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NASA NTRS2003

Foundations of the Bandera Abstraction Tools

Current research is demonstrating that model-checking and other forms of automated finite-state verification can be effective for checking properties of software systems. Due to the exponential costs associated with model-checking, multiple forms of abstraction are often necessary to obtain system models that are tractable for automated checking. The Bandera Tool Set provides multiple forms of automated support for compiling concurrent Java software systems to models that can be supplied to several different model-checking tools. In this paper, we describe the foundations of Bandera's data abstraction mechanism which is used to reduce the cardinality (and the program's state-space) of data domains in software to be model-checked. From a technical standpoint, the form of data abstraction used in Bandera is simple, and it is based on classical presentations of abstract interpretation. We describe the mechanisms that Bandera provides for declaring abstractions, for attaching abstractions to programs, and for generating abstracted programs and properties. The contributions of this work are the design and implementation of various forms of tool support required for effective application of data abstraction to software components written in a programming language like Java which has a rich set of linguistic features.

Hatcliff, John↗

NASA NTRS2009

Towards a Certified Lightweight Array Bound Checker for Java Bytecode

Dynamic array bound checks are crucial elements for the security of a Java Virtual Machines. These dynamic checks are however expensive and several static analysis techniques have been proposed to eliminate explicit bounds checks. Such analyses require advanced numerical and symbolic manipulations that 1) penalize bytecode loading or dynamic compilation, 2) complexify the trusted computing base. Following the Foundational Proof Carrying Code methodology, our goal is to provide a lightweight bytecode verifier for eliminating array bound checks that is both efficient and trustable. In this work, we define a generic relational program analysis for an imperative, stackoriented byte code language with procedures, arrays and global variables and instantiate it with a relational abstract domain as polyhedra. The analysis has automatic inference of loop invariants and method pre-/post-conditions, and efficient checking of analysis results by a simple checker. Invariants, which can be large, can be specialized for proving a safety policy using an automatic pruning technique which reduces their size. The result of the analysis can be checked efficiently by annotating the program with parts of the invariant together with certificates of polyhedral inclusions. The resulting checker is sufficiently simple to be entirely certified within the Coq proof assistant for a simple fragment of the Java bytecode language. During the talk, we will also report on our ongoing effort to scale this approach for the full sequential JVM.

Pichardie, David↗

NASA NTRSDate not supplied

New Approach for the Assessment of Interactions of a Strain-Gage Balance

A new approach was developed to assess interactions of a strain-gage balance. The approach compares interactions observed during a calibration of the balance with interactions observed during the application of check loads. The approach assumes that alignment errors of the calibration loads are negligible. In that case, interactions observed during the calibration can be used as a reference for the assessment of interactions of check loads. The new approach first fits interactions of a single-component load of the calibration data using simple regression models. Then, interactions of the check loads are predicted by using the check load values as inputs for the regression models of the interactions. In the next step, absolute values of differences between predicted and observed interactions of the check loads are computed. Afterwards, the largest differences are compared with empirical thresholds to assess how well the interactions of the check load data agree with the interactions of the calibration data. Recently obtained data sets of a six-component force balance are used to illustrate the application of the new approach. It is also demonstrated how knowledge of balance design characteristics can benefit the assessment of interactions.

wind tunnel test↗

DOE OSTI2014

Automatic monitoring of vibration welding equipment

A vibration welding system includes vibration welding equipment having a welding horn and anvil, a host device, a check station, and a robot. The robot moves the horn and anvil via an arm to the check station. Sensors, e.g., temperature sensors, are positioned with respect to the welding equipment. Additional sensors are positioned with respect to the check station, including a pressure-sensitive array. The host device, which monitors a condition of the welding equipment, measures signals via the sensors positioned with respect to the welding equipment when the horn is actively forming a weld. The robot moves the horn and anvil to the check station, activates the check station sensors at the check station, and determines a condition of the welding equipment by processing the received signals. Acoustic, force, temperature, displacement, amplitude, and/or attitude/gyroscopic sensors may be used.

47 OTHER INSTRUMENTATION↗

DOE OSTI2014

SU-E-T-310: Targeting Safety Improvements Through Analysis of Near-Miss Error Detection Points in An Incident Learning Database

Purpose: Radiation treatment planning involves a complex workflow that can make safety improvement efforts challenging. This study utilizes an incident reporting system to identify detection points of near-miss errors, in order to guide our departmental safety improvement efforts. Previous studies have examined where errors arise, but not where they are detected or their patterns. Methods: 1377 incidents were analyzed from a departmental nearmiss error reporting system from 3/2012–10/2013. All incidents were prospectively reviewed weekly by a multi-disciplinary team, and assigned a near-miss severity score ranging from 0–4 reflecting potential harm (no harm to critical). A 98-step consensus workflow was used to determine origination and detection points of near-miss errors, categorized into 7 major steps (patient assessment/orders, simulation, contouring/treatment planning, pre-treatment plan checks, therapist/on-treatment review, post-treatment checks, and equipment issues). Categories were compared using ANOVA. Results: In the 7-step workflow, 23% of near-miss errors were detected within the same step in the workflow, while an additional 37% were detected by the next step in the workflow, and 23% were detected two steps downstream. Errors detected further from origination were more severe (p<.001; Figure 1). The most common source of near-miss errors was treatment planning/contouring, with 476 near misses (35%). Of those 476, only 72(15%) were found before leaving treatment planning, 213(45%) were found at physics plan checks, and 191(40%) were caught at the therapist pre-treatment chart review or on portal imaging. Errors that passed through physics plan checks and were detected by therapists were more severe than other errors originating in contouring/treatment planning (1.81 vs 1.33, p<0.001). Conclusion: Errors caught by radiation treatment therapists tend to be more severe than errors caught earlier in the workflow, highlighting the importance of safety checks in dosimetry and physics. We are utilizing our findings to improve manual and automated checklists for dosimetry and physics.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2015

SU-E-T-260: Development of a System to Verify for Connection Consistency in a Brachytherapy

Purpose: Brachytherapy has multiple manual procedures which are prone to human error, especially during the connection process of the treatment device to applicator. This is when considerable attention is required. In this study, we propose a new connection verification device concept. Methods: The system is composed of a ring magnet (anisotropic ferrite : magfine Inc), hole device (A1324LUA-T : Allegro MicroSystems Phil Inc) and an in-house check cable, which is made from magnetic material (Figure1). The magnetic field distribution is affected by the check cable position and any magnetic field variation is detected by the hole device. This system frequency is 20Hz and the average of 4 signals was used as hole device value to reduce noise. Results: The value of the hole device is altered, depending on the location of the check cable. The resolution of the check cable position is 5mm and 10mm, around a 10mm region from the hole device and over 10mm, respectively. There was a reduction in sensitivity of the hole device, in our test, which was linked to the distance of the hole device from the check cable. Conclusion: We demonstrated a new concept of connection verification in a brachytherapy. This system has the possibility to detect an incorrect connection. Moreover, the system is capable of self-optimization, such as determining the number of hole device and the magnet strength.Acknowledgement:This work was supported by JSPS Core -to-Core program Number 23003 and KAKENHI Grant Number 26860401. This work was supported by JSPS Core-to-Core program Number 23003 and KAKENHI Grant Number 26860401.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2015

SU-E-T-408: Evaluation of the Type and Frequency of Variations Discovered During Routine Secondary Patient Chart Review

Purpose: Desire to improve efficiency and throughput inspired a review of our physics chart check procedures. Departmental policy mandates plan checks pre-treatment, after first treatment and weekly every 3–5 days. This study examined the effectiveness of the “after first” check with respect to improving patient safety and clinical efficiency. Type and frequency of variations discovered during this redundant secondary review was examined over seven months. Methods: A community spreadsheet was created to record variations in care discovered during chart review following the first fraction of treatment and before the second fraction (each plan reviewed prior to treatment). Entries were recorded from August 2014 through February 2015, amounting to 43 recorded variations out of 906 reviewed charts. The variations were divided into categories and frequencies were assessed month-to-month. Results: Analysis of recorded variations indicates an overall variation rate of 4.7%. The initial rate was 13.5%; months 2–7 average 3.7%. The majority of variations related to discrepancies in documentation at 46.5%, followed by prescription, plan deficiency, and dose tracking related variations at 25.5%, 12.8%, and 12.8%, respectively. Minor variations (negligible consequence on patient treatment) outweighed major variations 3 to 1. Conclusion: This work indicates that this redundant secondary check is effective. The first month spike in rates could be due to the Hawthorne/observer effect, but the consistent 4% variation rate suggests the need for periodical re-training on variations noted as frequent to improve awareness and quality of the initial chart review process, which may lead to improved treatment quality, patient safety and increased clinical efficiency. Utilizing these results, a continuous quality improvement process following Deming’s Plan-Do-Study-Act (PDSA) methodology was generated. The first iteration of this PDSA was adding a specific dose tracking checklist item in the pre-treatment plan check assessment; the ramification of which will be assessed in future data.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

Technical Note: Development and performance of a software tool for quality assurance of online replanning with a conventional Linac or MR-Linac

Purpose: To develop an integrated quality assurance (QA) software tool for online replanning capable of efficiently and automatically checking radiation treatment (RT) planning parameters and gross plan quality, verifying treatment plan data transfer from treatment planning system (TPS) to record and verify (R&V) system, performing a secondary monitor unit (MU) calculation with or without a presence of a magnetic field from MR-Linac, and validating the delivery record consistency with the plan. Methods: The software tool, named ArtQA, was developed to obtain and compare plan and treatment parameters from both the TPS and the R&V system database. The TPS data are accessed via direct file reading and the R&V data are retrieved via open database connectivity and structured query language. Plan quality is evaluated with both the logical consistency of planning parameters and the achieved dose–volume histograms. Beams in between the TPS and R&V system are matched based on geometry configurations. To consider the effect of a 1.5 T transverse magnetic field from MR-Linac in the secondary MU calculation, a method based on modified Clarkson integration algorithm was developed and tested for a series of clinical situations. Results: ArtQA has been used in their clinic and can quickly detect inconsistencies and deviations in the entire RT planning process. With the use of the ArtQA tool, the efficiency for plan check including plan quality, data transfer, and delivery check can be improved by at least 60%. The newly developed independent MU calculation tool for MR-Linac reduces the difference between the plan and calculated MUs by 10%. Conclusions: The software tool ArtQA can be used to perform a comprehensive QA check from planning to delivery with conventional Linac or MR-Linac and is an essential tool for online replanning where the QA check needs to be performed rapidly.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2024

QED: A Powerful Query Equivalence Decider for SQL

Checking query equivalence is of great significance in database systems. Prior work in automated query equivalence checking sets the first steps in formally modeling and reasoning about query optimization rules, but only supports a limited number of query features. In this paper, we present Qed, a new framework for query equivalence checking based on bag semantics. Qed uses a new formalism called Q-expressions that models queries using different normal forms for efficient equivalence checking, and models features such as integrity constraints and NULLs in a principled way unlike prior work. Our formalism also allows us to define a new query fragment that encompasses many real-world queries with a complete equivalence checking algorithm, assuming a complete first-order theory solver. Empirically, Qed can verify 299 out of 444 query pairs extracted from the Calcite framework and 979 out of 1287 query pairs extracted from CockroachDB, which is more than 2× the number of cases proven by prior state-of-the-art solver.

Computer Science↗

DOE OSTI2014

Causal Analysis of the Inadvertent Contact with an Uncontrolled Electrical Hazardous Energy Source (120 Volts AC)

On September 25, 2013, a Health Physics Technician (HPT) was performing preparations to support a pneumatic transfer from the HFEF Decon Cell to the Room 130 Glovebox in HFEF, per HFEF OI 3165 section 3.5, Field Preparations. This activity involves an HPT setting up and climbing a portable ladder to remove the 14-C meter probe from above ball valve HBV-7. The HPT source checks the meter and probe and then replaces the probe above HBV-7, which is located above Hood ID# 130 HP. At approximately 13:20, while reaching past the HBV-7 valve position indicator switches in an attempt to place the 14-C meter probe in the desired location, the HPT’s left forearm came in contact with one of the three sets of exposed terminals on the valve position indication switches for HBV 7. This resulted in the HPT receiving an electrical shock from a 120 Volt AC source. Upon moving the arm, following the electrical shock, the HPT noticed two exposed electrical connections on a switch. The HPT then notified the HFEF HPT Supervisor, who in turn notified the MFC Radiological Controls Manager and HFEF Operations Manager of the situation. Work was stopped in the area and the hazard was roped off and posted to prevent access to the hazard. The HPT was escorted by the HPT Supervisor to the MFC Dispensary and then preceded to CFA medical for further evaluation. The individual was evaluated and released without any medical restrictions. Causal Factor (Root Cause) A3B3C01/A5B2C08: - Knowledge based error/Attention was given to wrong issues - Written Communication content LTA, Incomplete/situation not covered The Causal Factor (root cause) was attention being given to the wrong issues during the creation, reviews, verifications, and actual performance of HFEF OI-3165, which covers the need to perform the weekly source check and ensure placement of the probe prior to performing a “rabbit” transfer. This resulted in the hazard not being identified and mitigated in the procedure. Work activities with in HFEF-OI-3165 placed the HPT in proximity of an unmitigated hazard directly resulting in this event. Contributing Factor A3B3C04/A4B5C04: - Knowledge Based Error, LTA Review Based on Assumption That Process Will Not Change - Change Management LTA, Risks/consequences associated with change not adequately reviewed/assessed Prior to the pneumatic system being out of service, the probe and meter were not being source checked together. The source check issue was identified and addressed during the period of time when the system was out of service. The corrective actions for this issue resulted in the requirement that a meter and probe be source checked together as it is intended to be used. This changed the activity and required an HPT to weekly, when in use, remove and install the probe from above HBV-7 to meet the requirement of LRD 15001 Part 5 Article 551.5. Risks and consequences associated with this change were not adequately reviewed or assessed. Failure to identify the hazard associated with this change directly contributed to this event.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS1976

Console test report for shuttle task 501 shuttle carrier aircraft transceiver console (SED 36115353-301)

Performance tests completed on the Space Shuttle Carrier Aircraft (SCA) transceiver console, verifying its design objectives, were described. These tests included: (1) check of power supply voltages for correct output voltage and energization at the proper point in the turn on sequence, (2) check of cooling system (LRU blower, overload sensors and circuitry, and thermocouple probe), (3) check of control circuits logic, including the provisions for remote control and display, (4) check of the LRU connector for presence of correct voltages and absence of incorrect voltages under both energized and deenergized conditions, and (5) check of the AGC and power output monitor circuits.

Lane, J. H.↗

NASA NTRS1998

An Integrated Environment for Efficient Formal Design and Verification

The general goal of this project was to improve the practicality of formal methods by combining techniques from model checking and theorem proving. At the time the project was proposed, the model checking and theorem proving communities were applying different tools to similar problems, but there was not much cross-fertilization. This project involved a group from SRI that had substantial experience in the development and application of theorem-proving technology, and a group at Stanford that specialized in model checking techniques. Now, over five years after the proposal was submitted, there are many research groups working on combining theorem-proving and model checking techniques, and much more communication between the model checking and theorem proving research communities. This project contributed significantly to this research trend. The research work under this project covered a variety of topics: new theory and algorithms; prototype tools; verification methodology; and applications to problems in particular domains.

Source record↗

NASA NTRS1998

A Discussion of Issues in Integrity Constraint Monitoring

In the development of large-scale software systems, analysts, designers, and programmers identify properties of data objects in the system. The ability to check those assertions during runtime is desirable as a means of verifying the integrity of the program. Typically, programmers ensure the satisfaction of such properties through the use of some form of manually embedded assertion check. The disadvantage to this approach is that these assertions become entangled within the program code. The goal of the research is to develop an integrity constraint monitoring mechanism whereby a repository of software system properties (called integrity constraints) are automatically inserted into the program by the mechanism to check for incorrect program behaviors. Such a mechanism would overcome many of the deficiencies of manually embedded assertion checks. This paper gives an overview of the preliminary work performed toward this goal. The manual instrumentation of constraint checking on a series of test programs is discussed, This review then is used as the basis for a discussion of issues to be considered in developing an automated integrity constraint monitor.

Fernandez, Francisco G.↗

NASA NTRS2010

Proceedings of the Second NASA Formal Methods Symposium

This publication contains the proceedings of the Second NASA Formal Methods Symposium sponsored by the National Aeronautics and Space Administration and held in Washington D.C. April 13-15, 2010. Topics covered include: Decision Engines for Software Analysis using Satisfiability Modulo Theories Solvers; Verification and Validation of Flight-Critical Systems; Formal Methods at Intel -- An Overview; Automatic Review of Abstract State Machines by Meta Property Verification; Hardware-independent Proofs of Numerical Programs; Slice-based Formal Specification Measures -- Mapping Coupling and Cohesion Measures to Formal Z; How Formal Methods Impels Discovery: A Short History of an Air Traffic Management Project; A Machine-Checked Proof of A State-Space Construction Algorithm; Automated Assume-Guarantee Reasoning for Omega-Regular Systems and Specifications; Modeling Regular Replacement for String Constraint Solving; Using Integer Clocks to Verify the Timing-Sync Sensor Network Protocol; Can Regulatory Bodies Expect Efficient Help from Formal Methods?; Synthesis of Greedy Algorithms Using Dominance Relations; A New Method for Incremental Testing of Finite State Machines; Verification of Faulty Message Passing Systems with Continuous State Space in PVS; Phase Two Feasibility Study for Software Safety Requirements Analysis Using Model Checking; A Prototype Embedding of Bluespec System Verilog in the PVS Theorem Prover; SimCheck: An Expressive Type System for Simulink; Coverage Metrics for Requirements-Based Testing: Evaluation of Effectiveness; Software Model Checking of ARINC-653 Flight Code with MCP; Evaluation of a Guideline by Formal Modelling of Cruise Control System in Event-B; Formal Verification of Large Software Systems; Symbolic Computation of Strongly Connected Components Using Saturation; Towards the Formal Verification of a Distributed Real-Time Automotive System; Slicing AADL Specifications for Model Checking; Model Checking with Edge-valued Decision Diagrams; and Data-flow based Model Analysis.

Munoz, Cesar↗

NASA NTRS2009

Proceedings of the First NASA Formal Methods Symposium

Topics covered include: Model Checking - My 27-Year Quest to Overcome the State Explosion Problem; Applying Formal Methods to NASA Projects: Transition from Research to Practice; TLA+: Whence, Wherefore, and Whither; Formal Methods Applications in Air Transportation; Theorem Proving in Intel Hardware Design; Building a Formal Model of a Human-Interactive System: Insights into the Integration of Formal Methods and Human Factors Engineering; Model Checking for Autonomic Systems Specified with ASSL; A Game-Theoretic Approach to Branching Time Abstract-Check-Refine Process; Software Model Checking Without Source Code; Generalized Abstract Symbolic Summaries; A Comparative Study of Randomized Constraint Solvers for Random-Symbolic Testing; Component-Oriented Behavior Extraction for Autonomic System Design; Automated Verification of Design Patterns with LePUS3; A Module Language for Typing by Contracts; From Goal-Oriented Requirements to Event-B Specifications; Introduction of Virtualization Technology to Multi-Process Model Checking; Comparing Techniques for Certified Static Analysis; Towards a Framework for Generating Tests to Satisfy Complex Code Coverage in Java Pathfinder; jFuzz: A Concolic Whitebox Fuzzer for Java; Machine-Checkable Timed CSP; Stochastic Formal Correctness of Numerical Algorithms; Deductive Verification of Cryptographic Software; Coloured Petri Net Refinement Specification and Correctness Proof with Coq; Modeling Guidelines for Code Generation in the Railway Signaling Context; Tactical Synthesis Of Efficient Global Search Algorithms; Towards Co-Engineering Communicating Autonomous Cyber-Physical Systems; and Formal Methods for Automated Diagnosis of Autosub 6000.

Denney, Ewen↗

NASA NTRS2011

Parallel Eclipse Project Checkout

Parallel Eclipse Project Checkout (PEPC) is a program written to leverage parallelism and to automate the checkout process of plug-ins created in Eclipse RCP (Rich Client Platform). Eclipse plug-ins can be aggregated in a feature project. This innovation digests a feature description (xml file) and automatically checks out all of the plug-ins listed in the feature. This resolves the issue of manually checking out each plug-in required to work on the project. To minimize the amount of time necessary to checkout the plug-ins, this program makes the plug-in checkouts parallel. After parsing the feature, a request to checkout for each plug-in in the feature has been inserted. These requests are handled by a thread pool with a configurable number of threads. By checking out the plug-ins in parallel, the checkout process is streamlined before getting started on the project. For instance, projects that took 30 minutes to checkout now take less than 5 minutes. The effect is especially clear on a Mac, which has a network monitor displaying the bandwidth use. When running the client from a developer s home, the checkout process now saturates the bandwidth in order to get all the plug-ins checked out as fast as possible. For comparison, a checkout process that ranged from 8-200 Kbps from a developer s home is now able to saturate a pipe of 1.3 Mbps, resulting in significantly faster checkouts. Eclipse IDE (integrated development environment) tries to build a project as soon as it is downloaded. As part of another optimization, this innovation programmatically tells Eclipse to stop building while checkouts are happening, which dramatically reduces lock contention and enables plug-ins to continue downloading until all of them finish. Furthermore, the software re-enables automatic building, and forces Eclipse to do a clean build once it finishes checking out all of the plug-ins. This software is fully generic and does not contain any NASA-specific code. It can be applied to any Eclipse-based repository with a similar structure. It also can apply build parameters and preferences automatically at the end of the checkout.

Crockett, Thomas M.↗

NASA NTRS2022

Flight Rule Design, Implementation, Verification, and Validation for the Psyche Mission

NASA Jet Propulsion Lab (JPL)’s upcoming mission Psyche will begin its journey to the asteroid (16) Psyche in late 2022 in an effort to better understand its origins and, in turn, better understand our own. Operating the spacecraft safely will require the dedicated efforts of a small team that understands the spacecraft’s operational constraints, as well as a set of powerful spacecraft models designed to catch command errors that can pose risks to mission success. One of the responsibilities of the operations team is to ensure adherence to a set of Flight Rules written by spacecraft and instrument experts that are designed to mitigate these risks. Psyche’s innovations in Flight Rule design principles and advancements in the tools and processes used to implement and check Flight Rules are discussed. A comparison of Psyche’s approach to Flight Rules to other JPL missions will provide lessons learned for future missions that must perform constraint checking during operations. Flight Rule development faces several major challenges. First, flight rule developers must work with Subject Matter Experts (SME) to write the rules in a way that captures the intent of the constraint in a straightforward, enforceable manner. Second, software implementers must correctly interpret flight rules into code so that it meets the original intent of the SME. Finally, a means must be provided for SMEs to validate flight rule implementations without requiring them to understand the underlying software. Innovative processes intended to efficiently close the loop between stakeholders and software developers are described, such as the use of test-driven development to provide stakeholders with easy-to-review implementations. New guidelines for flight rule writing, designed to address these challenges, are described for future missions to adopt and build upon. Psyche Mission System has a variety of new and heritage tools that improve in the Flight Rule validation and checking process. Psyche developed a powerful, new tool called RandSEQ and made significant improvements to Octopusjam, two valuable tools that aid the development of Flight Rule unit tests. Advancements in the models and processes for performing sequence validation with SEQuence GENerator (SEQGEN), the primary, high-heritage tool used for automated flight rule checks on Psyche, are described. The development of new software and the advancements to existing software put Psyche at the forefront of Flight Rule technology. All missions must perform detailed constraint checking, so a comparison of Psyche’s approach to some of these items to the approaches taken by other missions such as Dawn, M2020, and Europa Clipper is done, specifically to examine SME-developer communication, tools used, and development process. Lessons learned from this comparison will be provided.

Weise, Tim↗

NASA NTRSDate not supplied

Verification of the Generalized Aerospace Simulation in Simulink (R)

NASA uses six-degrees-of-freedom (6-DOF) simulations tools to design, test, develop Guidance Navigation and Control (GN&C) software, and certify vehicle performance prior to flight. Therefore, it is critical that the 6-DOF tools used for vehicle design and certification are validated. The focus of this work is the vali-dation of the NASA Marshall Space Flight Center 6-DOF “GeneraLized Aero-space Simulation in Simulink” (GLASS) framework tool. The GLASS tool framework is currently used to support NASA GN&C insight for the Human Landing System (HLS) project, simulating vehicle dynamics during lunar descent and as-cent. The GLASS framework utilizes the off-the-shelf Mathworks ® Simscape Multibody® toolbox to model vehicle multi-body dynamics. NASA’s Engineering and Safety Center (NESC) provides a set of 6-DOF simulation verification “check cases” that are available to any user needing to verify 6-DOF tools. The check cases contain seventeen atmospheric and twenty-six orbital test scenarios are provided to validate equations of motion, environmental models (e.g., atmosphere, gravitation, and geodesy) and tool propagators. This paper compares GLASS 6-DOF simulation results against the NESC check cases’ results via simulation-to-simulation comparisons. The comparisons demonstrate that GLASS simulation results are “in family” with the outputs of the applicable NASA NESC check cases and verifies the GLASS core framework dynamics and the correct implementation of the check case scenario models.

6-Dof↗