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NASA NTRSDate not supplied

Bootstrapping Multi-Agent Unmanned Aerial Vehicle (UAV) System Integration Using Ground-Based Assets: Lessons Learned

The highly dynamic nature of UAVs imposes significant challenges when conducting initial testing ranging from safety risks posed by high-capacity lithium batteries and spinning propellers to rigorous timing demands on controllers and the consequences of failures mid-air. Flight testing of a single vehicle is time and labor intensive due to these challenges and more, and the complexity increases exponentially with the number of vehicles. While simulations and hardware-in-the-loop bench testing can provide adequate environments for preliminary validation, differences in system deployment architecture, software interfaces, and hardware infrastructure between simulation and a fleet of real UAVs create a sizable gap that must be navigated carefully during system integration. In support of the Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR) project, which had the goal of establishing a basis of certification of trust and trustworthiness in multi-agent autonomous systems, this gap was tackled from two directions. First, a novel mixed-reality simulation environment was engineered to blur the transition from simulation to flight hardware. Second, a fleet of Unmanned Surface Vehicles (USVs) was developed as a test and evaluation platform that more closely represented the final aerial fleet while eliminating many of the risks associated with air vehicles. This paper delves into the second element, analyzing the efficacy of the USV platform in performing system integration testing for the UAV system. In this paper we present the USV fleet and its role in reducing the aforementioned gaps in deployment architecture, software interfaces, and hardware infrastructure when moving from simulation to flight. An overview of the hardware and software onboard the vehicles will be provided along with supporting infrastructure. The system integration process will be documented including results in supporting both the overarching design reference mission (DRM) of ATTRACTOR and individual research efforts conducted during the project. Finally, we will discuss some of the practical lessons learned regarding the testing, deployment, and operation of multi-agent autonomous systems.

Matthew P Vaughan↗

NASA NTRS2009

A Model-Based Architecture for a Small Flexible Fault Protection System

In this paper we will give a brief overview of how different missions implemented the fault protection application and the improvements along the way. We will then propose an architecture that supports the direct implementation of state-chart models into flight code. These state-chart models can be used to formally and naturally specify the behavior of all the major fault protection components - monitors, fault protection engine, and fault responses. The goal is a flexible, light-weight implementation of a traditional fault protection software system that is inexpensive to implement, reliable and understandable for both system and software developers.

Watney, Garth↗

NASA NTRS1989

Ground data systems resource allocation process

The Ground Data Systems Resource Allocation Process at the Jet Propulsion Laboratory provides medium- and long-range planning for the use of Deep Space Network and Mission Control and Computing Center resources in support of NASA's deep space missions and Earth-based science. Resources consist of radio antenna complexes and associated data processing and control computer networks. A semi-automated system was developed that allows operations personnel to interactively generate, edit, and revise allocation plans spanning periods of up to ten years (as opposed to only two or three weeks under the manual system) based on the relative merit of mission events. It also enhances scientific data return. A software system known as the Resource Allocation and Planning Helper (RALPH) merges the conventional methods of operations research, rule-based knowledge engineering, and advanced data base structures. RALPH employs a generic, highly modular architecture capable of solving a wide variety of scheduling and resource sequencing problems. The rule-based RALPH system has saved significant labor in resource allocation. Its successful use affirms the importance of establishing and applying event priorities based on scientific merit, and the benefit of continuity in planning provided by knowledge-based engineering. The RALPH system exhibits a strong potential for minimizing development cycles of resource and payload planning systems throughout NASA and the private sector.

Berner, Carol A.↗

NASA NTRS1996

Modular Software for Spacecraft Navigation Using the Global Positioning System (GPS)

The Goddard Space Flight Center Flight Dynamics and Mission Operations Divisions have jointly investigated the feasibility of engineering modular Global Positioning SYSTEM (GPS) navigation software to support both real time flight and ground postprocessing configurations. The goals of this effort are to define standard GPS data interfaces and to engineer standard, reusable navigation software components that can be used to build a broad range of GPS navigation support applications. The paper discusses the GPS modular software (GMOD) system and operations concepts, major requirements, candidate software architecture, feasibility assessment and recommended software interface standards. In additon, ongoing efforts to broaden the scope of the initial study and to develop modular software to support autonomous navigation using GPS are addressed,

Truong, S. H.↗

NASA NTRS1996

Trans-Global Mission Architectures

Mission operations include the utilization of both space and ground resources to achieve mission objectives. Future architectures will make the spacecraft a node on a distributed system, thus expanding the scope of missions beyond the global scale. The history and evolution of planetary mission operations are outlined, together with the current global involvement in planetary missions. The modular nature and reuse of the supporting ground data systems, and the inclusion of automation and dedicated software in space missions, are discussed. A trans-global mission architecture is presented, and consists of an extension of a layered reusable mission operations architecture to create an open ground/space operations system. Concurrent mission engineering with such trans-global structures is discussed.

Anderson, Barbara V.↗

NASA NTRS1989

Computer aided system engineering for space construction

This viewgraph presentation covers the following topics. Construction activities envisioned for the assembly of large platforms in space (as well as interplanetary spacecraft and bases on extraterrestrial surfaces) require computational tools that exceed the capability of conventional construction management programs. The Center for Space Construction is investigating the requirements for new computational tools and, at the same time, suggesting the expansion of graduate and undergraduate curricula to include proficiency in Computer Aided Engineering (CAE) though design courses and individual or team projects in advanced space systems design. In the center's research, special emphasis is placed on problems of constructability and of the interruptability of planned activity sequences to be carried out by crews operating under hostile environmental conditions. The departure point for the planned work is the acquisition of the MCAE I-DEAS software, developed by the Structural Dynamics Research Corporation (SDRC), and its expansion to the level of capability denoted by the acronym IDEAS**2 currently used for configuration maintenance on Space Station Freedom. In addition to improving proficiency in the use of I-DEAS and IDEAS**2, it is contemplated that new software modules will be developed to expand the architecture of IDEAS**2. Such modules will deal with those analyses that require the integration of a space platform's configuration with a breakdown of planned construction activities and with a failure modes analysis to support computer aided system engineering (CASE) applied to space construction.

Racheli, Ugo↗

NASA NTRS2013

Tool Use Within NASA Software Quality Assurance

As space mission software systems become larger and more complex, it is increasingly important for the software assurance effort to have the ability to effectively assess both the artifacts produced during software system development and the development process itself. Conceptually, assurance is a straightforward idea - it is the result of activities carried out by an organization independent of the software developers to better inform project management of potential technical and programmatic risks, and thus increase management's confidence in the decisions they ultimately make. In practice, effective assurance for large, complex systems often entails assessing large, complex software artifacts (e.g., requirements specifications, architectural descriptions) as well as substantial amounts of unstructured information (e.g., anomaly reports resulting from testing activities during development). In such an environment, assurance engineers can benefit greatly from appropriate tool support. In order to do so, an assurance organization will need accurate and timely information on the tool support available for various types of assurance activities. In this paper, we investigate the current use of tool support for assurance organizations within NASA, and describe on-going work at JPL for providing assurance organizations with the information about tools they need to use them effectively.

software assurance↗

NASA NTRSDate not supplied

Overview of the SLS Core Stage Thrust Vector Control System Design

The Space Launch System (SLS) Core Stage (CS) Thrust Vector Control (TVC) consists of four independent hydraulic systems. The SLS CS TVC system is comprised of 8 mechanical feedback Shuttle heritage Type III TVC actuators and four RS-25 engines, each attached to a Shuttle heritage gimbal block/bearing. Each hydraulic system nominally provides hydraulic power to one RS-25 engine and two actuators. Additionally, each system provides redundant control capability to one actuator on each of its neighboring systems. The RS-25 uses hydraulic power to control propellant valves, and the TVC actuators are used to move the engine in the pitch and yaw gimbal planes. The TVC system design leverages hardware from the Space Shuttle program as well as new hardware designed specifically for the Core Stage. The Space Shuttle heritage hardware directly reused on SLS includes the Orbiter TVC hydraulic servo-actuators (with two slight design modifications), the Orbiter hydraulic circulation pumps, the Orbiter gimbal block/bearing, and the Solid Rocket Booster hydraulic pumps. The Solid Rocket Booster APU turbines are powered by hot gas produced by a catalyzed hydrazine decomposition. The SLS Core Auxiliary Power Unit (CAPU) is derived from the Space Shuttle Orbiter Auxiliary Power Unit (APU); on the SLS Core Stage, the CAPU turbine is spun using cold gas tapped-off from the RS-25 to CS liquid hydrogen autogenous pressurization line. The remaining hardware in the TVC system (hydraulic Filter Manifold (FM), hydraulic Supply Accumulator (SA), hydraulic Return Accumulator (RA), Hydraulic Reservoir, Exhaust Gas Heat Exchanger (EGHE)) as well as the avionics providing control and telemetry (TVC Actuator Controller (TAC) and CAPU Controller (CAPUC) are new components developed for SLS. This paper is the first installment in a seven-paper series surveying the design, engineering, test validation, and flight performance of the Core Stage Thrust Vector Control system. In this paper, the overall design architecture of the CS TVC is presented, with a focus on the interfaces between the TVC actuators, the engines, their hydraulic power systems, and the avionics that provide commands from the SLS Vehicle Management (VM) software to effect stable and robust flight control for the integrated SLS launch vehicle.

Thrust Vector Control↗

NASA NTRSDate not supplied

Overview of the SLS Core Stage Thrust Vector Control System Design

Thrust Vector Control↗

NASA NTRS2005

A Reusable and Adaptable Software Architecture for Embedded Space Flight System: The Core Flight Software System (CFS)

The contents include the following: High availability. Hardware is in harsh environment. Flight processor (constraints) very widely due to power and weight constraints. Software must be remotely modifiable and still operate while changes are being made. Many custom one of kind interfaces for one of a kind missions. Sustaining engineering. Price of failure is high, tens to hundreds of millions of dollars.

Wilmot, Jonathan↗

NASA NTRS1994

AMPHION: Specification-based programming for scientific subroutine libraries

AMPHION is a knowledge-based software engineering (KBSE) system that guides a user in developing a diagram representing a formal problem specification. It then automatically implements a solution to this specification as a program consisting of calls to subroutines from a library. The diagram provides an intuitive domain oriented notation for creating a specification that also facilitates reuse and modification. AMPHION'S architecture is domain independent. AMPHION is specialized to an application domain by developing a declarative domain theory. Creating a domain theory is an iterative process that currently requires the joint expertise of domain experts and experts in automated formal methods for software development.

Lowry, Michael↗

NASA NTRS1978

Exploring team avionics systems by simulation

Configurations of software and hardware in a no-critical-element team architecture are under study for future general aviation aircraft avionics. The team integrated avionics system, based on microprocessors, can monitor and partially interpret all flight instrument data, engine parameters, and navigation information faster than a human pilot. Simulation programs based on an event-oriented simulation language are being used to design team architectures.

Brent, G. A.↗

NASA NTRS1991

Intelligent systems technology infrastructure for integrated systems

A system infrastructure must be properly designed and integrated from the conceptual development phase to accommodate evolutionary intelligent technologies. Several technology development activities were identified that may have application to rendezvous and capture systems. Optical correlators in conjunction with fuzzy logic control might be used for the identification, tracking, and capture of either cooperative or non-cooperative targets without the intensive computational requirements associated with vision processing. A hybrid digital/analog system was developed and tested with a robotic arm. An aircraft refueling application demonstration is planned within two years. Initially this demonstration will be ground based with a follow-on air based demonstration. System dependability measurement and modeling techniques are being developed for fault management applications. This involves usage of incremental solution/evaluation techniques and modularized systems to facilitate reuse and to take advantage of natural partitions in system models. Though not yet commercially available and currently subject to accuracy limitations, technology is being developed to perform optical matrix operations to enhance computational speed. Optical terrain recognition using camera image sequencing processed with optical correlators is being developed to determine position and velocity in support of lander guidance. The system is planned for testing in conjunction with Dryden Flight Research Facility. Advanced architecture technology is defining open architecture design constraints, test bed concepts (processors, multiple hardware/software and multi-dimensional user support, knowledge/tool sharing infrastructure), and software engineering interface issues.

Lum, Henry↗

NASA NTRS1993

Proceedings of the 1993 Conference on Intelligent Computer-Aided Training and Virtual Environment Technology, Volume 1

These proceedings are organized in the same manner as the conference's contributed sessions, with the papers grouped by topic area. These areas are as follows: VE (virtual environment) training for Space Flight, Virtual Environment Hardware, Knowledge Aquisition for ICAT (Intelligent Computer-Aided Training) & VE, Multimedia in ICAT Systems, VE in Training & Education (1 & 2), Virtual Environment Software (1 & 2), Models in ICAT systems, ICAT Commercial Applications, ICAT Architectures & Authoring Systems, ICAT Education & Medical Applications, Assessing VE for Training, VE & Human Systems (1 & 2), ICAT Theory & Natural Language, ICAT Applications in the Military, VE Applications in Engineering, Knowledge Acquisition for ICAT, and ICAT Applications in Aerospace.

Hyde, Patricia R.↗

NASA NTRS2013

Modeling Complex Cross-Systems Software Interfaces Using SysML

The complex flight and ground systems for NASA human space exploration are designed, built, operated and managed as separate programs and projects. However, each system relies on one or more of the other systems in order to accomplish specific mission objectives, creating a complex, tightly coupled architecture. Thus, there is a fundamental need to understand how each system interacts with the other. To determine if a model-based system engineering approach could be utilized to assist with understanding the complex system interactions, the NASA Engineering and Safety Center (NESC) sponsored a task to develop an approach for performing cross-system behavior modeling. This paper presents the results of applying Model Based Systems Engineering (MBSE) principles using the System Modeling Language (SysML) to define cross-system behaviors and how they map to crosssystem software interfaces documented in system-level Interface Control Documents (ICDs).

Earth orbit↗

NASA NTRS1996

A Concept for the Use and Integration of Super-Conducting Magnets in Structural Systems in General and Maglev Guideway Mega-Structures in Particular

Recent breakthroughs in several different fields now make it possible to incorporate the use of superconducting magnets in structures in ways which enhance the performance of structural members or components of structural systems in general and Maglev guideway mega-structures in particular. The building of structural systems which connect appropriately scaled superconducting magnets with the post-tensioned tensile components of beams, girders, or columns would, if coupled with 'state of the art' structure monitoring, feedback and control systems, and advanced computer software, constitute a distinct new generation of structures that would possess the unique characteristic of being heuristic and demand or live-load responsive. The holistic integration of powerful superconducting magnets in structures so that they do actual structural work, creates a class of 'technologically endowed' structures that, in part - literally substitute superconductive electric power and magnetism for concrete and steel. The research and development engineering, and architectural design issues associated with such 'technologically endowed' structural system can now be conceptualized, designed, computer simulates built and tested. The Maglev guideway mega-structure delineated herein incorporates these concepts, and is designed for operation in the median strip of U.S. Interstate Highway 5 from San Diego to Seattle an Vancouver, and possibly on to Fairbanks, Alaska. This system also fits in the median strip of U.S. Interstate Highway 55 and 95 North-South, and 80 and 10, East-West. As a Western Region 'Peace Dividend' project, it could become a National or Bi-National research, design and build, super turnkey project that would create thousands of jobs by applying superconducting, material science, electronic aerospace and other defense industry technologies to a multi-vehicle, multi-use Maglev guideway megastructure that integrates urban mass transit Lower Speed (0-100 mph), High Speed (100-200 mph), Super Speed (200-400 mph), and Hypersonic evacuated tube (400-10,000 mph) Maglev systems.

Ussery, Wilfred T.↗

NASA NTRS2008

Desert Research and Technology Studies (RATS) 2007 Field Campaign Objectives and Results

Desert "RATS" (Research and Technology Studies) is a combined, multi-discipline group of inter-NASA center scientists and engineers, net-working and collaborating with representatives of industry and academia, for the purpose of conducting planetary surface exploration-focused remote field exercises. These integrated testing exercises conducted under representative analog Lunar and Mars surface terrain conditions, provide NASA the capability to validate experimental prototype hardware and software systems as well as to evaluate and develop mission operational techniques in order to identify and establish technical requirements and identify potential technology "gaps" applicable for future planetary human exploration. The 2007 D-RATS field campaign test activities were initiated based on the major themes and objectives of a notional 5-year plan developed for conducting relative analog test activities in support of the engineering evaluation and assessment of various system architectural requirements, conceptual prototype support equipment and selected technologies necessary for the establishment of a lunar outpost. Specifically, the major objectives included measuring task efficiency during robot, human, and human-robot interactive tasks associated with lunar outpost site surveying and reconnaissance activities and deployment of a representative solar panel power and distribution system. In addition, technology demonstrations were conducted with a new Lithium-ion battery and autonomous software to coordinate multiple robot activities. Secondary objectives were evaluating airlock concept mockups and prototype removable space suit over-garment elements for dust mitigation, and upgrades to the prototype extravehicular activities (EVA) communication and information system. Dry run test activities, prior to testing at a designated remote field site location, were initially conducted at the Johnson Space Center (JSC) Remote Field Demonstration Test Site. This is a multi-acre external test site located at JSC and has detailed representative terrain features simulating both Lunar and Mars surface characteristics. Both the local JSC and remote field test sites have terrain conditions that are representative and characteristic of both the Moon and Mars, such as strewn rock and volcanic ash fields, craters, rolling plains, hills, gullies, slopes, and outcrops. The D-RATS 2007 field campaign, representing the completion of its tenth year of analog testing, was conducted at the large Cinder Lake volcanic ash bed area adjacent to Flagstaff, Arizona.

Kosmo, Joseph↗

NASA NTRS1994

Re-engineering the Multimission Command System at the Jet Propulsion Laboratory

The Operations Engineering Lab (OEL) at JPL has developed the multimission command system as part of JPL's Advanced Multimission Operations System. The command system provides an advanced multimission environment for secure, concurrent commanding of multiple spacecraft. The command functions include real-time command generation, command translation and radiation, status reporting, some remote control of Deep Space Network antenna functions, and command file management. The mission-independent architecture has allowed easy adaptation to new flight projects and the system currently supports all JPL planetary missions (Voyager, Galileo, Magellan, Ulysses, Mars Pathfinder, and CASSINI). This paper will discuss the design and implementation of the command software, especially trade-offs and lessons learned from practical operational use. The lessons learned have resulted in a re-engineering of the command system, especially in its user interface and new automation capabilities. The redesign has allowed streamlining of command operations with significant improvements in productivity and ease of use. In addition, the new system has provided a command capability that works equally well for real-time operations and within a spacecraft testbed. This paper will also discuss new development work including a multimission command database toolkit, a universal command translator for sequencing and real-time commands, and incorporation of telecommand capabilities for new missions.

Alexander, Scott↗