control of real-time operating systems.We first describe human spaceflight mission operations capabilities. The remainder of the paper will describe the ASO project, and the development and demonstration per- formed by ASO since 2011. We will describe the AI tech- niques behind each of these demonstrations, which include a variety of symbolic automated reasoning and machine learn- ing based approaches. Finally, we conclude with an assess- ment of future development needs for AI to enable NASA's future Exploration missions.
Mission Operations↗
Leveraging High-Level Synthesis to Migrate Motor Control Algorithms From Microcontroller to FPGA
As motor control algorithms become increasingly complex, traditional microcontroller-based implementations are reaching computational limits that prevent the controller from operating at the required speed. This paper presents a novel workflow leveraging High-Level Synthesis (HLS) to migrate motor control algorithms from a microcontroller implementation to a Field-Programmable Gate Array (FPGA) implementation. The proposed approach utilizes the free Vitis HLS software to automatically convert Embedded Coder-generated C code from a Simulink model into Hardware Description Language (HDL) code suitable for FPGA deployment.
FPGA↗
Leveraging High-Level Synthesis to Migrate Motor Control Algorithms From Microcontroller to FPGA
As motor control algorithms become increasingly complex, traditional microcontroller-based implementations are reaching computational limits that prevent the controller from operating at the required speed. This paper presents a novel workflow leveraging High-Level Synthesis (HLS) to migrate motor control algorithms from a microcontroller implementation to a Field-Programmable Gate Array (FPGA) implementation. The proposed approach utilizes the free Vitis HLS software to automatically convert Embedded Coder-generated C code from a Simulink model into Hardware Description Language (HDL) code suitable for FPGA deployment.
FPGA↗
FAILSAFE Health Management for Embedded Systems
The FAILSAFE project is developing concepts and prototype implementations for software health management in mission- critical, real-time embedded systems. The project unites features of the industry-standard ARINC 653 Avionics Application Software Standard Interface and JPL s Mission Data System (MDS) technology (see figure). The ARINC 653 standard establishes requirements for the services provided by partitioned, real-time operating systems. The MDS technology provides a state analysis method, canonical architecture, and software framework that facilitates the design and implementation of software-intensive complex systems. The MDS technology has been used to provide the health management function for an ARINC 653 application implementation. In particular, the focus is on showing how this combination enables reasoning about, and recovering from, application software problems.
Horvath, Gregory A.↗
An energy-based study of the embedded element method for explicit dynamics
Abstract The embedded finite element technique provides a unique approach for modeling of fiber-reinforced composites. Meshing fibers as distinct bundles represented by truss elements embedded in a matrix material mesh allows for the assignment of more specific material properties for each component rather than homogenization of all of the properties. However, the implementations of the embedded element technique available in commercial software do not replace the material of the matrix elements with the material of the embedded elements. This causes a redundancy in the volume calculation of the overlapping meshes leading to artificially increased stiffness and mass. This paper investigates the consequences in the energy calculations of an explicit dynamic model due to this redundancy. A method for the correction of the edundancy within a finite element code is suggested which removes extra energy and is shown to be effective at correcting the energy calculations for large amounts of redundant volume.
Martin, Valerie A.↗
An assessment of space shuttle flight software development processes
In early 1991, the National Aeronautics and Space Administration's (NASA's) Office of Space Flight commissioned the Aeronautics and Space Engineering Board (ASEB) of the National Research Council (NRC) to investigate the adequacy of the current process by which NASA develops and verifies changes and updates to the Space Shuttle flight software. The Committee for Review of Oversight Mechanisms for Space Shuttle Flight Software Processes was convened in Jan. 1992 to accomplish the following tasks: (1) review the entire flight software development process from the initial requirements definition phase to final implementation, including object code build and final machine loading; (2) review and critique NASA's independent verification and validation process and mechanisms, including NASA's established software development and testing standards; (3) determine the acceptability and adequacy of the complete flight software development process, including the embedded validation and verification processes through comparison with (1) generally accepted industry practices, and (2) generally accepted Department of Defense and/or other government practices (comparing NASA's program with organizations and projects having similar volumes of software development, software maturity, complexity, criticality, lines of code, and national standards); (4) consider whether independent verification and validation should continue. An overview of the study, independent verification and validation of critical software, and the Space Shuttle flight software development process are addressed. Findings and recommendations are presented.
Source record↗
Wireless Sensor Networks for Developmental and Flight Instrumentation
Wireless sensor networks (WSN) based on the IEEE 802.15.4 Personal Area Network and ZigBee Pro 2007 standards are finding increasing use in home automation and smart energy markets providing a framework for interoperable software. The Wireless Connections in Space Project, funded by the NASA Engineering and Safety Center, is developing technology, metrics and requirements for next-generation spacecraft avionics incorporating wireless data transport. The team from Stennis Space Center and Mobitrum Corporation, working under a NASA SBIR grant, has developed techniques for embedding plug-and-play software into ZigBee WSN prototypes implementing the IEEE 1451 Transducer Electronic Datasheet (TEDS) standard. The TEDS provides meta-information regarding sensors such as serial number, calibration curve and operational status. Incorporation of TEDS into wireless sensors leads directly to building application level software that can recognize sensors at run-time, dynamically instantiating sensors as they are added or removed. The Ames Research Center team has been experimenting with this technology building demonstration prototypes for on-board health monitoring. Innovations in technology, software and process can lead to dramatic improvements for managing sensor systems applied to Developmental and Flight Instrumentation (DFI) aboard aerospace vehicles. A brief overview of the plug-and-play ZigBee WSN technology is presented along with specific targets for application within the aerospace DFI market. The software architecture for the sensor nodes incorporating the TEDS information is described along with the functions of the Network Capable Gateway processor which bridges 802.15.4 PAN to the TCP/IP network. Client application software connects to the Gateway and is used to display TEDS information and real-time sensor data values updated every few seconds, incorporating error detection and logging to help measure performance and reliability in relevant target environments. Test results from our prototype WSN running the Mobitrum software system are summarized and the implications to the scalability and reliability for DFI applications are discussed. Our demonstration system, incorporating sensors for life support system and structural health monitoring is described along with test results obtained by running the demonstration prototype in relevant environments such as the Wireless Habitat Testbed at Johnson Space Center in Houston. An operations concept for improved sensor process flow from design to flight test is outlined specific to the areas of Environmental Control and Life Support System performance characterization and structural health monitoring of human-rated spacecraft. This operations concept will be used to highlight the areas where WSN technology, particularly plug-and-play software based on IEEE 1451, can improve the current process, resulting in significant reductions in the technical effort, overall cost and schedule for providing DFI capability for future spacecraft. RELEASED -
Alena, Richard↗
Quality Attributes for Mission Flight Software: A Reference for Architects
In the international standards for architecture descriptions in systems and software engineering (ISO/IEC/IEEE 42010), "concern" is a primary concept that often manifests itself in relation to the quality attributes or "ilities" that a system is expected to exhibit - qualities such as reliability, security and modifiability. One of the main uses of an architecture description is to serve as a basis for analyzing how well the architecture achieves its quality attributes, and that requires architects to be as precise as possible about what they mean in claiming, for example, that an architecture supports "modifiability." This paper describes a table, generated by NASA's Software Architecture Review Board, which lists fourteen key quality attributes, identifies different important aspects of each quality attribute and considers each aspect in terms of requirements, rationale, evidence, and tactics to achieve the aspect. This quality attribute table is intended to serve as a guide to software architects, software developers, and software architecture reviewers in the domain of mission-critical real-time embedded systems, such as space mission flight software.
Software architecture↗
Embedded Web Technology: Applying World Wide Web Standards to Embedded Systems
Embedded Systems have traditionally been developed in a highly customized manner. The user interface hardware and software along with the interface to the embedded system are typically unique to the system for which they are built, resulting in extra cost to the system in terms of development time and maintenance effort. World Wide Web standards have been developed in the passed ten years with the goal of allowing servers and clients to intemperate seamlessly. The client and server systems can consist of differing hardware and software platforms but the World Wide Web standards allow them to interface without knowing about the details of system at the other end of the interface. Embedded Web Technology is the merging of Embedded Systems with the World Wide Web. Embedded Web Technology decreases the cost of developing and maintaining the user interface by allowing the user to interface to the embedded system through a web browser running on a standard personal computer. Embedded Web Technology can also be used to simplify an Embedded System's internal network.
Ponyik, Joseph G.↗
A model for a knowledge-based system's life cycle
The American Institute of Aeronautics and Astronautics has initiated a Committee on Standards for Artificial Intelligence. Presented here are the initial efforts of one of the working groups of that committee. The purpose here is to present a candidate model for the development life cycle of Knowledge Based Systems (KBS). The intent is for the model to be used by the Aerospace Community and eventually be evolved into a standard. The model is rooted in the evolutionary model, borrows from the spiral model, and is embedded in the standard Waterfall model for software development. Its intent is to satisfy the development of both stand-alone and embedded KBSs. The phases of the life cycle are detailed as are and the review points that constitute the key milestones throughout the development process. The applicability and strengths of the model are discussed along with areas needing further development and refinement by the aerospace community.
Kiss, Peter A.↗
Targeting Safety-Related Errors During Software Requirements Analysis
This paper provides a Safety Checklist for use during the analysis of software requirements for spacecraft and other safety-critical, embedded systems.
Safety Checklist software errors data consistency ↗
Evolution of Software-Only-Simulation at NASA IV and V
Software-Only-Simulations have been an emerging but quickly developing field of study throughout NASA. The NASA Independent Verification Validation (IVV) Independent Test Capability (ITC) team has been rapidly building a collection of simulators for a wide range of NASA missions. ITC specializes in full end-to-end simulations that enable developers, VV personnel, and operators to test-as-you-fly. In four years, the team has delivered a wide variety of spacecraft simulations that have ranged from low complexity science missions such as the Global Precipitation Management (GPM) satellite and the Deep Space Climate Observatory (DSCOVR), to the extremely complex missions such as the James Webb Space Telescope (JWST) and Space Launch System (SLS).This paper describes the evolution of ITCs technologies and processes that have been utilized to design, implement, and deploy end-to-end simulation environments for various NASA missions. A comparison of mission simulators are discussed with focus on technology and lessons learned in complexity, hardware modeling, and continuous integration. The paper also describes the methods for executing the missions unmodified flight software binaries (not cross-compiled) for verification and validation activities.
Embedded↗
Carbon-13 NMR spectra of lignin isolated from field grown transgenic poplar
Here we present a curated dataset of a series of 13C nuclear magnetic resonance (NMR) spectra of lignin isolated from transgenic monolignol 4-O-methyltransferase (MOMT4) engineered poplar. The transgenic poplar was collected from a 3-year field trial experiment. The poplar was Soxhlet-extracted with toluene/ethanol and the extractives-free poplar was then ball-milled in a Retsch PM100 planetary ball mill using a porcelain jar with ceramic balls at 600 rpm for 2 h. The ball-milled materials were then subjected to enzymatic hydrolysis for 48 h followed by centrifugation and washing with deionized water. The solid residue was extracted twice with 96:4 (v/v) 1,4-dioxane/water mixture at room temperature overnight. The extracts were combined, rotary evaporated, and freeze-dried to recover the lignin. The dry lignin samples were dissolved in deuterated dimethyl sulfoxide for NMR characterization. 13C experiments were performed in a Bruker Avance III HD 500 MHz NMR spectrometer operating at a frequency of 125.12 MHz for the 13C nucleus using a standard Bruker pulse sequence (zgpg) on a Prodigy platform cryoprobe. The NMR spectra were acquired under the following conditions: spectra width 229 ppm, 64k data points, 1s pulse delay, and 6k scans. All the data was processed using the Bruker’s TopSpin 3.6 software. Additional meta data is embedded in the raw spectra files.
13C NMR, lignin, poplar, field trial, MOMT4, CBI↗
Proton NMR spectra of lignin isolated from field grown transgenic poplar
Here we present a curated dataset of a series of 1H nuclear magnetic resonance (NMR) spectra of lignin isolated from transgenic monolignol 4-O-methyltransferase (MOMT4) engineered poplar. The transgenic poplar was collected from a 2-year-old rotation trees within a three-year field trial experiment. Two replicates were collected for each transgenic poplar for the 1H NMR analysis. The poplar samples were Soxhlet-extracted with toluene/ethanol to remove the extractives and the extractives-free poplar was then ball-milled in a Retsch PM100 planetary ball mill using a porcelain jar with ceramic balls at 600 rpm for 2 h. The ball-milled materials were subjected to enzymatic hydrolysis for 48 h followed by centrifugation and washing with deionized water. The solid residue was extracted twice with 96:4 (v/v) 1,4-dioxane/water mixture at room temperature overnight. The extracts were combined, rotary evaporated, and freeze-dried to recover lignin. The dry lignin samples were dissolved in deuterated dimethyl sulfoxide and transferred into a 5 mm NMR tube. 1H NMR experiments were performed in a Bruker Avance III HD 500 MHz NMR spectrometer operating at a frequency of 125.12 MHz for the 13C nucleus using a standard Bruker pulse sequence (zg) on a Prodigy platform cryoprobe. The NMR spectra were acquired with 16 ppm spectra width, 32k data points, 3s pulse delay, and 16 scans. All the data was processed using the Bruker’s TopSpin 3.6 software. Additional meta data is embedded in the raw spectra files.
1H NMR, lignin, poplar, field trial, MOMT4, CBI↗
HSQC spectra of lignin isolated from poplar stems
Here we present a curated dataset of two-dimensional heteronuclear single quantum coherence (HSQC) nuclear magnetic resonance (NMR) spectra of lignin isolated from stems of genetically engineered poplar through auxin signaling gene modification. The plants were grown in greenhouse with temperatures between 21 and 23 °C. Plants were harvested and the aboveground stems were cut off an approximately five-inch-long segment from the bottom end of the plant stem, debarked and air-dried for three weeks. The dried stem samples were Wiley milled (mesh size 20), Soxhlet-extracted with toluene/ethanol for 24 h to remove extractives. The extracted biomass was ball-milled in a Retsch PM100 planetary ball mill using a porcelain jar with ceramic balls at 600 rpm for 2 h (in 5 min on and 5 min off cycles to avoid excessive sample heating). The ball-milled materials were then subjected to enzymatic hydrolysis for 48 h followed by centrifugation and washing with deionized water. The solid residue was freeze-dried to recover the lignin. The dry stem lignin samples were dissolved in deuterated dimethyl sulfoxide (d6) and transferred into a 5 mm tube. 13C–1H HSQC experiments were performed in a Bruker Avance III HD 500 MHz NMR spectrometer operating at a frequency of 125.12 MHz for the 13C nucleus using a standard Bruker pulse sequence on a Prodigy platform cryoprobe. The NMR spectra were acquired under the following acquisition conditions: 230 ppm spectral width in F1 (13C) dimension with 256 data points and 12 ppm spectral width in F2 (1H) dimension with 2048 data points, a 90° pulse, a one bond C–H coupling constant of 145 Hz, a 1.0 s pulse delay, and 64 scans. Spectra were processed using the Bruker TopSpin 3.6 software. Additional meta data is embedded in the raw spectra figures.
HSQC, lignin, poplar, stems, CBI↗