**STATEMENT OF WORK**

**Automation, Robotics & Simulation Division Engineering Services
Contract**

**1.0 INTRODUCTION**

This statement of work describes the effort necessary to provide
Engineering Services support to the Automation, Robotics, and Simulation
Division (AR&SD) of NASA, Lyndon B. Johnson Space Center (JSC). AR&SD
develops and supports simulation and virtual reality applications for
EVA (Extra Vehicular Activity), robotics training systems, and
engineering analysis. AR&SD also provides engineering in the areas of
Vehicle System Management (VSM), automation and intelligent systems as
well as telerobotics and autonomous robotic systems for ground and space
flight applications. . AR&SD provides support for Space Shuttle ,
International Space Station (ISS), Constellation, and advanced programs.

**2.0 SCOPE**

The proposed contract is to provide AR&SD with Engineering Services in
the fields of (1) Virtual Reality; (2) Trick Simulation Environment; (3)
Trick Simulation Math Models and Applications; (4) Trick Simulation
Analysis; (5) Research and Development in advanced robotics and
intelligent systems, (6) MAGIK Simulation Maintenance and Development,
(7) Vehicle System Management, (8) System Engineering and Integration,
(9) CEV Engineering Analysis Laboratory (CEAL), (10) Guidance,
Navigation and Control Simulation Analysis. A representative list of
NASA facilities and simulation applications that are dependent on the
engineering services described in this contract are: SSTF, DST, SES, VR,
NBL, SSAIAF, MRMDF, NBL, RPS, PDRSS, ICDS, IPS, DIS, DSES, and on-board
trainers.

> **2.1 Virtual Reality (VR)**

The field of VR includes research, design, and development of VR
state-of-the-art technologies and software. Display Software Package
(DSP) and Dynamic Onboard Ubiquitous Graphics (DOUG) are software
packages that are being developed to support the Virtual Reality Lab and
its task to support EVA training and provide flight software for the
Space Station and Space Shuttle. Continued development and maintenance
of these software programs is imperative to attaining and maintaining
the Johnson Space Center goal of common scene generation capability in
all ground-based training facilities, as well as all onboard situational
awareness tools and training simulations. The software must not only
support the individual training simulators, but must be capable of
supporting multiple simulations, simultaneously during integrated
training sessions that incorporate more than one aspect of any mission.

Providing VR training environments, including mission specific scene
databases, for astronaut Extra Vehicular Activity (EVA) training,
robotic systems training is also critical. These environments include
helmet mounted displays, wide-screen displays, motion and force feedback
devices, mass handling robotic hardware-in-the-loop simulations, and
other sensor devices for motion tracking. Also included is the
development of innovative image generation algorithms and techniques,
and interfacing these capabilities with existing off-the-shelf sensor
and motion hardware. This effort also includes integrating dynamic
simulations into these environments for training and engineering
analysis when the analysis is compatible with these training
environments and existing scene databases; and providing astronaut
training session support when the developed VR capabilities and scene
databases are used by astronauts and others for specific mission
training.

.

> **2.2 Trick Simulation Environment**

The Trick Simulation Environment is a set of software utilities and code
generators which allow users to rapidly develop, integrate, and operate
simulations based on the specific requirements of their application
domain. The required engineering services include the development and
maintenance of the Trick simulation environment core capabilities is
required. The Trick core capabilities are defined as the run-time
executive, user interfaces, code generators, and other simulation
construction and operation support utilities. This work also includes
the hardware and software System Administration (SA) duties that are
required to facilitate the Trick development network and computer
laboratory.

3.  **Trick Simulation Math Models and Applications**

> In conjunction with the Trick Simulation Environment are multiple
> simulation applications consisting of math models, verified
> simulations, and other supporting software utilities. The required
> engineering services include the development and support of advanced
> kinematics and dynamic robotic and space craft simulations and tools
> for engineering analysis and real-time
> man-in-the-loop/hardware-in-the-loop training and the associated
> documentation.
>
> The Trick simulation math models requiring development and maintenance
> include Space Shuttle and ISS robotic systems (dynamic and kinematic),
> manipulator/orbital dynamics, earth environmental models, contact
> dynamics models, and interfaces to numerous scene generation graphics
> capabilities developed at JSC. Examples of manipulator systems and
> mechanisms include the Space Shuttle Remote Manipulator System (SRMS),
> Space Station Remote Manipulator System (SSRMS), Special Purpose
> Dextrose Manipulator (SPDM), Mobil Transporter (MT), Space Station
> Visiting Vehicles with capture scenarios, Japanese Exposed Module
> Remote manipulator Systems (JEMRMS), and various berthing mechanisms.
>
> The Trick simulation applications vary widely and include batch
> (non-real-time), real-time, hardware-in-the-loop, human-in-the-loop,
> multi-process/processor, and multi-computer simulations using both
> Trick discrete time and event based scheduling mechanisms. The primary
> objective of this activity is to produce advanced kinematics and
> dynamic robotics simulation tools for engineering analysis and
> real-time man-in-the-loop systems. Developing Trick simulation
> applications includes investigating, designing, prototyping,
> developing, testing, and documenting advanced simulation techniques
> for robotics and spacecraft systems. This includes development and
> evaluation of software requirements and software algorithms necessary
> to provide simulations of robotics systems, spacecraft systems and
> integrated robotics and spacecraft environments.

4.  **Trick Simulation Analysis**

> The engineering services required for Trick Simulation Analysis uses
> any of the above simulation applications for engineering analysis of
> robotic and spacecraft systems. Activities included in this field are
> the development of analysis requirements, running the simulations,
> analyzing the data, and documenting the analysis.

5.  **Research and Development in Advanced Robotics and Intelligent
    Systems**

> The engineering services required to support this field in advanced
> robotics include research, prototyping, design and development for
> intelligent and or autonomous robotic software systems in support of
> space operations, science and exploration missions.. This includes
> analysis of missions, tasks and scenarios, development of software
> designs, requirements and software algorithms necessary to provide
> intelligent robotics architectures, systems or subsystems, development
> tools and environments, and effective human-robot interaction systems.
> It also includes research, prototyping, design and software
> development for robotic new grasping techniques, aiming for potential
> sharing of human hand-held tools with robots in space.
>
> The engineering services required to support this field in intelligent
> systems include intelligent software technologies in the areas of
> monitoring and control, advanced knowledge capture, knowledge
> management, and knowledge based application tools, software and
> services. This includes providing research, prototypes, requirements,
> design, development, testing and certification of knowledge-based
> software technologies and/or software tools. It also includes advanced
> and intelligent software technologies in autonomous control, advanced
> workflow, human-computer interaction, procedure execution, Intelligent
> Computer Aided Training (ICAT), space vehicle on-board and ground
> system applications, and/or web-based collaboration.

6.  **MAGIK Simulation Maintenance and Development**

> Engineering services are required to maintain the development and
> maintenance of the Manipulator Analysis Graphic Interactive Kinematic
> (MAGIK) simulation. The AR&SD is tasked with maintaining the MAGIK
> simulation for kinematic analysis for the SRMS, SSRMS, SPDM, and other
> robotic systems. MAGIK is an interactive robotics simulation tool that
> provides 2D and 3D graphical user interfaces and displays for robotic
> analysis. This task includes the development and maintenance of MAGIK
> to meet these analysis requirements as defined in a software Change
> Request. (CR). The engineering services will integrate the flight
> system manipulator control system software, as supplied by the Trick
> simulation tool into the MAGIK software. The engineering services will
> also integrate the Enigma graphic simulation releases as supplied by
> NASA, into the MAGIK simulation.

7.  **Vehicle System Management (VSM)**

> Engineering service are required to support VSM SSM; Phase 2
> Contractor Oversight for life cycle Implementation, including
> SRS-level requirements, design, integration and test, production,
> certification and acceptance.

8.  **System Engineering and Integration (SEI)**

> Engineering service are required to Assist in development of Flight
> Software reference architecture. Perform systems engineering analysis
> by identifying architectural driving requirements, trading
> architectural patterns that satisfy the requirements, performing
> functional allocations across the avionics components, and assessing
> contractor design and implementation against the reference
> architecture.
>
> Engineering service also are required to Develop strategy, content,
> and application of procedures, in support of vehicle system
> interactions and mission operations. Assess procedure use with respect
> to different phases of flight.

9.  **CEAL**

> Engineering service are required to develop a CEV Engineering Analysis
> test bed and provide Configuration Management responsibilities
> including documentation and property custodian. Test bed will be used
> to support requirements, architecture, design analysis and evaluation
> of C&DH, VSM, and other Avionic Integrating software functionality.

10. **Guidance, Navigation and Control Simulation Analysis**

> Engineering services are required to develop guidance, navigation and
> control simulation software for application to autonomous systems
> development. Simulation tasks include (1) model and algorithm
> development, software integration, configuration management, issue
> tracking, and version delivery, (2) Real-time hardware in the loop
> facility development, testing and configuration management to support
> integrated testing of autonomous systems, GN&C, and avionics, and (3)
> Simulation and testing requirements development and documentation for
> support of autonomous systems and GN&C software.
>
> Autonomous navigation system development tasks include: (1) GPS
> receiver firmware architecture design, development, and testing, (2)
> Navigation software architecture design development, and testing
> including simulation only and integrated hardware tests, and (3)
> Evaluation of existing or proposed navigation systems including
> hardware, software, and algorithms.