# Presentation: 860738

## Useful Sensor Web Capabilities to Enable Progressive Mission AutonomyDan Mandl

***Useful Sensor Web Capabilities to Enable Progressive Mission Autonomy******Dan Mandl***

## Agenda

- Statement of challenges
- Capabilities to meet challenges
- Experiments run with real satellites to validate new capabilities
- EO-1
- CHIPS
- ST-5
- Conclusion

## Challenges for Future Missions

- Manage increased mission complexity at lower cost
- Create flexible missions with interoperable components
- Increase mission safety by embedding intelligence to manage security and hazard avoidance

## Key Capabilities To Meet Challenges

- Transition from centralized mission control to distributed control
- Maximize interoperability by abstracting as much mission functionality as possible
- Develop and use self-managing software components (autonomic computing)
- (1)  Components have self-awareness
- (2)  Self-optimization
- (3)  Self-healing
- (4)  Self-protection
- (5)  Negotiates (peer-to-peer) for resources
- (6)  Functions in a heterogeneous world and with open standards
- (7)  Anticipates needed  resources and hides details needed to obtain resources

## Series of Experiments Conducted

- Used following missions to conduct experiments to facilitate these capabilities:
- Earth Observing 1 (EO-1)
- Cosmic Hot Interstellar Plasma Spectrometer (CHIPS)
- Space Technology 5 (ST-5)
- Experiment with Service Oriented Architectures (SOA)

## EO-1 Satellite
Launched November 21, 2000

**EO-1 Satellite**
**Launched November 21, 2000**

**NASA New Millennium Program space technology validation mission**
**Hyperion – hyperspectral instrument**
**Advance Land Imager (ALI) – multispectral instrument**
**10 other space technologies validated**
**2 Mongoose onboard computers with 256 Mbytes each**
**Presently in extended mission and being used for additional experiments with hyperspectral imagery and sensor web experiments**

## Cosmic Hot Interstellar Plasma Spectrometer (CHIPS):   A Flying Networked Computer  Testbed for Advanced Mission Concepts

**Cosmic Hot Interstellar Plasma Spectrometer (CHIPS):   A Flying Networked Computer  Testbed for Advanced Mission Concepts**
**	**
**  ****PowerPC****	**
**  ****Onboard IP Stack**
**  ****128 Mbytes of Memory**
**   ****Perfect for Experiments**
**(E.g.  Secure IP to S/C)**
****** OPEN FOR BUSINESS 9/1/05 *********

## ST-5 Overview

- ST-5 is a three satellite (micro-sat) constellation
- NASA New Millennium Program technology validation mission
- Help scientists understand the Earth’s magnetosphere and its effect on space weather
- Uses the GMSEC architecture to enable cost-effective model-based operations to run the ST-5 constellations lights-out
- Launched March 22, 2006
- Successfully completed mission June 22, 2006

**ST-5 Overview**

**Not much bigger than a large birthday cake or a small TV.**

## Key Capabilities Implemented to Enable EO-1 Sensor Webs

**Key Capabilities Implemented to Enable EO-1 Sensor Webs**

**Various EO-1 Sensor Web Experiments Conducted**

## E.g. - EO-1 Targets National Priority Wildfires

**1**

**Identify NIFC-tracked Wildfire Incidents**

**Aqua or Terra**
**MODIS data**

***GSFC’s***
***Science Goal Monitor***

**2**

- Fire location confirmed and selected for imaging

**4**

- UMD Natural Hazards Investigation Team

- 5

**3**

**3**

**Active Fires Detection Map**

***Roberts Fire***

***Roberts Fire***

**1**

***Roberts Fire***
**USFS Burned Area Emergency Response (BAER) team**

- 6

***SGM***

**Correlate latest fire location information with MODIS imagery**

- SGM adds target to EO-1 ground & on-orbit planning & scheduling systems and tasks EO-1

- L1 Data

**Notes:**
SGM accesses NIFC and the active fire map to determine present fire location
Web accessible Integrated NIFC Database
Terra and Aqua S/C MODIS data (produced by MODIS rapid Fire Workstation - UMCP)
SGM then initiates the p&S systems for targeting these systems (some on board  w/CASPER and MOPS does another piece etc etc)
Target ALI and Hyperion on the fire of interest
Can be done quickly - as soon as one orbit
Within 24-48 hours BAER tem gets info. To do rehabilitation.

Before this SW experiment nominal turn around was 2 weeks.

## Slide 12

## Underlying “Plug and Play” Message Bus Architecture-- Goddard Mission Services Evolution Center (GMSEC)

- GMSEC architecture provides a scalable and extensible ground and flight system approach
- Standardized messages formats
- Plug-and-play components
- Publish/Subscribe protocol
- Platform transparency
- More info at: http://gmsec.gsfc.nasa.gov

## GMSEC Component Catalog

- GMSEC approach gives users choices for the components in their system. The TRMM mission has selected key components from the GMSEC catalog.

## ST-5 Lights-Out Autonomy

- ST-5 mission demonstrated parts of (1), (2), (5), (6) and (7) (from slide 3)
- Lights-out operations with model-based software
- Predict problems before they happen and fix early
- Models update themselves automatically
- Modeling system is built on top of “plug and play” architecture to enable easy extensibility
- Act as stepping stone for this type of capability for future missions

## ST-5 Model-Based Operations Overview

**ST-5 Model-Based Operations Overview**

## ST-5 ROME Framework

- 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/TLM
- System

- Matlab / Simulink

**Model**

**Model**

**Model**

- ROME

**Notes:**
ISR developed/extended 

Served as both model developer and integrator

## ST5 Specific Configuration

- ROME based implementation
- Dynamic characterization of sub-systems phenomenology
- Used by mission to manage constrained resources
- Models of Subsystems
- Solid State Recorder (Contractor Dev.)
- RF (Student Dev.)
- Power (Project Dev.)

**Notes:**
RF from WPI students, under guidance from mission ops personnel
Power from phase A/B development – reused from earlier design phases

## SimulinkST5 GMSEC Highlights

- Simulink is a visual interface to MatLab to allow users to simulate systems that can be represented with mathematical equations
- Features of Simulink as used on ST5 are as follows:
- Standardized messaging interoperability
- GMSEC Compliance
- Directives
- Advanced Mission Planning System (AMPS)
- Advanced Spacecraft Integration and System Test (ASIST) system
- Mnemonic Value Messages
- ASIST
- Integrated Test and Operations System (ITOS) capability
- Heartbeat messages
- Log messages
- Product Messages
- Predictive Model-Based Operations
- Subsystem models to anticipate platform conditions in a constellation environment.
- Support Short and Long Term Mission Planning
- Interact with AMPS and ASIST for control directives, telemetry, and profile events.
- Constellation Operations Support

**Notes:**
Autonomous Mission Planning System
Advanced System Integration and System Test 

## Core Flight System (CFS) and Extension for GMSEC for Flight SW

**CFS provides a framework that **
**simplifies the development and **
**integration of applications**
- Layered Architecture – software of a layer can be changed without affecting the software of other layers
- Components communicate over a standard message-oriented software bus, therefore, eliminating the need to know the details of the lower layers of inter-networking.
- Software components can be developed and reused from mission to mission.
- Developed by Flight SW Branch at GSFC
- More info at:  http://gmsec.gsfc.nasa.gov

## Onboard Integrated Message Bus Demonstration (December 2005)

- ASIST
- Secondary

- ASIST
- Primary

**GMSEC Bus**

**Ground System Testbed**

**cFE on CHIPS**

- UDP

- DC

**DC – Data Center**
**ASIST – Advanced Spacecraft Integration and System Test**

**cFE Bus**

- Command
- Ingest

- Livingstone
-  Adaptor

**model**

**script**

**result**

- Telemetry
- Output

## Moving Models Onboard CHIPS Satellite Under cFS to Demonstrate Mobile Agents

**Moving Models Onboard CHIPS Satellite Under cFS to Demonstrate Mobile Agents**

**ST-5 Constellation**

**DC – Data Center**
**ASIST – Advanced Spacecraft Integration and System Test**

- Command
- Ingest

- SSR Model
-  Agent

- Telemetry
- Output

**Adapter**

**CHIPS Satellite with cFE Bus Onboard**

**CHIPS – Cosmic Hot Interstellar Plasma Spectrometer**
**ST-5 – Space Technology 5**

**cFE Bus**

- Demo App

**Goddard Space Flight Center**

- DC

- GMSEC Apps

- AMPS

- ASIST

**GMSEC Bus**

**via Berkeley & Wallops**
**Ground Stations (UDP)**

**via DSN & McMurdo Ground Stations**

**via TCP/IP**

- Mobile agent –autonomous software module that can easily be moved around a network
- Models transformed into mobile agents
- Worked with Solid State Recorder agent (model) first
- Adapter built to make compatible with both GMSEC and Core Flight Executive (cFE)
- Demonstrated capability to move software running on GMSEC onboard to run under cFE
- Demonstrates beginning step to transform missions from central control to distributed control via self-managing software

**Notes:**
RF from WPI students, under guidance from mission ops personnel
Power from phase A/B development – reused from earlier design phases

## One of Three Experiments Conducted by UMBC Undergraduate Class 12-14-05

**sensor mote**

**sensor mote**

**sensor mote**

**Mini-rover**

**EO-1**

*wireless interface*

***Internet***

**One of Three Experiments Conducted by UMBC Undergraduate Class 12-14-05**

*wireless interfaces*

*wireless interfaces*

*wireless interfaces*

**UMBC Campus**

**We were here**

**EO-1**** ****Advanced Land Imager (ALI)**
** ****Image of UMBC Campus**

## Experiment with UMBC Undergraduate Class 12-14-05

**Picture of **
**Experiment Day**

**Sensor network class,**
** ****Dr. Younis, Vuong Ly**
** ****and Dan Mandl**

**Sensor mote layout &**
** ****atrium where experiment conducted (inset)**

**Mini-rover in action**

**Baltimore Sun reporter**

**Mini-rover autonomously**
** ****finding broken sensor node (part of Emergency Response UMBC project team)**

## Closer Look at our Mini-Rovers & Simulated Mars Landscape at GSFC

## Began to Implement Experiments with Standards -Vision for  Integrated Sensor Web Environment

- GSFC Mission Systems Evolution Center (GMSEC)
- Core Flight Executive (cFE)
- Core Flight System (CFS)
- SensorML

**Distributed Multi-Protocol Message Bus**

**GMSEC**
**For Ground**

**cFE**
**For Space**

**Interoperability and Meta-Language Services**

**SensorML**

**Others TBD**

**Application Services**

**SensorML Archives**

**Event Processing**

**Create**

**Integrate**

**Deploy**

**Manage**

**Integrated**
**Services**

**Others TBD**

**Instruments**

**Satellites**

**Rovers**

**Ground**
**Sensors**

## Sensor Modeling Language (SensorML)

- Standard models and Extensible Markup Language (XML) schema
- Describes sensor systems to provide information needed to discover and locate sensor and sensor observations
- Process low-level observations
- Defines interfaces
- Lists taskable properties
- Can apply to any sensor whether in-situ or remote
- Facilitates “plug and play” and interoperability between sensors
- Especially useful for heterogeneous sets of sensors and rapid integration of new sensors
- More info at--- http://vast.nsstc.uah.edu/SensorML/
- Good article at--  http://www.geoplace.com/gw/2004/0406ogc.asp

## OGC EO-1 Experiment

- A proposal was submitted and accepted by the Open Geospatial Consortium (OGC) to use EO-1 as part of a testbed effort beginning June 2006 and lasting until December 2006.
- Testbed effort called OGC Web Services (OWS) – phase 4 has may objectives, one of which is Sensor Web Enablement (SWE) for sensors via a standard which is similar to a Service Oriented Architecture (SOA)
- More info at:  http://www.opengeospatial.org/initiatives/?iid=199
- Sponsored by many organizations including NASA, NGA, GeoConnections – Canada, National Technology Alliance, GSA, ORNL, LMCO, BAE, Ordinance Survey – UK, NATO C3, and TeleAtlas

## OGC EO-1 Experiment

- Figure on next slide depicts the portion of the demonstration in which EO-1 will participate; generic capability to discover and task EO-1 on the Internet via the following services:
- Sensor Planning Service (SPS) – a standard Web service interface for requesting, filtering and retrieving sensor observations
- Sensor Alert Service (SAS) –  a standard interface for asynchronous notification of messages or alerts from sensors or sensor services
- Sensor Registration Service (SRS) – a standard Web service to store sensor characteristics for later user retrieval
- Geospatial Interoperability Office at GSFC (M Bambacus, Nadine Alameh) major sponsor of OGC activities (and in particular OWS-4)and are monitoring this activity

## EO-1 Participation in OGC Web Services – Phase 4 Testbed; June 2006 – December 2006

** ****Search for satellites   **
**  ****based on capabilities**
** ****Register sensor in catalog **
**   ****to make it searchable on**
**   ****internet**
** ****Command / send **
**   ****tasking requests via**
**   ****Sensor Planning Services**
**   ****(SPS) protocol**
** ****Request alert service from**
**   ****satellite via Sensor Alert**
**   ****Service (SAS)**

**Notes:**
RF from WPI students, under guidance from mission ops personnel
Power from phase A/B development – reused from earlier design phases

## Conclusion

- Building capabilities to enable progressive mission autonomy via the use of three satellites and a series of increasingly more capable experiments
- Focusing on validating distributed mission control and maximizing interoperability
- Enable changes to mission post launch
- Combine existing missions into temporary “virtual constellations” to enable new missions

**Notes:**
Autonomous Mission Planning System
Advanced System Integration and System Test 

## Conclusion

- Will add additional real experiments to continue to build the toolbox
- Two recent awards for AIST ESTO call for proposal will be used
*An Inter-operable Sensor Architecture to Facilitate Sensor Webs in Pursuit of GEOSS – Related to OGC effort*
*Key topic - Interoperability*
- PI:  Dan Mandl  - 3 year effort
*Using Intelligent Agents to Form a Sensor Web for Autonomous Mission Operations *
- Key topic distributed mission control
- PI:  Ken Witt/ISR   Co-I Dan Mandl/GSFC – 3 year effort

**Notes:**
Autonomous Mission Planning System
Advanced System Integration and System Test 

## Conclusion

- Other related awards from AIST ESTO call in March 2006 will allow possible further synergy
- E.g. - *Increasing the Technology Readiness of SensorML for Sensor Webs*
- Key topic SensorML for sensor interoperability
- PI- Michael Botts/Univ. of Alabama – 3 year effort

**Notes:**
Autonomous Mission Planning System
Advanced System Integration and System Test