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This paper describes the application of an automated planning and scheduling system to the NASA Earth Orbiting 1 (EO-1) mission. The planning system, ASPEN, is used to autonomously schedule the daily activites of the satellite. The satellite and operations constraints are encoded within a software model used by the planner.
For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three of the six on-board rate gyros for attitude control. Failed gyros were eventually replaced through Space Shuttle Servicing Missions. The tragic loss of the Space Shuttle Columbia has resulted in the cancellation of all planned Shuttle based missions to HST. While a robotic servicing mission is currently being planned instead, controlling with alternate sensors to replace failed gyros can extend the HST science gathering until a servicing mission can be performed, and also extend science at HST's end of life. Additionally, sufficient performance may allow a permanent transition to operations with less than 3 gyros (by intentionally turning off working gyros saving them for later use) allowing for an even greater science mission extension. To meet this need, a Two Gyro Science (TGS) mode has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), Fixed Head Star Trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro input axis. The development of the TGS capability is the largest re-design of HST operations undertaken, since it affects several major spacecraft subsystems, the most heavily being the Pointing Control System (PCS) and Flight Software (FSW). Additionally, and equally important, are the extensive modifications and enhancements of the Planning and Scheduling system which must now be capable of scheduling science observations while taking into account several new constraints imposed by the TGS operational modes (such as FHST availability and magnetic field geometry) that will impact science gathering efficiency and target availability. This paper discusses the systems engineering design, development, and performance of the TGS mode, now in its final stages of completion.
For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three of the six on-board rate gyros for attitude control. Failed gyros were eventually replaced through Space Shuttle Servicing Missions. The tragic loss of the Space Shuttle Columbia has resulted in the cancellation of all planned Shuttle based missions to HST. While a robotic servicing mission is currently being planned instead, controlling with alternate sensors to replace failed gyros can extend the HST science gathering until a servicing mission can be performed, and also extend science at HST s end of life. Additionally, sufficient performance may allow a permanent transition to operations with less than 3 gyros (by intentionally turning off working gyros saving them for later use) allowing for an even greater science mission extension. To meet this need, a Two Gyro Science (TGS) mode has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), Fixed Head Star Trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro input axis. The development of the TGS capability is the largest re-design of HST operations undertaken, since it affects several major spacecraft subsystems, the most heavily being the Pointing Control System (PCS) and Flight Software (FSW). Additionally, and equally important, are the extensive modifications and enhancements of the Planning and Scheduling system which must now be capable of scheduling science observations while taking into account several new constraints imposed by the TGS operational modes (such as FHST availability and magnetic field geometry) that will impact science gathering efficiency and target availability. This paper discusses the systems engineering design, development, and performance of the TGS mode, now in its final stages of completion.
Purpose: Radiation therapy has evolved to become not only more precise and potent, but also more complicated to monitor and deliver. More rigorous and comprehensive quality assurance is needed to safeguard ever advancing radiation therapy. ICRU standards dictate that an ever growing set of treatment parameters are manually checked weekly by medical physicists. This “weekly chart check” procedure is laborious and subject to human errors or other factors. A computer-assisted chart checking process will enable more complete and accurate human review of critical parameters, reduce the risk of medical errors, and improve the efficiency. Methods: We developed a web-based software system that enables a thorough weekly quality assurance checks. In the backend, the software retrieves all machine parameters from a Treatment Management System (TMS) and compares them against the corresponding ones from the treatment planning system. They are also checked for validity against preset rules. The results are displayed as a web page in the front-end for physicists to review. Then a summary report is generated and uploaded automatically to the TMS as a record for weekly chart checking. Results: The software system has been deployed on a web server in our department’s intranet, and has been tested thoroughly by our clinical physicists. A plan parameter would be highlighted when it is off the preset limit. The developed system has changed the way of checking charts with significantly improved accuracy, efficiency, and completeness. It has been shown to be robust, fast, and easy to use. Conclusion: A computer-assisted system has been developed for efficient, accurate, and comprehensive weekly chart checking. The system has been extensively validated and is being implemented for routine clinical use.
In response to new workplace realities, the NASA DEVELOP National Program pivoted from co-locating students, emerging professionals, and science advisors to bringing together virtual teams from across the United States. In its spring 2020 term, rapidly evolving circumstances required an ad-hoc roll-out of a virtual approach to complete the spring projects. Based on the experience from the spring term and a few weeks of planning, DEVELOP then conducted a fully virtual summer term with features such as 1) online collaboration tools, 2) virtual machines for analysis, and 3) streamed training offerings, including DEVELOP’s first ever program-wide Software Carpentry workshop. This full term of bringing together remote actors to select, build, and manage teams brought many challenges. Summer feedback has influenced planning for the fall 2020 term and process improvement is ongoing. This presentation will highlight lessons learned throughout this period of rapid change. Feedback from spring and summer terms and the Software Carpentry workshop will be summarized. Beyond participant impacts, there will also be discussion of effects on project results and partner experience. Final takeaways will focus on best practices that have been distilled for virtually-conducted feasibility studies.
The design of an automated air traffic control system based on a hierarchy of advisory tools for controllers is described. Compatibility of the tools with the human controller, a key objective of the design, is achieved by a judicious selection of tasks to be automated and careful attention to the design of the controller system interface. The design comprises three interconnected subsystems referred to as the Traffic Management Advisor, the Descent Advisor, and the Final Approach Spacing Tool. Each of these subsystems provides a collection of tools for specific controller positions and tasks. This paper focuses primarily on the Descent Advisor which provides automation tools for managing descent traffic. The algorithms, automation modes, and graphical interfaces incorporated in the design are described. Information generated by the Descent Advisor tools is integrated into a plan view traffic display consisting of a high-resolution color monitor. Estimated arrival times of aircraft are presented graphically on a time line, which is also used interactively in combination with a mouse input device to select and schedule arrival times. Other graphical markers indicate the location of the fuel-optimum top-of-descent point and the predicted separation distances of aircraft at a designated time-control point. Computer generated advisories provide speed and descent clearances which the controller can issue to aircraft to help them arrive at the feeder gate at the scheduled times or with specified separation distances. Two types of horizontal guidance modes, selectable by the controller, provide markers for managing the horizontal flightpaths of aircraft under various conditions. The entire system consisting of descent advisor algorithm, a library of aircraft performance models, national airspace system data bases, and interactive display software has been implemented on a workstation made by Sun Microsystems, Inc. It is planned to use this configuration in operational evaluations at an en route center.
The RELAP-7, a safety analysis code for nuclear reactor system, is under development at Idaho National Laboratory (INL). Overall, the code development is directed towards leveraging the advancements in computer science technology, numerical solution methods and physical models over the last decades. Recently, INL has also been putting an effort to establish the code assessment plan, which aims to ensure an improved final product quality through the RELAP-7 development process. The ultimate goal of this plan is to propose a suitable way to systematically assess the wide range of software requirements for RELAP-7, including the software design, user interface, and technical requirements, etc. To this end, we first survey the literature (i.e., international/domestic reports, research articles) addressing the desirable features generally required for advanced nuclear system safety analysis codes. In addition, the V&V (verification and validation) efforts as well as the legacy issues of several recently-developed codes (e.g., RELAP5-3D, TRACE V5.0) are investigated. Lastly, this paper outlines the Requirement Traceability Matrix (RTM) for RELAP-7 which can be used to systematically evaluate and identify the code development process and its present capability.
Purpose: The VariSeed 9.0 brachytherapy TPS is recently available and has new features such as ability to rotate a brachytherapy source away from normal to the imaging plane. Consequently, a dosimetric analysis was performed for a directional brachytherapy source (CivaSheet) with tests of this functionality and experiences from clinical treatment planning were documented. These observations contribute to safe, practical, and accurate use of such new software features. Methods: Several tests were established to evaluate the new rotational feature, specific to the CivaSheet for the first patients treated using this new brachytherapy device. These included suitability of imaging slice-thickness and in-plane resolution, window/level adjustments for brachytherapy source visualization, commissioning the source physical length for performing rotations, and using different planar and 3D window views to identify source orientation. Additional CivaSheet-specific tests were performed to determine the dosimetric influence on target coverage: changing the source tilt angle, source positioning in the treatment plan based on the CivaSheet rectangular array of CivaDots, and influence of prescription depth on the necessary treatment margin for adequate target coverage. Results: Higher imaging-resolution produced better accuracy for source orientation and positioning, with sub-millimeter CT slice-thickness and in-plane resolution preferred. Source rotation was possible only in sagittal or coronal views. The process for validating source orientation required iteratively altering rotations then checking them in the 3D view, which was cumbersome given the absence of quantitative plan documentation to indicate orientation. Given the small Pd-103 source size, influence of source tilt within 30° was negligible for <1.0 cm. Influence of source position was important when the source was positioned in/out of the adjacent source plane, causing changes of 15%, 7%, and 3% at depths of 0.5, 0.7, and 1.0 cm. Conclusion: The new TPS rotational feature worked well, but several issues were identified to improve the treatment planning process. Research supported in part by CivaTech Oncology, Inc. for Dr. Rivard.
This guidebook, the second of a two-volume series, is intended to facilitate the transfer of formal methods to the avionics and aerospace community. The 1st volume concentrates on administrative and planning issues [NASA-95a], and the second volume focuses on the technical issues involved in applying formal methods to avionics and aerospace software systems. Hereafter, the term "guidebook" refers exclusively to the second volume of the series. The title of this second volume, A Practitioner's Companion, conveys its intent. The guidebook is written primarily for the nonexpert and requires little or no prior experience with formal methods techniques and tools. However, it does attempt to distill some of the more subtle ingredients in the productive application of formal methods. To the extent that it succeeds, those conversant with formal methods will also nd the guidebook useful. The discussion is illustrated through the development of a realistic example, relevant fragments of which appear in each chapter. The guidebook focuses primarily on the use of formal methods for analysis of requirements and high-level design, the stages at which formal methods have been most productively applied. Although much of the discussion applies to low-level design and implementation, the guidebook does not discuss issues involved in the later life cycle application of formal methods.
As part of the technology validation strategy of the next generation space telescope (NGST), a system testbed is being developed at GSFC, in partnership with JPL and Marshall Space Flight Center (MSFC), which will include all of the component functions envisioned in an NGST active optical system. The system will include an actively controlled, segmented primary mirror, actively controlled secondary, deformable, and fast steering mirrors, wavefront sensing optics, wavefront control algorithms, a telescope simulator module, and an interferometric wavefront sensor for use in comparing final obtained wavefronts from different tests. The developmental. cryogenic active telescope testbed (DCATT) will be implemented in three phases. Phase 1 will focus on operating the testbed at ambient temperature. During Phase 2, a cryocapable segmented telescope will be developed and cooled to cryogenic temperature to investigate the impact on the ability to correct the wavefront and stabilize the image. In Phase 3, it is planned to incorporate industry developed flight-like components, such as figure controlled mirror segments, cryogenic, low hold power actuators, or different wavefront sensing and control hardware or software. A very important element of the program is the development and subsequent validation of the integrated multidisciplinary models. The Phase 1 testbed objectives, plans, configuration, and design will be discussed.
NASA's decadal survey determined that simultaneous measurements from a 3D volume of space are advantageous for a variety of studies in space physics and Earth science. Therefore, swarm concepts with multiple spacecraft in close proximity are a growing topic of interest in the small satellite community. Among the capabilities needed for swarm missions is a means to maintain operator-specified geometry, alignment, or separation. Swarm stationkeeping poses a planning challenge due to the limited scalability of ground resources. To address scalable control of orbital dynamics, we introduce SODA - Swarm Orbital Dynamics Advisor - a tool that accepts high-level configuration commands and provides the orbital maneuvers needed to achieve the desired type of swarm relative motion. Rather than conventional path planning, SODA's innovation is the use of artificial potential functions to define boundaries and keepout regions. The software architecture includes high fidelity propagation, accommodates manual or automated inputs, displays motion animations, and returns maneuver commands and analytical results. Currently, two swarm types are enabled: in-train distribution and an ellipsoid volume container. Additional swarm types, simulation applications, and orbital destinations are in planning stages.
NASA's decadal survey determined that simultaneous measurements from a 3D volume of space are advantageous for a variety of studies in space physics and Earth science. Therefore, swarm concepts with multiple spacecraft in close proximity are a growing topic of interest in the small satellite community. Among the capabilities needed for swarm missions is a means to maintain operator-specified geometry, alignment, or separation. Swarm stationkeeping poses a planning challenge due to the limited scalability of ground resources. To address scalable control of orbital dynamics, we introduce SODA - Swarm Orbital Dynamics Advisor - a tool that accepts high-level configuration commands and provides the orbital maneuvers needed to achieve the desired type of swarm relative motion. Rather than conventional path planning, SODA's innovation is the use of artificial potential functions to define boundaries and keepout regions. The software architecture includes high fidelity propagation, accommodates manual or automated inputs, displays motion animations, and returns maneuver commands and analytical results. Currently, two swarm types are enabled: in-train distribution and an ellipsoid volume container. Additional swarm types, simulation applications, and orbital destinations are in planning stages.
This article highlights the experience of a single center institution undergoing a change in radiology information system (RIS) software platforms, transitioning to an electronic medical record-RIS driven workflow. Ten planning and execution topics with recommendations are presented in checklist form from the radiology department perspective. The build process of creating a site specific RIS takes many months, beginning with the organization of a steering committee. On Go-Live, several checklist items are offered to help streamline the troubleshooting process and improve communication throughout the radiology department. The groundwork of the group effort in creating the infrastructure of the build process can continue to be useful beyond Go-Live, as RIS features are continually optimized.
In the event of contamination in a water distribution network (WDN), source identification (SI) methods that analyze sensor data can be used to identify the source location(s). Knowledge of the source location and characteristics are important to inform contamination control and cleanup operations. Various SI strategies that have been developed by researchers differ in their underlying assumptions and solution techniques. The following manuscript presents a systematic procedure for testing and evaluating SI methods. The performance of these SI methods is affected by various factors including the size of WDN model, measurement error, modeling error, time and number of contaminant injections, and time and number of measurements. This paper includes test cases that vary these factors and evaluates three SI methods on the basis of accuracy and specificity. The tests are used to review and compare these different SI methods, highlighting their strengths in handling various identification scenarios. These SI methods and a testing framework that includes the test cases and analysis tools presented in this paper have been integrated into EPA’s Water Security Toolkit (WST), a suite of software tools to help researchers and others in the water industry evaluate and plan various response strategies in case of a contamination incident. Lastly, a set of recommendations are made for users to consider when working with different categories of SI methods.
Purpose: Develop an algorithm that is able to automatically segment tumor volume in Head and Neck cancer by integrating information from CT, PET and MR imaging simultaneously. Methods: Twenty three patients that were recruited under an adaptive radiotherapy protocol had MR, CT and PET/CT scans within 2 months prior to start of radiotherapy. The patients had unresectable disease and were treated either with chemoradiotherapy or radiation therapy alone. Using the Velocity software, the PET/CT and MR (T1 weighted+contrast) scans were registered to the planning CT using deformable and rigid registration respectively. The PET and MR images were then resampled according to the registration to match the planning CT. The resampled images, together with the planning CT, were fed into a multi-channel segmentation algorithm, which is based on Gaussian mixture models and solved with the expectation-maximization algorithm and Markov random fields. A rectangular region of interest (ROI) was manually placed to identify the tumor area and facilitate the segmentation process. The auto-segmented tumor contours were compared with the gross tumor volume (GTV) manually defined by the physician. The volume difference and Dice similarity coefficient (DSC) between the manual and autosegmented GTV contours were calculated as the quantitative evaluation metrics. Results: The multimodality segmentation algorithm was applied to all 23 patients. The volumes of the auto-segmented GTV ranged from 18.4cc to 32.8cc. The average (range) volume difference between the manual and auto-segmented GTV was −42% (−32.8%–63.8%). The average DSC value was 0.62, ranging from 0.39 to 0.78. Conclusion: An algorithm for the automated definition of tumor volume using multiple imaging modalities simultaneously was successfully developed and implemented for Head and Neck cancer. This development along with more accurate registration algorithms can aid physicians in the efforts to interpret the multitude of imaging information available in radiotherapy today. This project was supported by a grant by Varian Medical Systems.
Purpose: To optimize clinical efficiency and shorten patient wait time by minimizing the time and effort required to perform the Winston-Lutz test before stereotactic radiosurgery (SRS) through automation of the delivery, analysis, and documentation of results. Methods: The radiation fields of the Winston-Lutz (WL) test were created in a “machine-QA patient” saved in ARIA for use before SRS cases. Images of the BRW target ball placed at mechanical isocenter are captured with the portal imager for each of four, 2cm×2cm, MLC-shaped beams. When the WL plan is delivered and closed, this event is detected by in-house software called EventNet which automates subsequent processes with the aid of the ARIA web services. Images are automatically retrieved from the ARIA database and analyzed to determine the offset of the target ball from radiation isocenter. The results are posted to a website and a composite summary image of the results is pushed back into ImageBrowser for review and authenticated documentation. Results: The total time to perform the test was reduced from 20-25 minutes to less than 4 minutes. The results were found to be more accurate and consistent than the previous method which used radiochromic film. The images were also analyzed with DoseLab for comparison. The difference between the film and automated WL results in the X and Y direction and the radius were (−0.17 +/− 0.28) mm, (0.21 +/− 0.20) mm and (−0.14 +/− 0.27) mm, respectively. The difference between the DoseLab and automated WL results were (−0.05 +/− 0.06) mm, (−0.01 +/− 0.02) mm and (0.01 +/− 0.07) mm, respectively. Conclusions: This process reduced patient wait times by 15–20 minutes making the treatment machine available to treat another patient. Accuracy and consistency of results were improved over the previous method and were comparable to other commercial solutions. Access to the ARIA web services is made possible through an Eclipse co-development agreement with Varian Medical Systems.
Purpose: The purpose of this study is to investigate the sensitivity of the planar quality assurance to MLC errors with different beam complexities in intensity-modulate radiation therapy. Methods: sixteen patients’ planar quality assurance (QA) plans in our institution were enrolled in this study, including 10 dynamic MLC (DMLC) IMRT plans measured by Portal Dosimetry and 6 static MLC (SMLC) IMRT plans measured by Mapcheck. The gamma pass rate was calculated using vender’s software. The field numbers were 74 and 40 for DMLC and SMLC, respectively. A random error was generated and introduced to these fields. The modified gamma pass rate was calculated by comparing the original measured fluence and modified fields’ fluence. A decreasing gamma pass rate was acquired using the original gamma pass rate minus the modified gamma pass rate. Eight complexity scores were calculated in MATLAB based on the fluence and MLC sequence of these fields. The complexity scores include fractal dimension, monitor unit of field, modulation index, fluence map complexity, weighted average of field area, weighted average of field perimeter, and small aperture ratio ( <5cm{sup 2} and <50cm{sup 2}). The Spearman’s rank correlation coefficient was implemented to analyze the correlation between these scores and decreasing gamma rate. Results: The relation between the decreasing gamma pass rate and field complexity was insignificant for most complexity scores. The most significant complexity score was fluence map complexity for SMLC, which have ρ =0.4274 (p-value=0.0063). For DMLC, the most significant complex score was fractal dimension, which have ρ=−0.3068 (p-value=0.0081). Conclusions: According to the primarily Result of this study, the sensitivity gamma pass rate was not strongly relate to the field complexity.
Purpose: To estimate the absorbed dose in organs and tissues at risk for radiogenic cancer for children receiving photon radiotherapy for localized brain tumors (LBTs) by supplementing their missing body anatomies with those of replacement computational phantoms. Applied beyond the extent of the RT Images collected by computed tomography simulation, these phantoms included RT Image and RT Structure Set objects that encompassed sufficient extents and contours for dosimetric calculations. Method: Nine children, aged 2 to 14 years, who received three-dimensional conformal radiotherapy for low-grade LBTs, were randomly selected for this study under Institutional-Review-Board protocol. Because the extents of their RT Images were cranial only, they were matched for size and sex with patients from a previous study with larger extents and for whom contours of organs at risk for radiogenic cancer had already been delineated. Rigid fusion was performed between the patients’ data and those of the replacement computational phantoms using commercial software. In-field dose was calculated with a clinically-commissioned treatment planning system, and out-of-field dose was estimated with an analytical model. Results: Averaged over all nine children and normalized for a therapeutic dose of 54 Gy prescribed to the PTV, where the PTV is the GTV, the highest mean organ doses were 3.27, 2.41, 1.07, 1.02, 0.24, and 0.24 Gy in the non-tumor remainder, red bone marrow, thyroid, skin, breasts, and lungs, respectively. The mean organ doses ranged by a factor of 3 between the smallest and largest children. Conclusion: For children receiving photon radiotherapy for LBTs, we found their doses in organs at risk for second cancer to be non-negligible, especially in the non-tumor remainder, red bone marrow, thyroid, skin, breasts, and lungs. This study demonstrated the feasibility for patient dosimetry studies to augment missing patient anatomy by applying size- and sex-matched replacement computational phantoms with pre-contoured organs. Funding is in part by the Fogarty International Center award K01TW008409, and the Portland Chapter of the Achievement Rewards for College Scientists. The content is solely the responsibility of the authors, and does not necessarily represent the official views of the sponsors. The authors declare no conflict of interest.