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This paper captures the systematic approach taken by JPL's Acquisition Reengineering Project team, the methodology used, challenges faced, and lessons learned. It provides pragmatic "how-to" techniques and tools for collecting requirements and for identifying areas of improvement in an acquisition/procurement process or other core process of interest.
During Apollo, crew members experienced a number of falls while engaging in extravehicular activity. The Digital Astronaut Simulation (DAS) expanded human biomechanics modeling tools to begin investigating this prospective mission safety and success challenge for the Artemis program. A core capability was developed to detect if a motion is dynamically feasible in a given gravitational environment. Fed by motion capture and mass properties data, this technology enables observation of whether tasks performed in 1G can be performed the same way in lunar gravity or if they require modifications.
The Gandalf Staff is a mobile tool designed to be a flexible device supporting crewed and uncrewed operations on the lunar surface. The core of the device is a 24v battery with communications and data storage systems. Initial optional components supporting crewed Extra-Vehicular Activity (EVA) include a LiDAR and 360˚ camera. These provide 3D mapping of the traverse for documentation, and to aid future planning. The mapping also creates outreach opportunities for the public to “stand beside” the astronaut in Virtual Reality (VR). The staff provides external lighting for field site illumination in the south polar region low sun angle environment. Navigation instruments for crew position determination with Lunar Search and Rescue (LunaSAR) are also included. The staff itself can be used as a walking aid or as a splint for Incapacitated Crew Rescue (ICR). As a stand-alone device, the staff operates as a long duration untended science platform collecting environmental data and sending it to a lunar base station. The stand-alone mode requires connection to an auxiliary power source (e.g. solar array) and energy storage system (e.g. battery), so it could become an electrical recharging station. To make rapid progress in the 1st year, and also to demonstrate innovative project management techniques, NASA guided a private industry partner, T STAR, in leading Capstone Engineering student teams at Texas A&M University (TAMU) for proof-of-concept development and testing. These teams developed the power system and demonstrated successful integration of LiDAR, WiFi communications, and external lighting subsystems. Another industry team at Jacobs Technology prototyped a tripod to hold the staff upright. For the 2nd year (FY’22), NASA will again collaborate with partners to prototype enhanced power and lighting concepts. Year 2 will also add new capability for LunaSAR and geophysical science instrumentation using a heat probe. The heat probe is based upon Apollo heritage but modified to measure subsurface volatile ice regimes at the Artemis landing site. Components of the Gandalf Staff can be developed, tested, and deployed independently, or on the integrated staff, rovers, or utility trailers. The project supports crew safety, lunar sample curation, mission science, and public outreach goals of NASA. PLAIN TEST SUMMARY: Gandalf Staff is a 24v battery powered mobile tool for the lunar surface supporting crewed geologic field site exploration, or as a stand-alone science platform. As a tool assisting astronauts conducting field geology, the Gandalf Staff provides external lighting to illuminate shadowed regions on the surface. It also documents the process of collecting rocks and dust samples using a LiDAR (laser range instrument) and cameras. The staff provides a beacon for emergency location of astronauts and augments communications when the astronauts are blocked by large boulders. As a standalone science platform, the Gandalf Staff provides a power system for instruments and sensors to measure the lunar environment over long periods of time. The staff gathers data and sends the results to a lunar base station for analysis.
A flexible, hierarchical tool chain that is being applied to NASA’s Space Launch System (SLS) for critical dynamics phenomena is described. This tool chain, called CLVTOPS, is used to investigate lateral liftoff movement of the vehicle as it departs and clears the mobile launch tower and separation of the two solid rocket boosters without collision with the core stage and payload. The toolset’s architecture was configured to take advantage of a modern software engineering approach for maximum flexibility and utilization of open-source simulations and associated tools. As opposed to a “monolithic” approach, scripting languages were used to “bind” together a tool chain to configure and organize input data, execute and produce analysis results, and post-process these results to facilitate a rapid, iterative analysis process to quickly address issues and pursue alternatives with emphasis on analysis automation. Key capabilities in the tool chain include processing and mining of very large data sets, a wide range of graphical depictions, and high-fidelity, physics-based simulations. The paper begins with a problem description and the motivation for liftoff and separation dynamics analysis followed by a historical survey of dynamics analyses for previous NASA human-rated launch vehicles. Details of the tool chain and its components are then introduced and divided, first, into description of the scripting language architecture used to “bind” the simulation tools, programs, and scripts together and, second, the physics models and simulations. Representative analyses and data products for liftoff and booster separation dynamics are shown in order to provide in-depth insight into the tool chain’s capabilities. Supporting activities such as simulation tool chain verification, version archiving and data management, and training are addressed. The paper concludes with case examples on how the tool chain can be tailored to related aerospace dynamics analyses, both large and small. The flexibility and versatility of this tool chain in supporting analyses of such a diverse range of aerospace applications demonstrates the feasibility of applying these patterns and techniques for tool construction to other aerospace simulations.
Several attempts have been made recently to apply techniques such as model checking and theorem proving to the analysis of programs. This shall be seen as a current trend to analyze real software systems instead of just their designs. This includes our own effort to develop a model checker for Java, the Java PathFinder 1, one of the very first of its kind in 1998. However, model checking cannot handle very large programs without some kind of abstraction of the program. This paper describes a complementary scalable technique to handle such large programs. Our interest is turned on the observation part of the equation: How much information can be extracted about a program from observing a single execution trace? It is our intention to develop a technology that can be applied automatically and to large full-size applications, with minimal modification to the code. We present a tool, Java PathExplorer (JPaX), for exploring execution traces of Java programs. The tool prioritizes scalability for completeness, and is directed towards detecting errors in programs, not to prove correctness. One core element in JPaX is an instrumentation package that allows to instrument Java byte code files to log various events when executed. The instrumentation is driven by a user provided script that specifies what information to log. Examples of instructions that such a script can contain are: 'report name and arguments of all called methods defined in class C, together with a timestamp'; 'report all updates to all variables'; and 'report all acquisitions and releases of locks'. In more complex instructions one can specify that certain expressions should be evaluated and even that certain code should be executed under various conditions. The instrumentation package can hence be seen as implementing Aspect Oriented Programming for Java in the sense that one can add functionality to a Java program without explicitly changing the code of the original program, but one rather writes an aspect and compiles it into the original program using the instrumentation. Another core element of JPaX is an observation package that supports the analysis of the generated event stream. Two kinds of analysis are currently supported. In temporal analysis the execution trace is evaluated against formulae written in temporal logic. We have implemented a temporal logic evaluator on finite traces using the Maude rewriting system from SRI International, USA. Temporal logic is defined in Maude by giving its syntax as a signature and its semantics as rewrite equations. The resulting semantics is extremely efficient and can handle event streams of hundreds of millions events in few minutes. Furthermore, the implementation is very succinct. The second form of even stream analysis supported is error pattern analysis where an execution trace is analyzed using various error detection algorithms that can identify error-prone programming practices that may potentially lead to errors in some different executions. Two such algorithms focusing on concurrency errors have been implemented in JPaX, one for deadlocks and the other for data races. It is important to note, that a deadlock or data race potential does not need to occur in order for its potential to be detected with these algorithms. This is what makes them very scalable in practice. The data race algorithm implemented is the Eraser algorithm from Compaq, however adopted to Java. The tool is currently being applied to a code base for controlling a spacecraft by the developers of that software in order to evaluate its applicability.
A flexible, hierarchical tool chain that is being applied to NASA’s Space Launch System (SLS) for critical dynamics phenomena is described. This tool chain, called CLVTOPS, is used to investigate lateral liftoff movement of the vehicle as it departs and clears the mobile launch tower and separation of the two solid rocket boosters without collision with the core stage and payload. The toolset’s architecture was configured to take advantage of a modern software-engineering approach for maximum flexibility and utilization of open-source simulations and associated tools. As opposed to a “monolithic” approach, scripting languages were used to “bind” together a tool chain to configure and organize input data, execute and produce analysis results, and post-process these results to facilitate a rapid iterative analysis process to quickly address issues and pursue alternatives with emphasis on analysis automation. Key capabilities in the tool chain include processing and mining of very large data sets, a wide range of graphical depictions, and high-fidelity, physics-based simulations. The paper begins with a problem description and the motivation for liftoff and separation dynamics analysis followed by a historical survey of dynamics analyses for previous NASA human-rated launch vehicles. Details of the tool chain and its components are then introduced divided, first, into description of the scripting language architecture used to “bind” the simulation tools, programs, and scripts together and, second, the physics models and simulations. Representative analyses and data products are shown for liftoff and booster separation dynamics that provide in-depth insight to the tool chain’s capabilities. Supporting activities such as simulation tool chain verification, version archiving and data management, and training are addressed. The paper concludes with case examples on how the tool chain can be tailored to related aerospace dynamics analyses, both large and small. These patterns and techniques for SLS dynamics tool construction can be applied for other aerospace simulations.
This special publication tells the story of the dedicated efforts of very talented individuals to create a preeminent space electrical power system modeling and simulation tool called SPACE, short for System Power Analysis for Capability Evaluation. This computer model has evolved for 30 years, withstanding the test of time and obsolescence, and garnering international recognition for its ability to simulate complex space electrical power systems. The analytical results from this model have saved millions of dollars in hardware redesign, testing, and verification for NASA's International Space Station (ISS) and its European and Russian partners. SPACE has played a pivotal role in the station's design and development and continues to support its ongoing operation. It has also extended its reach beyond the ISS to other key NASA programs, where it guides the design and planned operation of NASA's Multi-Purpose Crew Vehicle Orion and simulates electric power system operation in a dusty atmosphere on Mars' surface. The SPACE lineage was created by a core civil servant staff, supplemented by a cadre of interns and other temporary helpers. They created a tightly integrated tool that includes all phenomena that impact a solar array and battery space power system performance. SPACE is self-contained, requiring no other software modules and associated license fees. SPACE "rings true" in that is has been extensively validated with ISS on-orbit telemetry data. This report is being released as the generation of engineers who created it are nearing retirement, passing the baton to a new generation. This next generation will carry the code into the future, no doubt further evolving it to be able to assure mission planners that newly conceived systems will successfully power NASA's next endeavors. As a previous SPACE code developer and analyst, I have worked alongside many of the people mentioned in this report. The engineers who created the code, along with those just now learning it, are among the best and brightest at NASA. It is an honor to write this foreword as the present Branch Chief under which the legacy of SPACE continues to thrive.
The MACH-1 and the THERMOS codes and their use as computational tools in nuclear analysis are examined. One dimensional survey calculations were carried out for a UF fueled core surrounded by a molten blanket; two dimensional calculations were made later with r-z geometry using the EXTERMINATOR program. Results and comparisons of the calculations are given in tabular form.
FIRM is software tool for identification of failure and management of risk based on directed-graph ("digraph") approach. Three core algorithms optimized for processing singletons and doubletons and also handle tripletons. FIRM identifies loops in digraphs and displays direct failure paths between any two nodes. Solves for reachability for given node without computing reachability for entire digraph. Represents hybrid between schematic-diagram and fault-tree approaches. Written in C.
A report describes flexible mechanical conveying systems for transporting fine cohesive regolith under microgravity and vacuum conditions. They are totally enclosed, virtually dust-free, and can include enough flexibility in the conveying path to enable an expanded range of extraction and transport scenarios, including nonlinear drill-holes and excavation of enlarged subsurface openings without large entry holes. The design of the conveyors is a modification of conventional screw conveyors such that the central screw-shaft and the outer housing or conveyingtube have a degree of bending flexibility, allowing the conveyors to become nonlinear conveying systems that can convey around gentle bends. The central flexible shaft is similar to those used in common tools like a weed whacker, consisting of multiple layers of tightly wound wires around a central wire core. Utilization of compliant components (screw blade or outer wall) increases the robustness of the conveying, allowing an occasional oversized particle to pass hough the conveyor without causing a jam or stoppage
The NASA Next Space Technologies for Exploration Partnerships (NextSTEP) program is a public-private partnership model that seeks commercial development of deep space exploration capabilities to support human spaceflight missions around and beyond cislunar space. NASA first issued the Phase 1 NextSTEP Broad Agency Announcement to U.S. industries in 2014, which called for innovative cislunar habitation concepts that leveraged commercialization plans for low-Earth orbit. These habitats will be part of the Deep Space Gateway (DSG), the cislunar space station planned by NASA for construction in the 2020s. In 2016, Phase 2 of the NextSTEP program selected five commercial partners to develop ground prototypes. A team of NASA research engineers and subject matter experts (SMEs) have been tasked with developing the ground-test protocol that will serve as the primary means by which these Phase 2 prototypes will be evaluated. Since 2008, this core test team has successfully conducted multiple spaceflight analog mission evaluations utilizing a consistent set of operational tools, methods, and metrics to enable the iterative development, testing, analysis, and validation of evolving exploration architectures, operations concepts, and vehicle designs. The purpose of implementing a similar evaluation process for the Phase 2 Habitation Concepts is to consistently evaluate different commercial partner ground prototypes to provide data-driven, actionable recommendations for Phase 3. This paper describes the process by which the ground test protocol was developed and the objectives, methods, and metrics by which the NextSTEP Phase 2 Habitation Concepts will be rigorously and systematically evaluated. The protocol has been developed using both a top-down and bottom-up approach. Top-down development began with the Human Exploration and Operations Mission Directorate (HEOMD) exploration objectives and ISS Exploration Capability Study Team (IECST) candidate flight objectives. Strategic questions and associated rationales, derived from these candidate architectural objectives, provide the framework by which the ground-test protocol will address the DSG stack elements and configurations, systems and subsystems, and habitation, science, and EVA functions. From these strategic questions, high-level functional requirements for the DSG were drafted and associated ground-test objectives and analysis protocols were established. Bottom-up development incorporated objectives from NASA SMEs in autonomy, avionics and software, communication, environmental control and life support systems, exercise, extravehicular activity, exploration medical operations, guidance navigation and control, human factors and behavioral performance, human factors and habitability, logistics, Mission Control Center operations, power, radiation, robotics, safety and mission assurance, science, simulation, structures, thermal, trash management, and vehicle health. Top-down and bottom-up objectives were integrated to form overall functional requirements - ground-test objectives and analysis mapping. From this mapping, ground-test objectives were organized into those that will be evaluated through inspection, demonstration, analysis, subsystem standalone testing, and human-in-the-loop (HITL) testing. For the HITL tests, mission-like timelines, procedures, and flight rules have been developed to directly meet ground test objectives and evaluate specific functional requirements. Data collected from these assessments will be analyzed to determine the acceptability of habitation element configurations and the combinations of capabilities that will result in the best habitation platform to be recommended by the test team for Phase 3.
The NASA Jet Propulsion Laboratory (JPL) successfully landed the Mars 2020 Perseverance Rover at Jezero Crater on the Martian surface. Perseverance’s main mission objective is to cache Martian rock and regolith samples in hermetically sealed tubes to be brought back to Earth by future missions. To achieve this goal the rover is equipped with a 2-meter-long Robotic Arm (RA) which manipulates the Turret to interact with the surface. The Turret is comprised of science instruments and tools that enable surface sampling and science. The backbone of the Turret hardware is the Rotary Percussive Coring Drill. The science instruments, which are directly mounted to the structural housing of this drill, must be able to withstand not only the launch and entry, descent and landing (EDL) loads of the vehicle but also the dynamic percussive environment, induced by the drill throughout surface operations. This paper discusses the technical hardware design, development and testing of a vibration isolation system to protect the Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) Instrument from these dynamic environments. The hardware design aspect of this problem was limited by both size and mass constraints. The Turret is tightly configured and the physical space in which hardware can reside is restricted due to multiple axes of surface interaction points. Another driving requirement is the extreme range of thermal non-operational environment from -135C to +90C. This, in addition to SHERLOC being a heavier instrument than previously integrated on a turret, made the use of isolation systems employed on previous rover missions problematic. The final design incorporates custom wire mesh springs preloaded within titanium hexapod struts equipped with flexure ends. Custom versions of commercially available wire mesh springs were designed and tested. These custom springs differed in dimension, density and stiffness from the off the shelf options. The newly designed springs went through various stages of flight acceptance testing. Detailed physics-based modeling to understand what loads the isolation system would experience was used to define the test conditions for the springs and entire isolation subsystem. The testing program developed around this was extensive to fully characterize the isolation performance over cleanliness levels, temperature and life. Another major aspect of this work was developing a method of replicating the drill’s percussive environment for performance and life testing of Turret mounted hardware. Attaching the instrument to an operating drill for testing was not a viable option. A method of using a Highly Accelerated Life Test (HALT) table was developed and applied across the project as the most representative and tunable option to physically simulate this new environment. This method, along with launch environment random vibration testing, was used to build an entire dynamic qualification and flight hardware test program. The results of the design, modeling, testing and analysis of the SHERLOC Isolation System is described throughout the following paper.
Future NASA exploration missions will increasingly require sampling, in-situ analysis and possibly the return of material to Earth for laboratory analysis. To address these objective, effective and optimized drilling techniques are needed. This requires developing comprehensive tools to be able to determine analytically what takes place during the operation and what are the control parameters that can be enhanced. In this study, three types of coring techniques were studied and were identified as potential candidates for operation from a possible future Mars Sample Return (MSR) mission rover. These techniques include percussive, rotary-friction, and rotary-percussive coring. Theoretical models were developed to predict the dynamic reaction forces transmitted from these three types of corers to the robotic arms that hold them. The predicted reaction forces will then be used in a dynamic simulation environment to simulate a representative corer tool to obtain a best estimate of a tool that can be operated from a small rover. The predicted dynamic reaction forces will be presented in this paper.
A new technique for surface EXAFS has been developed. In this technique the absorption fine structure is observed by monitoring the photoelectrons emitted from core levels as a function of photon energy. The surface sensitivity is achieved by detecting elastic photoelectrons that escape to the vacuum from a few atomic layers near the surface. EXAFS from Mn 3p and F2s outer core levels in MnF2 were measured, the results were compared with transmission EXAFS from Mn ls core level and good agreement was found. This development is significant because: (1) almost all elements have suitable core levels of low binding energy; (2) since photopeaks from adjacent core levels do not cross as the photon energy is varied, the limitations imposed on other surface EXAFS techniques by this interference is removed. Auger electrons, which have fixed kinetic energies and so can cross photopeaks, will generally have low energies if they originate from outer core levels and be unlikely to appear in the EXAFS region of kinetic energies, i.e., in excess of about 50 eV; (3) VUV light is used, which greatly extends the usable range of photon energies; (4) more than one element in a solid may be studied with the same monochromator. The experiments were carried out on the VUV beam line U14A at NSLS.
Short-term hot-hardness studies were performed with carburized and hardened AISI 8620, CBS 1000, CBS 1000M, CBS 600, and Vasco X-2 steels. Case and core hardness measurements were made at temperatures from 294 to 811 K (70 to 1000 F). The data were compared with data for high-speed tool steels and AISI 52100. The materials tested can be ranked as follows in order of decreasing hot-hardness retention: (1) Vasco X-2; equivalent to through-hardened tool steels up to 644 K (700 F) above which Vasco X-2 is inferior; (2) CBS 1000, (3) CBS 1000M; (4) CBS 6000; better hardness retention at elevated temperatures than through-hardened AISI 52100; and (5) AISI 8620. For the carburized steels, the change in hardness with temperature of the case and core are similar for a given material. The short-term hot hardness of these materials can be predicted with + or - 1 point Rockwell C.
Code to estimate position and attitude of a spacecraft or aircraft belongs to the most safety-critical parts of flight software. The complex underlying mathematics and abundance of design details make it error-prone and reliable implementations costly. AutoFilter is a program synthesis tool for the automatic generation of state estimation code from compact specifications. It can automatically produce additional safety certificates which formally guarantee that each generated program individually satisfies a set of important safety policies. These safety policies (e.g.. array-bounds, variable initialization) form a core of properties which are essential for high-assurance software. Here we describe the AutoFilter system and its certificate generator and compare our approach to the static analysis tool PolySpace.
On the composite cryotank technology development (CCTD) project, the Boeing Company built two cryotanks as a means of advancing technology and manufacturing readiness levels (TRL and MRL) and lowering the risk of fabricating full-scale fuel containment vessels.1 CCTD focused on upper stage extended duration applications where long term storage of propellants is required. The project involved the design, analysis, fabrication, and test of manufacturing demonstration units (MDU), a 2.4 m (precursor) and a 5.5 m composite cryotank. Key design features included one-piece wall construction to minimize overall weight (eliminating the need for a bellyband joint), 3-dimensionally (3D) reinforced y-joint material to alleviate stress concentrations at the tank to skirt interface and a purge-able fluted core skirt to carry high axial launch loads. The tanks were made with OoA curing pre-impregnated (prepreg) carbon/epoxy (C/E) slit-tape tow (STT) that contained thin micro-crack resistant plies in the tank wall center to impede permeation. The tanks were fabricated at Boeing's Seattle-based Advanced Development Center (ADC) using RAFP and multipiece break-down tooling. The tooling was designed and built by Janicki Industries (JI) at Sedro Woolley, Washington. Tank assemblage consisted of co-bonded dome covers, one-piece fluted core skirts and mechanical fastened cover/sump. Ultrasonic inspection was performed after every cure or bond and a structural health monitoring system (SHMS) was installed to identify potential impact damage events (in-process and/or during transportation). The tanks were low temperature tested at NASA's George C. Marshall Space Flight Center (MSFC) in Huntsville, Alabama. The testing, which consisted of a sequence of fill/drain pressure and thermal cycles using LH2, was successfully concluded in 2012 on the 2.4 m tank and in 2014 on the 5.5 m tank. Structural, thermal, and permeation performance data was obtained. 2 Critical design features and manufacturing advancements, which helped to validate 25% weight and 30% cost reduction projections, were matured. These advancements will help to guide future composite tank integration activities on next generation long duration aircraft and space launch vehicles. Because CCTD addressed innovative design features, heavy lift size scale-up, multipiece captured tooling, new generation automated material placement (AMP) equipment and OoA materials, this chapter should be of interest to educators, students and manufacturers of composite hardware and flight vehicles.
In the past, feature extraction and identification were interesting concepts, but not required to understand the underlying physics of a steady flow field. This is because the results of the more traditional tools like iso-surfaces, cuts and streamlines were more interactive and easily abstracted so they could be represented to the investigator. These tools worked and properly conveyed the collected information at the expense of much interaction. For unsteady flow-fields, the investigator does not have the luxury of spending time scanning only one "snap-shot" of the simulation. Automated assistance is required in pointing out areas of potential interest contained within the flow. This must not require a heavy compute burden (the visualization should not significantly slow down the solution procedure for co-processing environments like pV3). And methods must be developed to abstract the feature and display it in a manner that physically makes sense. The following is a list of the important physical phenomena found in transient (and steady-state) fluid flow: (1) Shocks, (2) Vortex cores, (3) Regions of recirculation, (4) Boundary layers, (5) Wakes. Three papers and an initial specification for the (The Fluid eXtraction tool kit) FX Programmer's guide were included. The papers, submitted to the AIAA Computational Fluid Dynamics Conference, are entitled : (1) Using Residence Time for the Extraction of Recirculation Regions, (2) Shock Detection from Computational Fluid Dynamics results and (3) On the Velocity Gradient Tensor and Fluid Feature Extraction.