Bjorn Cole

Applying Model Based Systems Engineering (MBSE) to a standard CubeSat

Model Based Systems Engineering (MBSE) is an emerging technology that is providing the next advance in modeling and systems engineering. MBSE uses Systems Modeling Language (SysML) as its modeling language. SysML is a domain-specific modeling language for systems engineering used to specify, analyze, design, optimize, and verify systems. An MBSE Challenge project was established to model a hypothetical FireSat satellite system to evaluate the suitability of SysML for describing space systems. Although much was learned regarding modeling of this system, the fictional nature of the FireSat system precluded anyone from actually building the satellite. Thus, the practical use of the model could not be demonstrated or verified. This paper reports on using MBSE and SysML to model a standard CubeSat and applying that model to an actual CubeSat mission, the Radio Aurora Explorer (RAX) mission, developed by the Michigan Exploration Lab (MXL) and SRI International.

Model based systems engineering (MBSE) applied to Radio Aurora Explorer (RAX) CubeSat mission operational scenarios

Small satellites are more highly resource-constrained by mass, power, volume, delivery timelines, and financial cost relative to their larger counterparts. Small satellites are operationally challenging because subsystem functions are coupled and constrained by the limited available commodities (e.g. data, energy, and access times to ground resources). Furthermore, additional operational complexities arise because small satellite components are physically integrated, which may yield thermal or radio frequency interference. In this paper, we extend our initial Model Based Systems Engineering (MBSE) framework developed for a small satellite mission by demonstrating the ability to model different behaviors and scenarios. We integrate several simulation tools to execute SysML-based behavior models, including subsystem functions and internal states of the spacecraft. We demonstrate utility of this approach to drive the system analysis and design process. We demonstrate applicability of the simulation environment to capture realistic satellite operational scenarios, which include energy collection, the data acquisition, and downloading to ground stations. The integrated modeling environment enables users to extract feasibility, performance, and robustness metrics. This enables visualization of both the physical states (e.g. position, attitude) and functional states (e.g. operating points of various subsystems) of the satellite for representative mission scenarios. The modeling approach presented in this paper offers satellite designers and operators the opportunity to assess the feasibility of vehicle and network parameters, as well as the feasibility of operational schedules. This will enable future missions to benefit from using these models throughout the full design, test, and fly cycle. In particular, vehicle and network parameters and schedules can be verified prior to being implemented, during mission operations, and can also be updated in near real-time with operational performance feedback.

Model Based Systems Engineering on the Europa mission concept study

At the start of 2011, the proposed Jupiter Europa Orbiter (JEO) mission was staffing up in expectation of becoming an official project later in the year for a launch in 2020. A unique aspect of the pre-project work was a strong emphasis and investment on the foundations of Model-Based Systems Engineering (MBSE). As so often happens in this business, plans changed: NASAs budget and science priorities were released and together fundamentally changed the course of JEO. As a result, it returned to being a study task whose objective is to propose more affordable ways to accomplish the science. As part of this transition, the question arose as to whether it could continue to afford the investment in MBSE. In short, the MBSE infusion has survived and is providing clear value to the study effort. In the process, the need to remain relevant in the new environment has brought about a wave of innovation and progress. By leveraging the existing infrastructure and a modest additional investment, striking advances in the capture and analysis of designs using MBSE were achieved. The effort has reaffirmed the importance of architecting. It has successfully harnessed the synergistic relationship of architecting to system modeling. We have found that MBSE can provide greater agility than traditional methods. We have also found that a diverse ‘ecosystem’ of modeling tools and languages (SysML, Mathematica, even Excel) is not only viable, but an important enabler of agility and adaptability. This paper will describe the successful application of MBSE in the dynamic environment of early mission formulation, the significant results produced and lessons learned in the process.

Getting a cohesive answer from a common start: Scalable multidisciplinary analysis through transformation of a systems model

One of the challenges of systems engineering is in working multidisciplinary problems in a cohesive manner. When planning analysis of these problems, system engineers must trade between time and cost for analysis quality and quantity. The quality often correlates with greater run time in multidisciplinary models and the quantity is associated with the number of alternatives that can be analyzed. The trade-off is due to the resource intensive process of creating a cohesive multidisciplinary systems model and analysis. Furthermore, reuse or extension of the models used in one stage of a product life cycle for another is a major challenge. Recent developments have enabled a much less resource-intensive and more rigorous approach than hand-written translation scripts between multi-disciplinary models and their analyses. The key is to work from a core systems model defined in a MOF-based language such as SysML and in leveraging the emerging tool ecosystem, such as Query/View/Transformation (QVT), from the OMG community. SysML was designed to model multidisciplinary systems. The QVT standard was designed to transform SysML models into other models, including those leveraged by engineering analyses. The Europa Hability Mission (EHM) team has begun to exploit these capabilities. In one case, a Matlab/Simulink model is generated on the fly from a system description for power analysis written in SysML. In a more general case, symbolic analysis (supported by Wolfram Mathematica) is coordinated by data objects transformed from the systems model, enabling extremely flexible and powerful design exploration and analytical investigations of expected system performance.

Rapid Mission Architecture trade study of Enceladus mission concepts

At the request of the Satellites Panel of the National Research Council (NRC) Planetary Science Decadal Survey, a Rapid Mission Architecture (RMA) study of possible missions to Saturns moon Enceladus was conducted at the Jet Propulsion Laboratory in January and February of 2010. This was one of many studies commissioned by this NRC Decadal Survey. In this study, 15 Enceladus mission architectures were examined that spanned a broad range of potential science return and total estimated mission cost.

Analyses made to order: Using transformation to rapidly configure a multidisciplinary environment

Aerospace problems are highly multidisciplinary. Four or more major disciplines are involved in analyzing any particular vehicle. Moreover, the choice of implementation technology of various subsystems can lead to a change of leading domain or reformation of the driving equations. An excellent example is the change of expertise required to consider aircraft built from composite or metallic structures, or those propelled by chemical or electrical thrusters. Another example is in the major reconfiguration of handling and stability equations with different control surface configuration (e.g., canards, t-tail v four-post tail).

Domain-specific languages and diagram customization for a concurrent engineering environment

A major open question for advocates of Model-Based Systems Engineering (MBSE) is the question of how system and subsystem engineers will work together. The Systems Modeling Language (SysML), like any language intended for a large audience, is in tension between the desires for simplicity and for expressiveness. In order to be more expressive, many specialized language elements may be introduced, which will unfortunately make a complete understanding of the language a more daunting task. While this may be acceptable for systems modelers, it will increase the challenge of including subsystem engineers in the modeling effort. One possible answer to this situation is the use of Domain-Specific Languages (DSL), which are fully supported by the Unified Modeling Language (UML). SysML is in fact a DSL for systems engineering. The expressive power of a DSL can be enhanced through the use of diagram customization. Various domains have already developed their own schematic vocabularies. Within the space engineering community, two excellent examples are the propulsion and telecommunication subsystems. A return to simple box-and-line diagrams (e.g., the SysML Internal Block Diagram) are in many ways a step backward. In order allow subsystem engineers to contribute directly to the model, it is necessary to make a system modeling tool at least approximate in accessibility to drawing tools like Microsoft PowerPoint and Visio. The challenge is made more extreme in a concurrent engineering environment, where designs must often be drafted in an hour or two. In the case of the Jet Propulsion Laboratorys Team X concurrent design team, a subsystem is specified using a combination of PowerPoint for drawing and Excel for calculation. A pilot has been undertaken in order to meld the drawing portion and the production of master equipment lists (MELs) via a SysML authoring tool, MagicDraw. Team X currently interacts with its customers in a process of sharing presentations. There are several inefficiencies that arise from this situation. The first is that a customer team must wait two weeks to a month (which is 2-4 times the duration of most Team X studies themselves) for a finalized, detailed design description. Another is that this information must be re-entered by hand into the set of engineering artifacts and design tools that the mission concept team uses after a study is complete. Further, there is no persistent connection to Team X or institutionally shared formulation design tools and data after a given study, again reducing the direct reuse of designs created in a Team X study. This paper presents the underpinnings of subsystem DSLs as they were developed for this pilot. This includes specialized semantics for different domains as well as the process by which major categories of objects were derived in support of defining the DSLs. The feedback given to us by the domain experts on usability, along with a pilot study with the partial inclusion of these tools is also discussed.

Architecture To Geometry - Integrating System Models With Mechanical Design

Model-Based Systems Engineering is founded on the principle of a unified system model that can coordinate architecture, mechanical, electrical, software, verification, and other discipline-specific models across the system lifecycle. This vision of a Total System Model as the digital blueprint (or digital twin) of a system, federating models in multiple vendor tools and configuration-controlled repositories, has gained tremendous support from the practitioners. A software platform, Syndeia, developed by Intercax, provides capabilities for seamless model-based communication between systems engineering and X (where X = mechanical/electrical, simulation, PLM, ALM, project management, and other disciplines), replacing the existing document-centric approaches. This paper elaborates research and development performed by NASA JPL and Intercax for integrating system architecture models (SysML) and mechanical design models (CAD) with applications to the Europa Clipper Mission. Specifically, this paper demonstrates (1) seeding of mechanical design models from system specifications (SysML) as a starting point for mechanical design, (2) model-based connections between system and mechanical design parameters, including compare and bi-directional synchronization, (3) abstracting system architecture from mechanical assemblies for transitioning existing/old projects to a model-based systems approach, and (4) use of persistent, fine-grained connections between system architecture and mechanical design models for continuous verification and communication between the two disciplines. The paper also covers organizational, cultural, and technical challenges that need to be addressed for seamless integration between system architecture models and mechanical/electrical design models, as well as other disciplines.

Model-Based Systems Engineering in Concurrent Engineering Centers

Concurrent Engineering Centers (CECs) are specialized facilities with a goal of generating and maturing engineering designs by enabling rapid design iterations. This is accomplished by co-locating a team of experts (either physically or virtually) in a room with a narrow design goal and a limited timeline of a week or less. The systems engineer uses a model of the system to capture the relevant interfaces and manage the overall architecture. A single model that integrates other design information and modeling allows the entire team to visualize the concurrent activity and identify conflicts more efficiently, potentially resulting in a systems model that will continue to be used throughout the project lifecycle. Performing systems engineering using such a system model is the definition of model-based systems engineering (MBSE); therefore, CECs evolving their approach to incorporate advances in MBSE are more successful in reducing time and cost needed to meet study goals. This paper surveys space mission CECs that are in the middle of this evolution, and the authors share their experiences in order to promote discussion within the community.

Multidisciplinary model transformation through simplified intermediate representations

There has long been a challenge of making engineering tools from multiple disciplines interoperate. This problem extends to system modeling practices. This challenge has been confronted with a wide variety of techniques. These techniques include attempting to interface tools together into combined suites, attempting to find underlying commonalities in mathematics, supporting connections through semantic encoding, various graph mappings and transformations, and code wrappers. All of these approaches have strengths and weaknesses. These are measured in multiple areas: relative freedom of action of individual domain engineers in developing their own tools, speed of execution, ease of creation, traceability, fidelity of information transfer, and degree of alignment between the concepts of different domains. This paper presents an approach to this interoperation problem currently being used in the World-Wide Web. The approach is to develop easy-to-parse formats that allow flexibility to both the file author and file interpreter. Many of the formats that are currently deployed sacrifice runtime performance for the ability of third parties to easily understand what to do with the data. XML became popular earlier as a de-facto standard format for many web applications, but is now being replaced by JSON to enhance human readability and provide a simpler data model. This is the basis for work in this paper. Our approach, which provides the key to interoperation, is a simplified “shrapnel” intermediate collection of objects an d relationships that is the result of a breakdown of the system model into minimal pieces. It is then reassembled on the destination side, forming a two-step transformation. Previous efforts with single-step transformations have proven too difficult to create efficiently. In contrast, the use of this approach leads to an almost automatic procedure for transformation development. The Europa project is a large engineering project that must coordinate the efforts of many different teams with different specialties. The traditional form of exchanging engineering information has been documentation. The vision of model-based systems engineering is to make this information exchange much more digital. This paper presents the application of our simplified format to connecting two different engineering tools to the system model, with a focus on a dynamic mission simulation encoded in Modelica.