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All sourcesNASA NTRSDOE OSTI
NASA NTRS2009

Extreme Programming: Maestro Style

"Extreme Programming: Maestro Style" is the name of a computer programming methodology that has evolved as a custom version of a methodology, called extreme programming that has been practiced in the software industry since the late 1990s. The name of this version reflects its origin in the work of the Maestro team at NASA's Jet Propulsion Laboratory that develops software for Mars exploration missions. Extreme programming is oriented toward agile development of software resting on values of simplicity, communication, testing, and aggressiveness. Extreme programming involves use of methods of rapidly building and disseminating institutional knowledge among members of a computer-programming team to give all the members a shared view that matches the view of the customers for whom the software system is to be developed. Extreme programming includes frequent planning by programmers in collaboration with customers, continually examining and rewriting code in striving for the simplest workable software designs, a system metaphor (basically, an abstraction of the system that provides easy-to-remember software-naming conventions and insight into the architecture of the system), programmers working in pairs, adherence to a set of coding standards, collaboration of customers and programmers, frequent verbal communication, frequent releases of software in small increments of development, repeated testing of the developmental software by both programmers and customers, and continuous interaction between the team and the customers. The environment in which the Maestro team works requires the team to quickly adapt to changing needs of its customers. In addition, the team cannot afford to accept unnecessary development risk. Extreme programming enables the Maestro team to remain agile and provide high-quality software and service to its customers. However, several factors in the Maestro environment have made it necessary to modify some of the conventional extreme-programming practices. The single most influential of these factors is that continuous interaction between customers and programmers is not feasible.

Norris, Jeffrey↗
NASA NTRS1973

Programmer's manual for the Mission Analysis Evaluation and Space Trajectory Operations program (MAESTRO)

The Mission Analysis Evaluation and Space Trajectory Operations program known as MAESTRO is described. MAESTRO is an all FORTRAN, block style, computer program designed to perform various mission control tasks. This manual is a guide to MAESTRO, providing individuals the capability of modifying the program to suit their needs. Descriptions are presented of each of the subroutines descriptions consist of input/output description, theory, subroutine description, and a flow chart where applicable. The programmer's manual also contains a detailed description of the common blocks, a subroutine cross reference map, and a general description of the program structure.

Lutzky, D.↗
NASA NTRS1973

Parameter estimation supplement to the Mission Analysis Evaluation and Space Trajectory Operations program (MAESTRO)

This Parameter Estimation Supplement describes the PEST computer program and gives instructions for its use in determination of lunar gravitation field coefficients. PEST was developed for use in the RAE-B lunar orbiting mission as a means of lunar field recovery. The observations processed by PEST are short-arc osculating orbital elements. These observations are the end product of an orbit determination process obtained with another program. PEST's end product it a set of harmonic coefficients to be used in long-term prediction of the lunar orbit. PEST employs some novel techniques in its estimation process, notably a square batch estimator and linear variational equations in the orbital elements (both osculating and mean) for measurement sensitivities. The program's capabilities are described, and operating instructions and input/output examples are given. PEST utilizes MAESTRO routines for its trajectory propagation. PEST's program structure and subroutines which are not common to MAESTRO are described. Some of the theoretical background information for the estimation process, and a derivation of linear variational equations for the Method 7 elements are included.

Bjorkman, W. S.↗
NASA NTRS1991

Sharing intelligence: Decision-making interactions between users and software in MAESTRO

By combining the best of automated and human decision-making in scheduling many advantages can accrue. The joint performance of the user and system is potentially much better than either alone. Features of the MAESTRO scheduling system serve to illustrate concepts of user/software cooperation. MAESTRO may be operated at a user-determinable and dynamic level of autonomy. Because the system allows so much flexibility in the allocation of decision-making responsibilities, and provides users with a wealth of information and other support for their own decision-making, better overall schedules may result.

Geoffroy, Amy L.↗
NASA NTRS1990

Preliminary results from the MAESTRO 1 Campaign over the Black Forest

The Joint Research Center (JRC) Ispra and the European Space Agency (ESA) have co-sponsored the deployment of the National Aeronautics and Space Agency (NASA) and Jet Propulsion Laboratory (JPL), C-, L-, and P-band polarimetric synthetic aperture radar (SAR) in Europe in mid-August 1989. This deployment represents the first opportunity for European agencies and institutes to evaluate the current state of the art of multifrequency polarimetric imaging technology over European Test Sites. Of particular interest to the Joint Research Center (JRC) Ispra is the Black Forest Test Site at Freiburg in the Federal Republic of Germany. This Test Site incorporates the Villingen region of the Black Forest to the south-west of Germany. This paper reports upon the activities undertaken in preparation for the MAESTRO 1 Campaign in the Black Forest Test Site. In particular this paper reports upon the ground data collection campaign for the Freiburg Test Site where extensive and intensive ground data measurements were undertaken. These measurements were based upon standard ground data collection protocols developed for forestry by the JRC and utilized throughout Europe for the MAESTRO 1 Campaign. The paper then goes on to present preliminary results derived from the SAR data using the JRC-developed software for polarimetric data interpretation, POLTOOL.

Churchill, P. N.↗
NASA NTRS2012

Initial SEE Testing of Maestro

We have reported on initial SEE sensitivity of the full 49-core Maestro device. Supporting the low-level structures and qualitative system observation goals of phase 1 of testing. Observed sensitivities found to be consistent with Boeing predictions. Highlighted by the L1 data cache sensitivity which drives the rates on the current Maestro device. Presented details to the hardware and software setups that show where the limitations - highlighting future work. Key future work includes testing with memory and IO ports.

cache sensitivity↗
NASA NTRS1973

User's guide to the Mission Analysis Evaluation and Space Trajectory Operations program (MAESTRO)

The MAESTRO system is a mission analysis tool designed to present to the user information necessary to make the various decisions required in the design and execution of a spaceflight mission. The system was designed so that it can be used in both the pre-launch mission planning phase of a mission and during the flight as an in-flight decision making tool. A description of each of the following modes is presented: (1) trajectory propagation mode; (2) retro-fire determination mode; (3) midcourse analysis determination mode; (4) Monte Carlo mode; (5) verification mode; (6) orbit stability mode; and (7) post injection trim mode. A description of the inputs necessary to run the program mode is given along with a sample case.

Lutzky, D.↗
NASA NTRS1991

Managing temporal relations in the MAESTRO scheduling system

A set of viewgraphs on managing temporal relations in the MAESTRO scheduling system are given. The viewgraphs present information on such topics as why scheduling is hard, managing temporal relations, constraints on the placement of a single activity, constraints between activities, soft constraints (such as preferences), and contingency handling.

Britt, Daniel L.↗
NASA NTRS1992

Real-time contingency handling in MAESTRO

A scheduling and resource management system named MAESTRO was interfaced with a Space Station Module Power Management and Distribution (SSM/PMAD) breadboard at MSFC. The combined system serves to illustrate the integration of planning, scheduling, and control in a realistic, complex domain. This paper briefly describes the functional elements of the combined system, including normal and contingency operational scenarios, then focusses on the method used by the scheduler to handle real-time contingencies.

Britt, Daniel L.↗
NASA NTRS2009

Cliffbot Maestro

Cliffbot Maestro permits teleoperation of remote rovers for field testing in extreme environments. The application user interface provides two sets of tools for operations: stereo image browsing and command generation.

Norris, Jeffrey S.↗
NASA NTRS2012

Leveraging Cloud Computing to Improve Storage Durability, Availability, and Cost for MER Maestro

The Maestro for MER (Mars Exploration Rover) software is the premiere operation and activity planning software for the Mars rovers, and it is required to deliver all of the processed image products to scientists on demand. These data span multiple storage arrays sized at 2 TB, and a backup scheme ensures data is not lost. In a catastrophe, these data would currently recover at 20 GB/hour, taking several days for a restoration. A seamless solution provides access to highly durable, highly available, scalable, and cost-effective storage capabilities. This approach also employs a novel technique that enables storage of the majority of data on the cloud and some data locally. This feature is used to store the most recent data locally in order to guarantee utmost reliability in case of an outage or disconnect from the Internet. This also obviates any changes to the software that generates the most recent data set as it still has the same interface to the file system as it did before updates

Chang, George W.↗
NASA NTRS1992

Comparison of edges detected at different polarisations in MAESTRO data

Edge detection would appear to be a crucial tool for analyzing multi-polarized, multi-frequency, and multi-temporal Synthetic Aperture Radar (SAR) images. Edge structure provides a simple means for comparing different polarizations and frequencies, and for detecting changes over time. Due to the fact that edges and segments (homogeneous regions) are dual concepts, edge detection has an important role to play in identifying segments within which mean backscatter measurements for use in image classification can be made. As part of a general investigation into edge detection in SAR imagery, an initial investigation was carried out into the detectability and nature of edges in multi-polarized and multi-frequency SAR images. The contrast ratio (CR) operator was used to detect edges. This operator was previously shown to perform well at detecting edges in single-polarized and single-frequency SAR images.

Caves, Ronald G.↗
NASA NTRS2005

Designing and Implementing a Distributed System Architecture for the Mars Rover Mission Planning Software (Maestro)

Distributed systems allow scientists from around the world to plan missions concurrently, while being updated on the revisions of their colleagues in real time. However, permitting multiple clients to simultaneously modify a single data repository can quickly lead to data corruption or inconsistent states between users. Since our message broker, the Java Message Service, does not ensure that messages will be received in the order they were published, we must implement our own numbering scheme to guarantee that changes to mission plans are performed in the correct sequence. Furthermore, distributed architectures must ensure that as new users connect to the system, they synchronize with the database without missing any messages or falling into an inconsistent state. Robust systems must also guarantee that all clients will remain synchronized with the database even in the case of multiple client failure, which can occur at any time due to lost network connections or a user's own system instability. The final design for the distributed system behind the Mars rover mission planning software fulfills all of these requirements and upon completion will be deployed to MER at the end of 2005 as well as Phoenix (2007) and MSL (2009).

Goldgof, Gregory M.↗
NASA NTRS2007

Distributed Operations Planning

Maestro software provides a secure and distributed mission planning system for long-term missions in general, and the Mars Exploration Rover Mission (MER) specifically. Maestro, the successor to the Science Activity Planner, has a heavy emphasis on portability and distributed operations, and requires no data replication or expensive hardware, instead relying on a set of services functioning on JPL institutional servers. Maestro works on most current computers with network connections, including laptops. When browsing down-link data from a spacecraft, Maestro functions similarly to being on a Web browser. After authenticating the user, it connects to a database server to query an index of data products. It then contacts a Web server to download and display the actual data products. The software also includes collaboration support based upon a highly reliable messaging system. Modifications made to targets in one instance are quickly and securely transmitted to other instances of Maestro. The back end that has been developed for Maestro could benefit many future missions by reducing the cost of centralized operations system architecture.

Fox, Jason↗
NASA NTRS2006

Advances in Distributed Operations and Mission Activity Planning for Mars Surface Exploration

A centralized mission activity planning system for any long-term mission, such as the Mars Exploration Rover Mission (MER), is completely infeasible due to budget and geographic constraints. A distributed operations system is key to addressing these constraints; therefore, future system and software engineers must focus on the problem of how to provide a secure, reliable, and distributed mission activity planning system. We will explain how Maestro, the next generation mission activity planning system, with its heavy emphasis on portability and distributed operations has been able to meet these design challenges. MER has been an excellent proving ground for Maestro's new approach to distributed operations. The backend that has been developed for Maestro could benefit many future missions by reducing the cost of centralized operations system architecture.

Mars Exploration Rover (MER)↗
NASA NTRS1988

Contingency rescheduling of spacecraft operations

Spacecraft activity scheduling was a focus of attention in artificial intelligence recently. Several scheduling systems were devised which more-or-less successfully address various aspects of the activity scheduling problem, though most of these are not yet mature, with the notable expection of NASA's ESP. Few current scheduling systems, however, make any attempt to deal fully with the problem of modifying a schedule in near-real-time in the event of contingencies which may arise during schedule execution. These contingencies can include resources becoming unavailable unpredictably, a change in spacecraft conditions or environment, or the need to perform an activity not scheduled. In these cases it becomes necessary to repair an existing schedule, disrupting ongoing operations as little as possible. Normal scheduling is just a part of that which must be accomplished during contingency rescheduling. A prototype system named MAESTRO was developed for spacecraft activity scheduling. MAESTRO is briefly described with a focus on recent work in the area of real-time contingency handling. Included is a discussion of some of the complexities of the scheduling problem and how they affect contingency rescheduling, such as temporal constraints between activities, activities which may be interrupted and continued in any of several ways, and different ways to choose a resource complement which will allow continuation of an activity. Various heuristics used in MAESTRO for contingency rescheduling is discussed, as are operational concerns such as interaction of the scheduler with spacecraft subsystems controllers.

Britt, Daniel L.↗
NASA NTRS1992

Supervised fully polarimetric classification of the Black Forest test site: From MAESTROI to MAC Europe

A study on the performance of a supervised fully polarimetric maximum likelihood classifier for synthetic aperture radar (SAR) data when applied to a specific classification context: forest classification based on age classes and in the presence of a sloping terrain is presented. For the experimental part, the polarimetric AIRSAR data at P, L, and C-band, acquired over the German Black Forest near Freiburg in the frame of the 1989 MAESTRO-1 campaign and the 1991 MAC Europe campaign was used, MAESTRO-1 with an ESA/JRC sponsored campaign, and MAC Europe (Multi-sensor Aircraft Campaign); in both cases the multi-frequency polarimetric JPL Airborne Synthetic Aperture Radar (AIRSAR) radar was flown over a number of European test sites. The study is structured as follows. At first, the general characteristics of the classifier and the dependencies from some parameters, like frequency bands, feature vector, calibration, using test areas lying on a flat terrain are investigated. Once it is determined the optimal conditions for the classifier performance, we then move on to the study of the slope effect. The bulk of this work is performed using the Maestrol data set. Next the classifier performance with the MAC Europe data is considered. The study is divided into two stages: first some of the tests done on the Maestro data are repeated, to highlight the improvements due to the new processing scheme that delivers 16 look data. Second we experiment with multi images classification with two goals: to assess the possibility of using a training set measured from one image to classify areas in different images; and to classify areas on critical slopes using different viewing angles. The main points of the study are listed and some of the results obtained so far are highlighted.

Degrandi, G.↗