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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 469 records · Page 26
All sourcesNASA NTRSDOE OSTI
NASA NTRS1999

Reconfigurable Data Communications Packet-Switch Emulation Test Bed Demonstrated

The Communications Technology Division at the NASA Lewis Research Center has an ongoing program to develop advanced switching and routing technology concepts for future satellite onboard processing systems. Through a university grant as a part of this research, the Cleveland State University is using a flexible reconfigurable data communications packet switch emulation test bed to investigate packet switching techniques. Because of the switching speed and protocol complexity, implementing a data communications network is a tremendous task. Various alternatives should be carefully studied and evaluated in the development stage so that the optimal system configuration can be obtained and implemented later. Therefore, it is desirable to predict the performance of the network before it is actually constructed. This is especially true in the case of satellite systems. In the past, theoretical analysis, software simulation, and prototyping were used to evaluate performance. However, each method has its drawback. There are basic tradeoffs among accuracy, cost, and required evaluation time. No method is completely satisfactory.

Chu, Pong P.↗
NASA NTRS2019

CO2 Removal Onboard the International Space Station – Material Selection and System Design

The previous three years of efforts have focused on the study of the sorbent materials available for use in a 4-bed molecular sieve system. The accumulation of knowledge has been invaluable for further decisions and for reflecting on the conclusions of past decisions. The goal of the next system is perfect uptime for nearly 20,000 hours of operation, but no complex life support system has yet reached this lofty goal. In addition to reliability, CO2 removal performance improvements have been intensively studied. The achievements toward this end include highly detailed isotherm measurements which drive system simulations as well as testing physical design improvements. Looking back on the successes and failures of past systems, correlating tests with long-duration data, and carefully projecting the future are all needed for the success of the next system. This work intends to reveal the path we have taken and illuminate the steps to come for CO2 removal life support with the 4BCO2 flight demonstration.

Cmarik, Gregory E.↗
NASA NTRS2006

Marshall Space Flight Center Autumn 2005

The East Test Area at Marshall Space Flight Center has five major test stands, each of which has two or more test positions, not counting the SSME and RD-180 engine test facilities in the West Test Area. These research and development facilities are capable of testing high pressure pumps, both fuel and oxidizer, injectors, chambers and sea-level engine assemblies, as well as simulating deep space environments in the 12, 15 and 20 foot vacuum chambers. Liquid propellant capabilities are high pressure hydrogen (liquid and gas), methane (liquid and gas), and RP-1 and high pressure LOX. Solid propellant capability includes thrust measurement and firing capability up to 1/6 scale Shuttle SRB segment. In the past six months MSFC supported multiple space access and exploration programs in the previous six months. Major programs were Space Exploration, Shuttle External Tank research, Reusable Solid Rocket Motor (RSRM) development, as well as research programs for NASA and other customers. At Test Stand 115 monopropellant ignition testing was conducted on one position. At the second position multiple ignition/variable burn time cycles were conducted on Vacuum Plasma Spatter (VPS) coated injectors. Each injector received fifty cycles; the propellants were LOX Hydrogen and the ignition source was TEA. Following completion of the monopropellant test series the stand was reconfigured to support ignition testing on a LOX Methane injector system. At TS 116 a thrust stand used to test Booster Separation Motors from the Shuttle SRB system was disassembled and moved from Chemical Systems Division s Coyote Canyon plant to MSFC. The stand was reassembled and readied for BSM testing. Also, a series of tests was run on a Pratt & Whitney Rocketdyne Low Element Density (LED) injector engine. The propellants for this engine are LOX and LH2. At TS 300 the 20 foot vacuum chamber was configured to support hydrogen testing in the Multipurpose Hydrogen Test Bed (MHTB) test article. This testing, which went 24/7 for fourteen consecutive days, demonstrated long duration storage methods intended to minimize losses of propellant in support of the Space Exploration Initiative. The facility is being converted to support similar research using liquid methane. The 12 foot chamber at TS 300 was used to create ascent profiles (both heat and altitude effects) for foam panel testing in support of the Shuttle External Tank program. At TS 500, one position was in build-up to support ATK Thiokol research into the gas dynamics associated with high pressure flow across the propellant joint in segmented solid rocket motors. The testing involves flowing high pressure gas through a 24 motor case. Initial tests will be conducted with simulated aluminum grain, followed by tests using actual propellant. The second position at TS 500 has been in build-up for testing a LOX methane thruster manufactured by KT Engineering. At the Solid Propulsion Test Area (SPTA), the first dual segment 24 solid rocket motor was fired for ATK Thiokol in support of the RSRM program. A new axial thrust measurement stand was designed and fabricated for this testing. Real Time Radiography (RTR) will be deployed to examine nozzle erosion on the next dual segment motor.

Allen, Mike↗
NASA NTRS2012

Alternative Fuels Research Laboratory

NASA Glenn has invested over $1.5 million in engineering, and infrastructure upgrades to renovate an existing test facility at the NASA Glenn Research Center (GRC), which is now being used as an Alternative Fuels Laboratory. Facility systems have demonstrated reliability and consistency for continuous and safe operations in Fischer-Tropsch (F-T) synthesis and thermal stability testing. This effort is supported by the NASA Fundamental Aeronautics Subsonic Fixed Wing project. The purpose of this test facility is to conduct bench scale F-T catalyst screening experiments. These experiments require the use of a synthesis gas feedstock, which will enable the investigation of F-T reaction kinetics, product yields and hydrocarbon distributions. Currently the facility has the capability of performing three simultaneous reactor screening tests, along with a fourth fixed-bed reactor for catalyst activation studies. Product gas composition and performance data can be continuously obtained with an automated gas sampling system, which directly connects the reactors to a micro-gas chromatograph (micro GC). Liquid and molten product samples are collected intermittently and are analyzed by injecting as a diluted sample into designated gas chromatograph units. The test facility also has the capability of performing thermal stability experiments of alternative aviation fuels with the use of a Hot Liquid Process Simulator (HLPS) (Ref. 1) in accordance to ASTM D 3241 "Thermal Oxidation Stability of Aviation Fuels" (JFTOT method) (Ref. 2). An Ellipsometer will be used to study fuel fouling thicknesses on heated tubes from the HLPS experiments. A detailed overview of the test facility systems and capabilities are described in this paper.

Surgenor, Angela D.↗
NASA NTRS1973

Performance characterization tests of three 0.44-N (0.1 lbf) hydrazine catalytic thrusters

The 0.44-N (0.1-lbf) class of hydrazine catalytic thruster has been evaluated to assess its capability for spacecraft limit-cycle attitude control with thruster pulse durations on the order of 10 milliseconds. Dynamic-environment and limit-cycle simulation tests were performed on three commercially available thruster/valve assemblies, purchased from three different manufacturers. The results indicate that this class of thruster can sustain a launch environment and, when properly temperature-conditioned, can perform limit-cycle operations over the anticipated life span of a multi-year mission. The minimum operating temperature for very short pulse durations was determined for each thruster. Pulsing life tests were then conducted on each thruster under a thermally controlled condition which maintained the catalyst bed at both a nominal 93 C (200 F) and 205 C (400 F). These were the temperatures believed to be slightly below and very near the minimum recommended operating temperature, respectively. The ensuing life tests ranged from 100,000 to 250,000 pulses at these temperatures, as would be required for spacecraft limit-cycle attitude control applications.

Moynihan, P. I.↗
NASA NTRS2013

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully integrated with the Morpheus Vertical Test Bed Avionics

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Rutishauser, David↗
NASA NTRS2013

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully Integrated with the Morpheus Vertical Test Bed Avionics

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Epp, Chirold D.↗
NASA NTRS2008

Redesigned Human Metabolic Simulator

A design has been formulated for a proposed improved version of an apparatus that simulates atmospheric effects of human respiration by introducing controlled amounts of carbon dioxide, water vapor, and heat into the air. Denoted a human metabolic simulator (HMS), the apparatus is used for testing life-support equipment when human test subjects are not available. The prior version of the HMS, to be replaced, was designed to simulate the respiratory effects of as many as four persons. It exploits the catalytic combustion of methyl acetate, for which the respiratory quotient (the molar ratio of carbon dioxide produced to oxygen consumed) is very close to the human respiratory quotient of about 0.86. The design of the improved HMS provides for simulation of the respiratory effects of as many as eight persons at various levels of activity. The design would also increase safety by eliminating the use of combustion. The improved HMS (see figure) would include a computer that would exert overall control. The computer would calculate the required amounts of oxygen removal, carbon dioxide addition, water addition, and heat addition by use of empirical equations for metabolic profiles of respiration and heat. A blower would circulate air between the HMS and a chamber containing a life-support system to be tested. With the help of feedback from a mass flowmeter, the blower speed would be adjusted to regulate the rate of flow according to the number of persons to be simulated and to a temperature-regulation requirement (the air temperature would indirectly depend on the rate of flow, among other parameters). Oxygen would be removed from the circulating air by means of a commercially available molecular sieve configured as an oxygen concentrator. Oxygen, argon, and trace amounts of nitrogen would pass through a bed in the molecular sieve while carbon dioxide, the majority of nitrogen, and other trace gases would be trapped by the bed and subsequently returned to the chamber. If, as recommended, the oxygen concentrator were of a rotating twelve-bed design, then variations in the product stream could be made very small. Carbon dioxide would be added directly to the circulating air by simple injection from a supply tank. The rate of injection would be maintained at the required rate by use of a mass flowmeter/controller. In the same way, nitrogen would be added to make up for the small amount of nitrogen lost through the oxygen concentrator. Water vapor would be added to the circulating air by heating the corresponding required flow of water to steam in a heat exchanger. More heat, required to complete the simulation of the thermal effect of respiration, would be added through another heat exchanger. Heat would be supplied to both heat exchangers via a hot-oil loop.

Duffield, Bruce↗
NASA NTRSDate not supplied

Lightweight Thrust Chamber Assemblies using Multi-Alloy Additive Manufacturing and Composite Overwrap

Additive Manufacturing (AM) has brought significant design and fabrication opportunities for complex components with internal features such as liquid rocket engine thrust chambers not previously possible. This technology allows for significant cost savings and schedule reductions in addition to new performance optimization through weight reduction and increased margins. Specific to regeneratively-cooled combustion chambers and nozzles for liquid rocket engines, additive manufacturing offers the ability to form the complex internal coolant channels and the closeout of the channels to contain the high pressure liquid propellants with a single operation. Much of additive manufacturing development has focused on monolithic alloys using Laser Powder Bed Fusion (L-PBF), which do not allow for complete optimization of the structure. The National Aeronautics and Space Administration (NASA) completed feasibility of an AM bimetallic L-PBF GRCop-84 copper-alloy combustion chamber with an AM electron beam freeform Inconel 625 structural jacket under the Low Cost Upper Stage Propulsion (LCUSP) Project. A follow-on project called Rapid Analysis and Manufacturing Propulsion Technology (RAMPT) is under development to further expand large-scale multi-alloy thrust chambers while maturing composite overwrap technology for significant weight savings opportunities. The RAMPT project has three primary objectives: 1) Advancing blown powder Directed Energy Deposition (DED) to fabricate integral-channel large scale nozzles, 2) Develop composite overwrap technology to reduce weight and provide structural capability for thrust chamber assemblies, and 3) Develop bimetallic and multi-metallic additively manufactured radial and axial joints to optimize material performance. In addition to these primary manufacturing developments, analytical modeling efforts compliment the process development to simulate the AM processes to reduce build failures and distortions. The RAMPT project is also maturing the supply chain for various manufacturing processes described above in addition to L-PBF of GRCop-42. This paper will present an overview of the RAMPT project, the process development and hardware progress to date, material and hot-fire testing results, along with future developments.

Additive Manufacturing↗
NASA NTRS2012

Long Duration Head-Down Tilt Bed Rest Studies: Safety Considerations Regarding Vision Health

Visual symptoms reported in astronauts returning from long duration missions in low Earth orbit, including hyperopic shift, choroidal folds, globe flattening and papilledema, are thought to be related to fluid shifts within the body due to microgravity exposure. Because of this possible relation to fluid shifts, safety considerations have been raised regarding the ocular health of head-down tilt (HDT) bed rest subjects. HDT is a widely used ground ]based analog that simulates physiological changes of spaceflight, including fluid shifts. Thus, vision monitoring has been performed in bed rest subjects in order to evaluate the safety of HDT with respect to vision health. Here we report ocular outcomes in 9 healthy subjects (age range: 27-48 years; Male/Female ratio: 8/1) completing bed rest Campaign 11, an integrated, multidisciplinary 70-day 6 degrees HDT bed rest study. Vision examinations were performed on a weekly basis, and consisted of office-based (2 pre- and 2 post-bed rest) and in-bed testing. The experimental design was a repeated measures design, with measurements for both eyes taken for each subject at each planned time point. Findings for the following tests were all reported as normal in each testing session for every subject: modified Amsler grid, red dot test, confrontational visual fields, color vision and fundus photography. Overall, no statistically significant differences were observed for any of the measures, except for both near and far visual acuity, which increased during the course of the study. This difference is not considered clinically relevant as may result from the effect of learning. Intraocular pressure results suggest a small increase at the beginning of the bed rest phase (p=0.059) and lesser increase at post-bed rest with respect to baseline (p=0.046). These preliminary results provide the basis for further analyses that will include correlations between intraocular pressure change pre- and post-bed rest, and optical coherence tomography measurements of the retina.

Cromwell, Ronita L.↗
NASA NTRSDate not supplied

Scaling Laws of Ejecta Streaks in Lunar Landings

From the crewed Apollo missions of the 1960s to the recent Chang’e uncrewed lunar missions, the interaction between the supersonic exhaust and the lunar surface generates a striking ray system of ejecta particles that travel radially outward at high speeds. While this intriguing pattern has been observed in experiments and simulations, the underlying mechanism remains unclear. These radial ejecta streaks were also observed during an experimental campaign using a Mach 5.3 jet impinging on a granular bed within a large-scale vacuum chamber. Our findings reveal that the radial ejecta streaks are caused by the Gortler instability, which, due to the curvature of the extremely underexpanded jet, induces counter-rotating streamwise vortices within the jet shear layer. These vortices impact the ground and entrain particles in their upwash regions. Experimental measurements from both ground tests and the literature show that the number of streaks strongly depends on the jet diameter at impact and the shear layer thickness, further revealing a power-law scaling with the jet pressure ratio. These insights highlight the pivotal role of fluid dynamics in extraterrestrial landings and provide a foundation for mitigating risks in future planetary missions.

Lunar Landing↗
NASA NTRS1990

Uprated OMS Engine Status-Sea Level Testing Results

The current Space Shuttle Orbital Maneuvering Engine (OME) is pressure fed, utilizing storable propellants. Performance uprating of this engine, through the use of a gas generator driven turbopump to increase operating pressure, is being pursued by the NASA Johnson Space Center (JSC). Component level design, fabrication, and test activities for this engine system have been on-going since 1984. More recently, a complete engine designated the Integrated Component Test Bed (ICTB), was tested at sea level conditions by Aerojet. A description of the test hardware and results of the sea level test program are presented. These results, which include the test condition operating envelope and projected performance at altitude conditions, confirm the capability of the selected Uprated OME (UOME) configuration to meet or exceed performance and operational requirements. Engine flexibility, demonstrated through testing at two different operational mixture ratios, along with a summary of projected Space Shuttle performance enhancements using the UOME, are discussed. Planned future activities, including ICTB tests at simulated altitude conditions, and recommendations for further engine development, are also discussed.

Bertolino, J. D.↗
NASA NTRS1999

Neural Network and Regression Approximations Used in Aircraft Design

NASA Lewis Research Center's CometBoards Test Bed was used to create regression and neural network models for a High-Speed Civil Transport (HSCT) aircraft. Both approximation models that replaced the actual analysis tool predicted the aircraft response in a trivial computational effort. The models allow engineers to quickly study the effects of design variables on constraint and objective values for a given aircraft configuration. For example, an engineer can change the engine size by 1000 pounds of thrust and quickly see how this change affects all the output values without rerunning the entire simulation. In addition, an engineer can change a constraint and use the approximation models to quickly reoptimize the configuration. Generating the neural network and the regression models is a time-consuming process, but this exercise has to be carried out only once. Furthermore, an automated process can reduce calculations substantially.

Patnaik, Surya N.↗
NASA NTRS2019

CO2 Removal for the International Space Station – 4-Bed Molecular Sieve Material Selection and System Design

Efforts over the past three years have focused on the study of candidate sorbent materials for use in a 4BMS molecular sieve system. The accumulation of knowledge has been invaluable for further decisions and for reflecting on the conclusions of past decisions. The goal of the next generation CO2 removal system is continuous, failure-free operation for nearly 20,000 hours, but no complex life support system has yet reached this lofty goal. In addition to reliability, CO2 removal performance improvements have been intensively studied. The achievements toward this end include highly detailed isotherm measurements which drive system simulations as well as testing physical design improvements. Looking back on the successes and failures of past systems, correlating data from long-duration tests, and carefully projecting future results are all needed for the success of the next system. This work intends to reveal the path we have taken and illuminate the steps to come for CO2 removal life support with the 4BCO2 flight demonstration.

Cmarik, Gregory E.↗
NASA NTRS1987

Integration of symbolic and algorithmic hardware and software for the automation of space station subsystems

Expert systems that require access to data bases, complex simulations and real time instrumentation have both symbolic as well as algorithmic computing needs. These needs could both be met using a general computing workstation running both symbolic and algorithmic code, or separate, specialized computers networked together. The later approach was chosen to implement TEXSYS, the thermal expert system, developed to demonstrate the ability of an expert system to autonomously control the thermal control system of the space station. TEXSYS has been implemented on a Symbolics workstation, and will be linked to a microVAX computer that will control a thermal test bed. Integration options are explored and several possible solutions are presented.

Gregg, Hugh↗
NASA NTRS1991

Lunar rovers and local positioning system

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Avery, James↗
NASA NTRS1992

SSME improved characterization using highly instrumented engine test data

This paper discusses the analysis of Space Shuttle Main Engine (SSME) 3001 test data and its applications to steady-state models. Engine 3001 is a highly instrumented Phase II (current configuration) SSME that was tested at the Technology Test Bed facility located at Marshall Space Flight Center. A test series covering a carefully selected range of operating conditions was performed during 1991. An analysis of pressure, temperature and flowrate data was performed to evaluate the ability of steady-state models to accurately characterize the internal system of an SSME. Much of the special instrumentation was used to acquire data never before measured at the engine level prior to Engine 3001 testing. The analysis revealed that modifications are needed to improve model calculations of internal Hydrogen and Oxygen flows. Modifying steady-state models to more accurately simulate the internal flow system of an SSME should improve both engine performance evaluations and prediction capabilities.

Piekarski, Brian↗
NASA NTRS2017

Generating Real-Time Robotics Control Software from SysML

In this paper, we outline an approach for autogenerating real-time robotics control code from hierarchical state machines and hardware configurations encoded in Systems Modeling Language (SysML). We propose a software architecture that provides an abstract SysML layer with access to device state information and a set of primitive device commands, such as move actuator and release brake, allowing a user to build up a complete functional state machine directly in SysML. The SysML diagram is then exported to a standard SCXML file format and subsequently used to auto-generate hardware control code. Once this architecture is in place, the only explicit code elements that need to be written are the primitive device commands, which can be easily unit tested and reused across different systems. The motivation for this work was the need for a test bed that enables the rapid prototyping of mechanisms and control algorithms for a spacecraft that could ultimately be used for preparing Martian rock samples for their return to Earth. To this end, our software system was also designed to allow for the run-time specification of the hardware layout in SysML, with the hardware-level control functions kept agnostic to the specific parameters or communication bus of any particular device. Further, we outline a system for specifying both the state machine and hardware configuration in the MagicDraw IDE in such a way that the system can be simulated before any code is generated. The resultant software system is easy to debug, understand, and allows users to choose how much information is encoded as a visual or text-based representation.

Godart, Peter↗