5 th international workshop on planning and scheduling for space automated mission planning and...
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55thth International Workshop International Workshop on Planning and on Planning and
Scheduling for SpaceScheduling for SpaceAutomated Mission Planning and Scheduling
(AMPS) Support of Autonomous Operations for the ST5 Constellation
Terri Wood / NASA GSFCRobert Shendock / SGT, Inc
Jenny Williams / CSC
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 2
Preface
• ST5 validated some interoperability and distributed control operations concepts intended to lower operational costs and risks
• Interoperability– Distributed message bus to loosely interconnect mission
components on the ground and provide “plug and play” capability
– Form basis of future mission Service Oriented Architecture (SOA)
• Distributed mission control– Used self-managing, autonomous software components to
validate concept for managing increasingly complex missions
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 3
Introduction
• The Mission• What new technologies were used to support it
– Challenges in using the application– An approach to modeling that worked
• How well did the technologies support mission objectives– Requirements/problems solved – Improvements to mission cost/quality
• What methods were used to infuse new technologies– Technical & cultural issues– Approaches to infusion that worked & didn’t
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 4
Mission Overview
• 3 spacecraft launched 22MAR06
• 300 X 4500 km orbit• 10.5 orbits per day• Same transmitter freq• Supported by DSN and GN• GN Support
– 2 contacts / spacecraft / day– McMurdo Ground Station (MGS)
• DSN Support (34 meter)– 1 contact / spacecraft / day– Primarily Canberra (DSS-34)
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 5
Mission Operations RequirementsMotivation for Automated Mission Planning System
• Maintain the health and safety of three spacecraft.• Recover at least 80% of the recorded data.• To design, develop, test and operate a ground
segment supporting multiple spacecraft acting as a single constellation.• Develop ground software to automate constellation
operations.• Demonstrate concepts for autonomous constellation
management and autonomous operations from the ground.• Perform "lights out" operations during which time no
intervention by ground personnel is required to operate the constellation or maintain the health and safety of the spacecraft.
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 6
New Technologies Supporting P&S
• Infused GMSEC architecture to facilitate data transfer– Middleware served as generic messaging interface between
components– Provided easy scalability (plug & play) of ground system
• Implemented Model-based operations to meet mission objectives, reduce staff and minimize risk– Simulink ST-5 (ROME) modeling of constrained resource
utilization• For ST5, MATLAB models generated for Solid State Recorders, RF
Link and Power
– Automated Mission Planning System (AMPS) provided planning for near real-time autonomous re-planning
Operations Overview
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 7
GMSEC Component Catalog Technologies
GMSEC Interoperable Catalog Components
Middlewares: GSFC Bus, ICS SWB, TIBCO Rendezvous, TIBCO SmartSockets, RTI NDDS, SOAP, MQSeries, ICE
Front End Processors+ Simulators
GMSEC APIs/Ops Systems
Linux
Solaris
C, C++
J ava
Python
HP/UX
Telemetry + CommandSystems
ASIST
ITOS
TReK
Desk TM
InControlNG
ScriptingControlGDS
FEDS
FFTB
IRTS
SIMSS
STARS
Python
SCL
Automation
ANS
CAT
Pag
ing
ScenarioScheduler
ExpertSystems
Planning +Scheduling
AMPS
MOPSS
STK/Scheduler
Flight Dynamics
STK
MTASS
MSASS
XFDS
Archive + Assessment
Tre
ndin
gS
yste
ms
RPTS
SystemMonitoring
ITPS
TAPS
MTASS
Archiving
SimulinkROME
MacOSHigh
Fly/SCOS
VisualFocus
Front End Processors+ Simulators
GMSEC APIs/Ops Systems
Solaris
C, C++
Python
HP/UX
Telemetry + CommandSystems
ASIST
ITOS
TReK
Desk TM
InControlNG
ScriptingControlGDS
FEDS
FFTB
SIMSS
STARS
Python
SCL
Automation
ANSPag
ing
ExpertSystems
Planning +Scheduling
AMPS
STK/Scheduler
STK
MTASS
MSASS
XFDS
Archive + Assessment
Tre
ndin
gS
yste
ms
RPTS
SystemMonitoring
ITPS
TAPS
MTASS
Archiving
SimulinkROME
MacOS
FlexPlan
VisualFocus
IRTSANSR
IRTSScenarioScheduler
IRTSCAT
IRTSPPF
IRTSGREAT
Windows
IRTSLinux
FocusConstellation
AutoFDS
IRTSMOPSS
IRTSST5
Eclipse
Java
Usage Key:
IRTS
PerlPerl
– GMSEC approach gives users choices for the components in their system.
– ST5 added or enhanced key components in the GMSEC catalog.
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 8
Technologies ST5 Architecture
CommandTelemetryTrack
DSN Site
Frame SyncLocal Data ArchiveCommand Transmit
NISN
IP Routing
Command
R/T Telemetry
Tracking Data
P/B Telemetry
Acquisition Data
FDF
Orbit Predicts
FEDS / ASIST
Telemetry MonitoringCommand Management
Data ArchivalPN DecodingRS Decoding
Level-0 Processing
ADS
NRT Attitude Determination Mission Planning Product
GenerationManeuver Planning
ST5 Mission Operations Control Center
Command
R/T Telemetry
P/B Telemetry
Tracking Data
Acquisition Data
PredictedOrbit
Science Processing Facility
Level-0Data
Simulink ST-5
ROME based Operations Modeling System
AMPS
Intelligent Mission Operations Planning
ITPS
Data Plotting & Trending
CAT / ANSR
Problem Detection & Notification System
GN Site
Frame SyncLocal Data ArchiveCommand Transmit
Command
R/T Telemetry
Tracking Data
P/B Telemetry
Acquisition Data
DSN / GN Scheduling
Planning Data
Schedules
Planning Data
Schedules Clock Estimation
Definitive Timing System
DefinitiveOrbit
DefinitiveClock Data
I&T Site
GSFC
Command
R/T Telemetry
P/B Telemetry
Launch Site
VAFB
Command
R/T Telemetry
P/B Telemetry
Sim Center
GSFC / FlatSat
Command
R/T Telemetry
P/B Telemetry
GMSEC Bus
HERITAGE HERITAGE W/MODS NEW OR MODIFIED
CPT
DSN & GN Schedules on GMSEC Bus
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 9
TechnologiesGMSEC Architecture
• GSFC Mission Services Evolution Center (GMSEC) coordinates data systems development & services
• Standardized Interfaces and Messages (not components)– COTS or in-house tools have the same key interface definitions – To provide for plug-and-play modules that can be integrated quickly
and to allow the “trading” of components with other organizations
• Middleware– Provide message-based communications services on a bus– Makes it much easier to add new tools, reduce integration effort
• GMSEC focuses on the Architecture and Interfaces– Traditional development organizations still own their domain areas– Create a system from GMSEC offerings, populate the databases,
add mission unique features
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 10
Technologies Mission Planning Centric
• Automated Mission Planning System (AMPS) provides constellation and autonomous operations support– Plans integrated spacecraft stored command, spacecraft real-
time command, and GSE directives• One product showing all planned activities
– Supports integrated planning for all constellation spacecraft• One product for the constellation
– Provides a command/directive interface with other applications
• What you scheduled is what is executed
GMSEC Apps
GMSEC Bus
Model-Based Ops
CMD/TLMSystem AMPS
User Rules
UserRequests
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 11
Technologies Model Based Operations
• Real-time Object Modeling Executive (ROME)– Supports multiple models and multiple spacecraft – Leverages common engineering modeling environments– Models from various sources are easily integrated– Fully supports GMSEC bus– Models initialized and maintained from telemetry– Model control via configuration file or bus directive– Results available to GMSEC subscribers– Easily configured via XML– Highly scalable
GMSEC Apps
GMSEC Bus
Planning System
CMD/TLMSystem
Matlab / Simulink
ModelModel
Model
ROME
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 12
Technologies Allocate responsibilities
• Applications provide integrated support for space and ground segments– Planning system defines planned on-board absolute time
command sequences and real-time ground sequences– Ground segment supports more dynamic spacecraft
management capabilities– System can assess and respond to changing spacecraft and
ground states
• Autonomy provided by the on-board Flight Software was judiciously utilized– Auto operations support was applied where best suited– Allocation based on availability of functional capabilities and
state information
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 13
Technologies Challenges
• Define a reasonable operations concept– System approach to technology integration while minimizing risk – ST5: Restrict the scope of the work to be performed (cost /
benefit analysis)Consider quality of heritage capabilities during system design
• Assure data is available when and where it is needed– System analysis resulting in application and interface
specification– ST5: Defined the what, where, when and quality of data;
assigned functional requirements accordingly
• Find the right people to develop the application database– By definition, new technology applications do not have a large
pool of experienced people to draw from– ST5: No good solution
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 14
Technologies Challenges 2
• Develop a reasonable test environment for meaningful durations– Local simulators usually not good in simulating networks or
space link environments– ST5: Test it like you’ll fly it. Utilized FlatSat simulator and
conducted Operational Simulations using the fullest ground system available
• Support refinement of the application following launch– FOT product type refinements as well as application developer
support– ST5: Didn’t do the best, FOT staffing lean, developer money
short – paid the price in diminished performance
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 15
TechnologiesModeling Notes
• Finding the resources for model development– Modeling is expensive but done during the mission life cycle– ST5: Took what was available & utilized students and contractor
support to build additional models
• Generation and transfer of analysis derived from the models to the user– Get the needed analytical results when & where they are needed– ST5: Developed a system to initialize, execute and distribute the
resulting analysis in a useable form
• Maintaining the fidelity of the model– Modeled environments change with time, lack of maintenance
frequently kills high fidelity models– ST5: Developed a system to autonomously maintain
configuration & performance parameters based on spacecraft & ground system data
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 16
Mission Support Approach to Supporting Mission Objectives
• Devise and validate a plan off-line – Plan is directly executed for automated control of ground and
space segments
• Provide self-updating predictive models– Support plan validation off-line – Report changes in constrained resource availability in real-time
• Autonomously re-plan in real-time in response to reported changes in resource availability
Operations Overview
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 17
Mission Support Using Model-Based Operations
Inserting model-based predictive software within the control loop yields higher quality Command and Control of space-borne platforms
Validation of operator generated plan of activities (UDAP)
Self-updating, or ‘tuning’, models for accuracy over mission lifecycle
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 18
Mission Support AMPS Generated Integrated Activity Plan
• Typical contact– Spacecraft
stored commands
– Real-time spacecraft commands
– GSE directives– Orbital,
scheduling & planning events
– Note “as scheduled” release entry
Operations Overview
2006:143:02:22:13 224 NONE FD MGS_NORTH_UAV; 2006:143:02:25:27 155 CMD.ASIST RT_STEP sendRFProfilingDirective(155 GRAPH 2006-143-02:30:27 2006-143-02:43:52 MGS); 2006:143:02:25:27 155 CMD.ASIST RT_STEP S cgs_prepass("MGS",11,646,"2006-143-02:30:27","2006-143-02:43:52",155); 2006:143:02:27:24 094 NONE FD ZOI; 2006:143:02:27:26 155 CMD.ASIST RT_STEP S cgs_aos(155); 2006:143:02:30:27 155 NONE FD MGS_NORTH_UAV; 2006:143:02:30:27 155 NONE SCD BOT McMurdo; 2006:143:02:30:27 155 NONE ACT GN_Contact_Prepass_Type_11; 2006:143:02:30:27 155 NONE ACT Contact 100K; 2006:143:02:30:27 155 ASISTPRI CMD MSCSTARTR(RTS=23); 2006:143:02:33:27 155 NONE ACT Playback Dump All Dataset 0; 2006:143:02:33:27 155 ASISTPRI CMD MSCSTARTR(RTS=37); 2006:143:02:38:53 155 CMD.ASIST RT_STEP SingleSSRProfile(155); 2006:143:02:39:52 094 NONE FD MGS_NORTH_UAV; 2006:143:02:39:53 155 CMD.ASIST RT_STEP s cdh_ds_postprofile("all",2,155); 2006:143:02:41:52 155 CMD.ASIST RT_STEP s cgs_los(155); 2006:143:02:42:51 155 CMD.ASIST RT_STEP s cgs_postpass(155); 2006:143:02:43:00 224 NONE FD ZOI; 2006:143:02:43:52 155 NONE SCD EOT McMurdo; 2006:143:02:43:52 155 NONE FD ZOI; 2006:143:02:44:50 155 CMD.ASIST RT_STEP s cgs_clkest(155); 2006:143:02:45:16 094 NONE FD ZOI; 2006:143:02:45:52 155 NONE ACT GN_Contact_Postpass; 2006:143:02:45:52 155 NONE ACT Transmitter Power Disable; 2006:143:02:45:52 155 ASISTPRI CMD MSCSTARTR(RTS=25);
Time (GMT) S/C Application Type User Defined Data
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 19
Mission Support Long-Term Mission Planning ROME Profile
• During the off-line planning process:– Develop a
proposed plan– Generate ROME
model profiles– Adjust the plan
based on profile results
– Re-profile using the revised plan
– Commit the plan once violations are resolved
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 20
Mission Support Real-Time Mission Planning ROME Profile
• During the real-time execution process:– Generate short-
term ROME model profiles
– Generate alarm messages if user-defined thresholds are violated
– Mission planning system adjusts plan to avoid (minimize) threshold violation
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 21
Mission Support Real-Time AMPS Re-Plan
• Post-pass Activity Plan “AS RUN”– Release
request modified from 2 to 1 in response to ROME alarm
2006:143:02:22:13 224 NONE FD MGS_NORTH_UAV; 2006:143:02:25:27 155 CMD.ASIST RT_STEP sendRFProfilingDirective(155 GRAPH 2006-143-02:30:27 2006-143-02:43:52 MGS); 2006:143:02:25:27 155 CMD.ASIST RT_STEP S cgs_prepass("MGS",11,646,"2006-143-02:30:27","2006-143-02:43:52",155); 2006:143:02:27:24 094 NONE FD ZOI; 2006:143:02:27:26 155 CMD.ASIST RT_STEP S cgs_aos(155); 2006:143:02:30:27 155 NONE FD MGS_NORTH_UAV; 2006:143:02:30:27 155 NONE SCD BOT McMurdo; 2006:143:02:30:27 155 NONE ACT GN_Contact_Prepass_Type_11; 2006:143:02:30:27 155 NONE ACT Contact 100K; 2006:143:02:30:27 155 ASISTPRI CMD MSCSTARTR(RTS=23); 2006:143:02:33:27 155 NONE ACT Playback Dump All Dataset 0; 2006:143:02:33:27 155 ASISTPRI CMD MSCSTARTR(RTS=37); 2006:143:02:38:53 155 CMD.ASIST RT_STEP SingleSSRProfile(155); 2006:143:02:39:52 094 NONE FD MGS_NORTH_UAV; 2006:143:02:39:53 155 CMD.ASIST RT_STEP s cdh_ds_postprofile("all",1,155); 2006:143:02:41:52 155 CMD.ASIST RT_STEP s cgs_los(155); 2006:143:02:42:51 155 CMD.ASIST RT_STEP s cgs_postpass(155); 2006:143:02:43:00 224 NONE FD ZOI; 2006:143:02:43:52 155 NONE SCD EOT McMurdo; 2006:143:02:43:52 155 NONE FD ZOI; 2006:143:02:44:50 155 CMD.ASIST RT_STEP s cgs_clkest(155); 2006:143:02:45:16 094 NONE FD ZOI; 2006:143:02:45:52 155 NONE ACT GN_Contact_Postpass; 2006:143:02:45:52 155 NONE ACT Transmitter Power Disable; 2006:143:02:45:52 155 ASISTPRI CMD MSCSTARTR(RTS=25);
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 22
Mission Support Summary: Checking & Using the Plan
Operations Overview
Off-line Mission Planning Near-real-time Profiling
ST5 Autonomous Spacecraft Management (Option 3) – Model-based Operations Functional FLow
Sim
ulin
k S
T5
Res
ourc
e P
rofil
es
AM
PS
LO
S
Det
erm
inat
ion
Mod
el
AM
PS
Sce
nario
S
ched
uler
AM
PS
UD
AP
Eng
inee
ring Rules / priority scheme
for:1) Power2) Communications3) tracking data4) data recovery
Network Schedule
Spacecraft telemetry
LOS Determination Model
Engineering Review
Schedule events and activities
SSR Data recovery profile
Tracking data duration validation
Power profile
Re- Schedule activities and LOS events
Real/time commands
Stored Commands Revised Real/time
commands
Communications link profile
Tracking data duration validation
SSR Data recovery profile
Communications link profile
Power profile
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 23
Mission Support How Well Did We Do: Mission Metrics
Data Recovery & Staffing
0.00
20.00
40.00
60.00
80.00
100.00
120.00
12 16 20 24
Op Week
All SC All VR (%)
On Console (hr/day)
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 24
Mission Support Solutions & Improvements
• Problems were solved / requirements met– Exceeded all mission requirements– Maintained health and safety throughout the mission– Recovered 93% of the data for the entire mission– System supported the mission throughout at increasing levels of
automation– Successfully conducted at least one full Operational Week of
“lights out” operations
• Improvements to the mission realized– Reduced off-shift staffing requirement– Reduced complexity of operations– Minimized “trivial’ errors
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 25
Infusion of New TechnologiesTechnological / Cultural Issues
• Utilization of existing technologies may not be fully implemented in your environment– Master available capabilities and demonstrate utility /
worthlessness before pressing on
• In situations where controllers become uncomfortable with the current situation, they instinctively disable the new technology– This generally created an environment where the probability of
operator error increased– The team needs to undergo a true end-to-end cultural shift –
understanding & feeling comfortable with the new technologies– Has resulted in the premature death of multiple “sound”
technologies
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 26
Infusion of New TechnologiesApproaches That Worked
• Support of management makes all the difference– Keep all levels of project management well informed– Work system design, development & test with a knowledge of
and in parallel with spacecraft development• Consider a Spacecraft Controller Team (test conductor / controller)
approach
• Define and mitigate risks during all mission phases– Be well prepared, have sound mitigation approaches
• Apply an appropriate level of engineering to the project– Engineers like to over-design, ops likes it simple, easy and as it
was– Explicitly define a realistic and consistent scope
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 27
Infusion of New TechnologiesApproaches That Worked 2
• Knowledge is power, but action requires knowledge and control authority– Analyze the detailed what, where, when and quality of your data– Send data to the most logical agent for action– Provide the most logical agent for action with the authority to
effect change
• Define reasonable mission requirements– From a project perspective, if it isn’t a requirement, it may not
get done– From a project perspective, if it is a requirement, it better get
done
• Provide a quality toolset, have the team use it often– Each mission is “different”, provide the tools first, then the
solution
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 28
Infusion of New TechnologiesApproaches That Worked 3
• Staff to meet your needs, build the team you need– Pre-launch development is different from nominal mission– Hire support staff capable and willing to nurture new
technologies
• Test on the ground, budget for support in-flight – Ground test will be incomplete by definition– Budget and plan on support for the technologies in-flight
• Don’t be “out there” unless you’re required to be “out there”
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 29
Infusion of New TechnologiesApproaches That Don’t Work
• Assuming ops “buy in” if the intent is to reduce staff– Very few people will work hard to put themselves or friends out
of a job– Most people will work to meet previously published requirements
• Poor risk management or presentation of risk mitigation– Ops exposure is limited until Flight Ops Review, plan & present
well– If not correctly managed, risk reduction may equate to scope
reduction or worse (RFAs)– Propose sound requirements, develop a realistic implementation
plan early on in the mission
• Expect to significantly advance new technologies if:– They are “goals” (i.e. not required)– You rely on real-time ops support to do it in their spare time
October 24, 2006 5th IWPSS: AMPS Support for the ST5 Constellation 30
Contact Information
• Terry Wood– NASA /GSFC Code 583 301-614-6432 – [email protected]
• Bob Shendock– SGT,Inc 301-883-4051– [email protected]
• Jenny Williams– CSC 443-436-6934– [email protected]