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NASA NTRS2013

Adoption of Test Driven Development and Continuous Integration for the Development of the Trick Simulation Toolkit

This paper describes the adoption of a Test Driven Development approach and a Continuous Integration System in the development of the Trick Simulation Toolkit, a generic simulation development environment for creating high fidelity training and engineering simulations at the NASA/Johnson Space Center and many other NASA facilities. It describes what was learned and the significant benefits seen, such as fast, thorough, and clear test feedback every time code is checked-in to the code repository. It also describes a system that encourages development of code that is much more flexible, maintainable, and reliable. The Trick Simulation Toolkit development environment provides a common architecture for user-defined simulations. Trick builds executable simulations using user-supplied simulation-definition files (S_define) and user supplied "model code". For each Trick-based simulation, Trick automatically provides job scheduling, checkpoint / restore, data-recording, interactive variable manipulation (variable server), and an input-processor. Also included are tools for plotting recorded data and various other supporting tools and libraries. Trick is written in C/C++ and Java and supports both Linux and MacOSX. Prior to adopting this new development approach, Trick testing consisted primarily of running a few large simulations, with the hope that their complexity and scale would exercise most of Trick's code and expose any recently introduced bugs. Unsurprising, this approach yielded inconsistent results. It was obvious that a more systematic, thorough approach was required. After seeing examples of some Java-based projects that used the JUnit test framework, similar test frameworks for C and C++ were sought. Several were found, all clearly inspired by JUnit. Googletest, a freely available Open source testing framework, was selected as the most appropriate and capable. The new approach was implemented while rewriting the Trick memory management component, to eliminate a fundamental design flaw. The benefits became obvious almost immediately, not just in the correctness of the individual functions and classes but also in the correctness and flexibility being added to the overall design. Creating code to be testable, and testing as it was created resulted not only in better working code, but also in better-organized, flexible, and readable (i.e., articulate) code. This was, in essence the Test-driven development (TDD) methodology created by Kent Beck. Seeing the benefits of Test Driven Development, other Trick components were refactored to make them more testable and tests were designed and implemented for them.

Penn, John M.↗

NASA NTRS2016

Early Engagement of Safety and Mission Assurance Expertise Using Systems Engineering Tools: A Risk-Based Approach to Early Identification of Safety and Assurance Requirements

Decades of systems engineering practice have demonstrated that the earlier the identification of requirements occurs, the lower the chance that costly redesigns will needed later in the project life cycle. A better understanding of all requirements can also improve the likelihood of a design's success. Significant effort has been put into developing tools and practices that facilitate requirements determination, including those that are part of the model-based systems engineering (MBSE) paradigm. These efforts have yielded improvements in requirements definition, but have thus far focused on a design's performance needs. The identification of safety & mission assurance (S&MA) related requirements, in comparison, can occur after preliminary designs are already established, yielding forced redesigns. Engaging S&MA expertise at an earlier stage, facilitated by the use of MBSE tools, and focused on actual project risk, can yield the same type of design life cycle improvements that have been realized in technical and performance requirements.

Requirement↗

NASA NTRS2005

Range Process Simulation Tool

Range Process Simulation Tool (RPST) is a computer program that assists managers in rapidly predicting and quantitatively assessing the operational effects of proposed technological additions to, and/or upgrades of, complex facilities and engineering systems such as the Eastern Test Range. Originally designed for application to space transportation systems, RPST is also suitable for assessing effects of proposed changes in industrial facilities and large organizations. RPST follows a model-based approach that includes finite-capacity schedule analysis and discrete-event process simulation. A component-based, scalable, open architecture makes RPST easily and rapidly tailorable for diverse applications. Specific RPST functions include: (1) definition of analysis objectives and performance metrics; (2) selection of process templates from a processtemplate library; (3) configuration of process models for detailed simulation and schedule analysis; (4) design of operations- analysis experiments; (5) schedule and simulation-based process analysis; and (6) optimization of performance by use of genetic algorithms and simulated annealing. The main benefits afforded by RPST are provision of information that can be used to reduce costs of operation and maintenance, and the capability for affordable, accurate, and reliable prediction and exploration of the consequences of many alternative proposed decisions.

Phillips, Dave↗

NASA NTRS2012

A Model-Based Approach to Engineering Behavior of Complex Aerospace Systems

One of the most challenging yet poorly defined aspects of engineering a complex aerospace system is behavior engineering, including definition, specification, design, implementation, and verification and validation of the system's behaviors. This is especially true for behaviors of highly autonomous and intelligent systems. Behavior engineering is more of an art than a science. As a process it is generally ad-hoc, poorly specified, and inconsistently applied from one project to the next. It uses largely informal representations, and results in system behavior being documented in a wide variety of disparate documents. To address this problem, JPL has undertaken a pilot project to apply its institutional capabilities in Model-Based Systems Engineering to the challenge of specifying complex spacecraft system behavior. This paper describes the results of the work in progress on this project. In particular, we discuss our approach to modeling spacecraft behavior including 1) requirements and design flowdown from system-level to subsystem-level, 2) patterns for behavior decomposition, 3) allocation of behaviors to physical elements in the system, and 4) patterns for capturing V&V activities associated with behavioral requirements. We provide examples of interesting behavior specification patterns, and discuss findings from the pilot project.

SysML↗

NASA NTRS1994

Single point modeling of rotating turbulent flows

A model for the effects of rotation on turbulence is proposed and tested. These effects which influence mainly the rate of turbulence decay are modeled in a modified turbulent energy dissipation rate equation that has explicit dependence on the mean rotation rate. An appropriate definition of the rotation rate derived from critical point theory and based on the invariants of the deformation tensor is proposed. The modeled dissipation rate equation is numerically well behaved and can be used in conjunction with any level of turbulence closure. The model is applied to the two-equation kappa-epsilon turbulence model and is used to compute separated flows in a backward-facing step and an axisymmetric swirling coaxial jets into a sudden expansion. In general, the rotation modified dissipation rate model shows some improvements over the standard kappa-epsilon model.

Hadid, A. H.↗

NASA NTRS1992

Improved two-equation k-omega turbulence models for aerodynamic flows

Two new versions of the k-omega two-equation turbulence model will be presented. The new Baseline (BSL) model is designed to give results similar to those of the original k-omega model of Wilcox, but without its strong dependency on arbitrary freestream values. The BSL model is identical to the Wilcox model in the inner 50 percent of the boundary-layer but changes gradually to the high Reynolds number Jones-Launder k-epsilon model (in a k-omega formulation) towards the boundary-layer edge. The new model is also virtually identical to the Jones-Lauder model for free shear layers. The second version of the model is called Shear-Stress Transport (SST) model. It is based on the BSL model, but has the additional ability to account for the transport of the principal shear stress in adverse pressure gradient boundary-layers. The model is based on Bradshaw's assumption that the principal shear stress is proportional to the turbulent kinetic energy, which is introduced into the definition of the eddy-viscosity. Both models are tested for a large number of different flowfields. The results of the BSL model are similar to those of the original k-omega model, but without the undesirable freestream dependency. The predictions of the SST model are also independent of the freestream values and show excellent agreement with experimental data for adverse pressure gradient boundary-layer flows.

Menter, Florian R.↗

NASA NTRS1997

Multi-Body Analysis of a Tiltrotor Configuration

The paper describes the aeroelastic analysis of a tiltrotor configuration. The 1/5 scale wind tunnel semispan model of the V-22 tiltrotor aircraft is considered. The analysis is performed by means of a multi-body code, based on an original formulation. The differential equilibrium problem is stated in terms of first order differential equations. The equilibrium equations of every rigid body are written, together with the definitions of the momenta. The bodies are connected by kinematic constraints, applied in form of Lagrangian multipliers. Deformable components are mainly modelled by means of beam elements, based on an original finite volume formulation. Multi-disciplinar problems can be solved by adding user-defined differential equations. In the presented analysis the equations related to the control of the swash-plate of the model are considered. Advantages of a multi-body aeroelastic code over existing comprehensive rotorcraft codes include the exact modelling of the kinematics of the hub, the detailed modelling of the flexibility of critical hub components, and the possibility to simulate steady flight conditions as well as wind-up and maneuvers. The simulations described in the paper include: 1) the analysis of the aeroelastic stability, with particular regard to the proprotor/pylon instability that is peculiar to tiltrotors, 2) the determination of the dynamic behavior of the system and of the loads due to typical maneuvers, with particular regard to the conversion from helicopter to airplane mode, and 3) the stress evaluation in critical components, such as the pitch links and the conversion downstop spring.

Ghiringhelli, G. L.↗

NASA NTRS1987

A space transportation system operations model

Presented is a description of a computer program which permits assessment of the operational support requirements of space transportation systems functioning in both a ground- and space-based environment. The scenario depicted provides for the delivery of payloads from Earth to a space station and beyond using upper stages based at the station. Model results are scenario dependent and rely on the input definitions of delivery requirements, task times, and available resources. Output is in terms of flight rate capabilities, resource requirements, and facility utilization. A general program description, program listing, input requirements, and sample output are included.

Morris, W. Douglas↗

NASA NTRS1998

An Investigation of Candidate Sensor-Observable Wake Vortex Strength Parameters for the NASA Aircraft Vortex Spacing System (AVOSS)

The counter-rotating pair of wake vortices shed by flying aircraft can pose a threat to ensuing aircraft, particularly on landing approach. To allow adequate time for the vortices to disperse/decay, landing aircraft are required to maintain certain fixed separation distances. The Aircraft Vortex Spacing System (AVOSS), under development at NASA, is designed to prescribe safe aircraft landing approach separation distances appropriate to the ambient weather conditions. A key component of the AVOSS is a ground sensor, to ensure, safety by making wake observations to verify predicted behavior. This task requires knowledge of a flowfield strength metric which gauges the severity of disturbance an encountering aircraft could potentially experience. Several proposed strength metric concepts are defined and evaluated for various combinations of metric parameters and sensor line-of-sight elevation angles. Representative populations of generating and following aircraft types are selected, and their associated wake flowfields are modeled using various wake geometry definitions. Strength metric candidates are then rated and compared based on the correspondence of their computed values to associated aircraft response values, using basic statistical analyses.

Tatnall, Chistopher R.↗

NASA NTRS2009

Integration of Engine, Plume, and CFD Analyses in Conceptual Design of Low-Boom Supersonic Aircraft

This paper documents an integration of engine, plume, and computational fluid dynamics (CFD) analyses in the conceptual design of low-boom supersonic aircraft, using a variable fidelity approach. In particular, the Numerical Propulsion Simulation System (NPSS) is used for propulsion system cycle analysis and nacelle outer mold line definition, and a low-fidelity plume model is developed for plume shape prediction based on NPSS engine data and nacelle geometry. This model provides a capability for the conceptual design of low-boom supersonic aircraft that accounts for plume effects. Then a newly developed process for automated CFD analysis is presented for CFD-based plume and boom analyses of the conceptual geometry. Five test cases are used to demonstrate the integrated engine, plume, and CFD analysis process based on a variable fidelity approach, as well as the feasibility of the automated CFD plume and boom analysis capability.

Li, Wu↗

NASA NTRS1993

Zonal Two Equation Kappa-Omega Turbulence Models for Aerodynamic Flows

Two new versions of the kappa-omega two-equation turbulence model will be presented. The new Baseline (BSL) model is designed to give results similar to those of the original kappa-omega model of Wilcox, but without its strong dependency on arbitrary freestream values. The BSL model is identical to the Wilcox model in the inner 50% of the boundary-layer but changes gradually to the standard kappa-epsilon model (in a kappa- omega formulation) towards the boundary-layer edge. The free shear layers. The second version of the model is called Shear-Stress Transport (SST) model. It is a variation of the BSL model with the additional ability to account for the transport of the principal turbulent shear stress in adverse pressure gradient boundary-layers. The model is based on Bradshaw's assumption that the principal shear-stress is proportional to the turbulent kinetic energy, which is introduced into the definition of the eddy-viscosity. Both models are tested for a large number of different flowfields. The results of the BSL model are similar to those of the original kappa-omega model, but without the undesirable freestream dependency. The predictions of the SST model are also independent of the freestream values but show better agreement with experimental data for adverse pressure gradient boundary-layer flows.

Menter, Florian R.↗

NASA NTRS1986

A formal definition of data flow graph models

In this paper, a new model for parallel computations and parallel computer systems that is based on data flow principles is presented. Uninterpreted data flow graphs can be used to model computer systems including data driven and parallel processors. A data flow graph is defined to be a bipartite graph with actors and links as the two vertex classes. Actors can be considered similar to transitions in Petri nets, and links similar to places. The nondeterministic nature of uninterpreted data flow graphs necessitates the derivation of liveness conditions.

Kavi, Krishna M.↗

NASA NTRS1979

State and model error estimation for distributed parameter systems

In-flight estimation of large structure model errors in order to detect inevitable deficiencies in large structure controller/estimator models is discussed. Such an estimation process is particularly applicable in the area of shape control system design required to maintain a prescribed static structural shape and, in addition, suppress dynamic disturbances due to the vehicle vibrational modes. The paper outlines a solution to the problem of static shape estimation where the vehicle shape must be reconstructed from a set of measurements discretely located throughout the structure. The estimation process is based on the principle of least-squares that inherently contains the definition and explicit computation of model error estimates that are optimal in some sense. Consequently, a solution is provided for the problem of estimation of static model errors (e.g., external loads). A generalized formulation applicable to distributed parameters systems is first worked out and then applied to a one-dimensional beam-like structural configuration.

Rodriguez, G.↗

NASA NTRS1993

Design strategies and functionality of the Visual Interface for Virtual Interaction Development (VIVID) tool

Development of interactive virtual environments (VE) has typically consisted of three primary activities: model (object) development, model relationship tree development, and environment behavior definition and coding. The model and relationship tree development activities are accomplished with a variety of well-established graphic library (GL) based programs - most utilizing graphical user interfaces (GUI) with point-and-click interactions. Because of this GUI format, little programming expertise on the part of the developer is necessary to create the 3D graphical models or to establish interrelationships between the models. However, the third VE development activity, environment behavior definition and coding, has generally required the greatest amount of time and programmer expertise. Behaviors, characteristics, and interactions between objects and the user within a VE must be defined via command line C coding prior to rendering the environment scenes. In an effort to simplify this environment behavior definition phase for non-programmers, and to provide easy access to model and tree tools, a graphical interface and development tool has been created. The principal thrust of this research is to effect rapid development and prototyping of virtual environments. This presentation will discuss the 'Visual Interface for Virtual Interaction Development' (VIVID) tool; an X-Windows based system employing drop-down menus for user selection of program access, models, and trees, behavior editing, and code generation. Examples of these selection will be highlighted in this presentation, as will the currently available program interfaces. The functionality of this tool allows non-programming users access to all facets of VE development while providing experienced programmers with a collection of pre-coded behaviors. In conjunction with its existing, interfaces and predefined suite of behaviors, future development plans for VIVID will be described. These include incorporation of dual user virtual environment enhancements, tool expansion, and additional behaviors.

Nguyen, Lac↗

NASA NTRS1982

An automated data management/analysis system for space shuttle orbiter tiles

An engineering data management system was combined with a nonlinear stress analysis program to provide a capability for analyzing a large number of tiles on the space shuttle orbiter. Tile geometry data and all data necessary of define the tile loads environment accessed automatically as needed for the analysis of a particular tile or a set of tiles. User documentation provided includes: (1) description of computer programs and data files contained in the system; (2) definitions of all engineering data stored in the data base; (3) characteristics of the tile anaytical model; (4) instructions for preparation of user input; and (5) a sample problem to illustrate use of the system. Description of data, computer programs, and analytical models of the tile are sufficiently detailed to guide extension of the system to include additional zones of tiles and/or additional types of analyses

Giles, G. L.↗

NASA NTRS1991

Studies of the intermediate and deep circulation in the western equatorial Atlantic

This proposal concerns the preparation and design of an experiment, the objective of which is to improve our knowledge of the intermediate and deep circulation in the western equatorial Atlantic Ocean. We shall focus on the description of the western boundary currents, of their crossing with the equator, on the estimation of their mass and heat fluxes, and their seasonal and interannual variations. We will use satellite altimetric data, tomographic measurements, and in situ observations (current measurements, hydrology, and floaters). We propose a feasibility study and the definition of a strategy based on a high-resolution Geophysical Fluid Dynamics Laboratory (GFDL) numerical model to define which in situ measurements are necessary to optimally complete the altimetric observations.

Desaubies, Yves↗

NASA NTRS2000

Nonlinearity and Strain-Rate Dependence in the Deformation Response of Polymer Matrix Composites Modeled

There has been no accurate procedure for modeling the high-speed impact of composite materials, but such an analytical capability will be required in designing reliable lightweight engine-containment systems. The majority of the models in use assume a linear elastic material response that does not vary with strain rate. However, for containment systems, polymer matrix composites incorporating ductile polymers are likely to be used. For such a material, the deformation response is likely to be nonlinear and to vary with strain rate. An analytical model has been developed at the NASA Glenn Research Center at Lewis Field that incorporates both of these features. A set of constitutive equations that was originally developed to analyze the viscoplastic deformation of metals (Ramaswamy-Stouffer equations) was modified to simulate the nonlinear, rate-dependent deformation of polymers. Specifically, the effects of hydrostatic stresses on the inelastic response, which can be significant in polymers, were accounted for by a modification of the definition of the effective stress. The constitutive equations were then incorporated into a composite micromechanics model based on the mechanics of materials theory. This theory predicts the deformation response of a composite material from the properties and behavior of the individual constituents. In this manner, the nonlinear, rate-dependent deformation response of a polymer matrix composite can be predicted.

Goldberg, Robert K.↗

NASA NTRS2011

Space Transportation System Liftoff Debris Mitigation Process Overview

Liftoff debris is a top risk to the Space Shuttle Vehicle. To manage the Liftoff debris risk, the Space Shuttle Program created a team with in the Propulsion Systems Engineering & Integration Office. The Shutt le Liftoff Debris Team harnesses the Systems Engineering process to i dentify, assess, mitigate, and communicate the Liftoff debris risk. T he Liftoff Debris Team leverages off the technical knowledge and expe rtise of engineering groups across multiple NASA centers to integrate total system solutions. These solutions connect the hardware and ana lyses to identify and characterize debris sources and zones contribut ing to the Liftoff debris risk. The solutions incorporate analyses sp anning: the definition and modeling of natural and induced environmen ts; material characterizations; statistical trending analyses, imager y based trajectory analyses; debris transport analyses, and risk asse ssments. The verification and validation of these analyses are bound by conservative assumptions and anchored by testing and flight data. The Liftoff debris risk mitigation is managed through vigilant collab orative work between the Liftoff Debris Team and Launch Pad Operation s personnel and through the management of requirements, interfaces, r isk documentation, configurations, and technical data. Furthermore, o n day of launch, decision analysis is used to apply the wealth of ana lyses to case specific identified risks. This presentation describes how the Liftoff Debris Team applies Systems Engineering in their proce sses to mitigate risk and improve the safety of the Space Shuttle Veh icle.

Mitchell, Michael↗