INCOSE Model -Based Systems Engineering (MBSE) CubeSat ...

INCOSE Model-Based Systems Engineering (MBSE) CubeSat Modeling Efforts

GSFC Systems Engineering Seminar - June 2015 1

Dave Kaslow

International Council on Systems Engineering (INCOSE) Space Systems Working Group (SSWG)

Agenda

• Project Objectives and Team

• INCOSE MBSE Initiative and Roadmap

• What is MBSE

• SSWG Challenge Project

• CubeSat Reference Model Development and Distribution

• CubeSat Reference Model Architecture

• Next Steps

• References

GSFC Systems Engineering Seminar - June 2015

Project Objectives

Prove-out MBSE methodology on a CubeSat

Provide a CubeSat Reference Model that CubeSat teams can use as a

starting point for their mission specific CubeSat model

Team Composition

Telecons every Friday at 1pm east coast time Meeting materials and links to meeting recordings in Google docs

Conference papers posted in INCOSE Space Systems Working Group Web Site

Email me to be included on the email reflector list: david.kaslow@gmail.com

Aerospace Students and Professors

JPL and NASA Engineers

Engineers and Software Developers from NASA Centers, Aerospace Companies, and Modeling and Simulation Tool Providers

INCOSE MBSE Initiative - Genesis, Flow, Interaction

International Council on Systems Engineering (INCOSE)

Object Modeling Group (OMG)

Unified Modeling Language

Systems Modeling Language (SysML) [4]

SE Vision 2020 [1] 2007

MBSE & SysML

MBSE Initiative & Roadmap [2] [3]

MBSE Challenge Teams

Space System Modeling

SSWG Challenge

Project

Working Groups

Object Oriented

SE Method. (OOSEM) [5]

Space Systems

MBSE Roadmap

Emerging MBSE Standards

Matured MBSE methods and metrics Integrated system / HW / SW models

Architecture model integrated with simulation, analysis, and visualization

Defined MBSE theory, ontology, and formalisms

Distributed and secure model repositories crossing multiple domains

Adapted from [3]

2010 2020 2025 2015

Institutionalized MBSE Across

Academia / Industry

Well Defined MBSE

Ad Hoc MBSE Document Centric

Extending Maturity and Capability

• INCOSE Systems Engineering Vision [1]

– MBSE: Formalized application of modeling to support system requirements, design, analysis, verification, and validation activities

• Object Management Group [4]

– OMG SysML: A graphical modeling language for modeling complex systems including hardware, software, information, personnel, procedures, and facilities

– SysML is just a language – SysML is not a methodology or a tool

• Survey of Model Based Systems Engineering Methodologies [6], [7]

– e.g. INCOSE OOSEM, IBM Telelogic Harmony SE, Vitech MBSE – MBSE: A collection of related processes, methods, and tools

• INCOSE OOSEM [5] [8]

– Objectives • Capture and analyze requirements and design information • Integrate MBSE methods with oo software and other engineering

methods • Support system level reuse and design evolution

‒ Activities • Analyze needs • Define system requirements • Define logical architecture • Synthesize allocated architectures • Optimize, evaluate alternatives • Validate and verify system

Model Elements

Blocks Actors Flow

Constraint Blocks Signals Ports

… Diagrams are views of the underlying

system model

Block Properties

Parts References

Values Constraints Operations

A Block is the basic unit of

structure

Structure Diagrams

Block Definition Internal Block

Behavior Diagrams Use Case

Activity Sequence

State Machine

Package Diagram

Parametric Diagram

Requirements Diagram

INCOSE Object-Oriented Systems Engineering Methodology

Interfaces with Other Models

System Modeling Tools

Model Based Systems Engineering

Performing SE with models

System and subsystem level models

Integration of models and simulations

Authoritative, integrated repository of information from procurement

through operations

SSWG Challenge Project

INCOSE MBSE Challenge Project Initiated in 2007

INCOSE SSWG 2007-2010

Phase 0 Modeled a SpaceSystem

in SysML Hypothetical FireSat

Space Mission Analysis and Design (SMAD)

Enterprise Modeling for CubeSats [11]

RAX CubeSat Model Trade Studies [12]

MBSE CubeSat Project

Phase 1 [9]

CubeSat Framework Preliminary RAX Model

Phase 2 [10]

RAX Behavior Modeling Power, Comm, State

Recent Efforts (Phase 3)

Develop a CubeSat MBSE Reference

Model [13] [14]

Current Efforts (Phase 4)

MBSE CubeSat Project

Initiated 2011

Radio Aurora Explorer (RAX) Mission

• Michigan Exploration Lab and SRI International mission

• Studies formation of magnetic field aligned plasma irregularities in the lower polar ionosphere

• Radar signal is transmitted by Incoherent Scatter Radar site in Poker Flat, Alaska and received by RAX’s radar receiver

• Science data processed on-board, compressed, transmitted to the primary ground station and control center in Ann Arbor, Michigan

STK-generated schematic of RAX spacecraft with vectors pointing towards the experimental zone, Poker Flat, AK, the sun, and along the Earth’s magnetic field.

Radio Aurora Explorer (RAX) Mission

• No Magic – Magic Draw: Graphical SysML modeling tool – Cameo Simulation Toolkit: Time-step execution of behavior models

• InterCAX – Pararamagic: Plug-in modudle for MagicDraw - wraps external models – Systems LIfecycle Management (SLIM): Version control and config mgt

• Analytical Graphics

– Systems Tool Kit: Simulation and visualization of spacecraft behavior

• Phoenix Integration – Model Center: Graphical environment for creating simulation workflows by

integrating of simulation models including STK scenarios. – MBSE Analyzer: Execution of parametric diagrams

Phase 2

Model Based Systems Engineering (MBSE) Applied to

Radio Aurora Explorer (RAX) CubeSat Mission Operational Scenarios

2013 IEEE Aerospace Conference

Phase 2 - RAX Behavior Modeling - Power, Comm, State

System Model No Magic - MagicDraw

SysML Models Block Definition Diagram Internal Block Diagram Activity Diagram State Machine Diagram Parametric Diagram

Orbit Dynamics ‒ Orbit and attitude

‒ Data collection and ground station access opportunities ‒ Solar power collection

Analytical Graphics Systems Tool Kit

‒ Mission modeling, analysis and visualization

Power ‒ Power gathering

‒ Subsystem power usage

Phoenix Integration ModelCenter

‒ Animation of SysML parametric diagrams .

‒ Interface with STK and MATLAB

• Trades of data downlink rate, available power, and signal to noise ratio – Data downlink rate and available power => Max feasible SNR – Data downlink rate and desired SNR => Min feasible power required – Available power and desired SNR => Max feasible data downlink rate

GSFC Systems Engineering

Communication Download ‒ Signal to noise ratio ‒ Downlink data rate ‒ Available power

InterCAX ParaMagic

‒ Execution of constraint behaviors in SysML parametric diagrams

• Model commanding of subsystems for state changes and activities as directed by a command sequence – In-view of ground station uplink of command sequence – In-view of mission object – collect mission data – In-view of ground station – downlink mission data

Mission System Activity ‒ Behavior and interactions

No Magic Cameo Simulation Toolkit

‒ Animation of SysML state machines and activity models

Phase 3

Integrated Model-Based Systems Engineering (MBSE)

Applied to the Simulation of a CubeSat Mission

2014 IEEE Aerospace Conference

RAX CubeSat Model Trade Studies

Vehicle block definition diagram Model: Power collection and management - Data collection and management

GSFC Systems Engineering

Mapping of requirements to value properties of the Vehicle block

State Diagrams • Orbit • Solar • Experiment • Download

Models behavior in response to internal and

external events

Parametric Diagrams • Get States • Power Collection • Update Energy • Update Data • Update Download

Mapped to analytical and simulation models

that estimate RAX performance

Activity Diagrams • Run Operation

‒ Steps through time • Update States • Send Signals

‒ Controls update of state values

• Update State Values

Defines actions in the activity along with the

flow of input, output, and control

Use of SysML diagrams in RAX CubeSat mission simulation.

Trade Studies Values Studied Performance Metric

Solar Panel Area • Nominal: 18.2 cm2/side • ½ of nominal • ¼ of nominal

On-board energy

Max Battery Capacity

• Nominal: 115,000 J • Reduced: 100,000 J

On-board energy

Orbital Altitude • Nominal: 811 km x 457 km • Low: 593 km x 250 km • High: 1311 km x 932 km

Quantity of data downloaded

Ground Station Network

• Ann Arbor & Menlo Park • Ann Arbor & Fairbanks • Fairbanks & Menlo Park

Quantity of data downloaded

100000

110000

120000

0 20 40 60 80 100

Time (min.)

EnergySun state

Time history of energy state of nominal RAX CubeSat design

0 20 40 60 80 100

Time (min.)

Downloaded dataDownload state

Time history of download state of nominal RAX CubeSat design.

100000

110000

120000

0 20 40 60 80 100

Time (min.)

Nominal1/2 solar panel1/4 solar panelMax energy levelMin energy level

Impact of solar panel sizing on energy state

Selection of ground stations for data download

Phase 4

Develop and Distribute a CubeSat Reference Model

2015 IEEE Aerospace Conference 2015 Space Symposium

Development of the CubeSat Reference Model

Foundations

Cal Poly CubeSat Design Spec [15]

INCOSE Sys. Eng. Handbook [16]

NASA Sys. Eng. Handbook [17]

Space Mission Engineering – The New SMAD [18]

Tool Set

Standards & Conventions

Guidance

Management and Sharing

Validation

Model Development

Phases of Operations

Launch, Early ops Normal ops

Life Cycles Conception to

retirement

Mission Stakeholders

Needs, Objectives Measures of Effectiveness Constraints

Model Scope

CubeSat Reference Model

SSWG Team

Out Reach Working Groups

Symposiums Workshops

Distribution and Use of the CubeSat Reference Model

Distribution Mechanisms MagicDraw

ZIP File XMI File

OpenMBEE Teamwork Server

Video of Model Walk-Through

Copyright and License

User Feedback

Mechanisms Users

CubeSat Team Mission Specific CubeSat Model

Classroom Example

CubeSat Model

Development of a Mission Specific CubeSat Model

Mission Specific Model

Model Elements

Diagrams

Mission Specific Stakeholders Use Cases, Viewpoint

CubeSat Reference

Trade Studies Requirements

Verification

Space and Ground System Components

Library of components to swap in and out of model

Interface with Modeling and

Simulation Tools

Validation and Verification Strategies

Mission Assurance

Objectives and Strategies

Stages Concept

Development Production Operational Retirement

Validation and Verification

Requirements and Logical Architecture

Test Requirements and Objectives

Rqts and Design Validation

Test System

CubeSat Reference Test Model

SW & HW Models & Simulators

Mission CubeSat Model Rqts and Design Validation

Validation and Verification

CubeSat Mission Model

Requirements and Logical Architecture

Test Requirements and Objectives

Rqts and Design Validation

Test System

Mission CubeSat Model

SW & HW Models & Simulators

Physical Architecture

Build – Validate - Verify

Mission CubeSat

As-Built Mission CubeSat

Measures of Effectiveness and Requirements

Stakeholder Needs, Objectives,

Constraints

Mission Enterprise MOEs - Requirements

Ground System MOPs - Rqts

Subsystems

Components

Space System MOPs - Rqts

Subsystems

Components

Requirements Analysis and

Definition

Concept and Development Phase

Requirements Verification

Production Phase

MOE / MOP Definition and Validation

Model subsystems and components

needed for Trade Studies

Needs Analysis

Concept Phase

System Validation Stakeholder Needs,

MOEs, MOPs

Production Phase

CubeSat System Reference Model Architecture

CubeSat Stakeholders

CubeSat Mission Enterprise

CubeSat Logical Space System

CubeSat Logical Ground System

Next Steps and References

Next Steps

• Develop model glossary / ontology

• Populate model with example: – Stakeholder needs, objectives, constraints – Mission and system requirements – MOEs and MOPs

• Demonstrate validation of MOEs and MOPs

• Provide the model to university aerospace program

References

[1] Systems Engineering Vision 2020, INCOSE –TP_2004-004-02, ver. 2/03,September 2007. [Online]. Available: http://oldsite.incose.org/ProductsPubs/pdf/SEVision2020_20071003_v2_03.pdf

[2] International Council on Systems Engineering (INCOSE), “MBSE Initiative,” January 2007. [Online] Available: https://connect.incose.org/

[3] MBSE Roadmap. MBSE Wiki, INCOSE MBSE IW 2012. MBSE Wiki. [Online} Available: http://www.omgwiki.org/MBSE/lib/exe/fetch.php?media=mbse:mbse_iw_2012-introduction-2012-01-21-friedenthal-c.pptx

[4] Object Management Group (OMG), OMG Website. [Online]. Available: http://www.omgsysml.org/

[5] Object Management Group (OMG), OMG Wiki. [Online]. Available: http://www.omgwiki.org/MBSE/doku.php?id=mbse:incoseoosem

[6] Survey of Model-Based Systems Engineering (MBSE) Methodologies. INCOSE-TD-2007-003-01, Ver. B. 10 June 2008. [Online]. Available: https://oldsite.incose.org/ProductsPubs/pdf/techdata/MTTC/MBSE_Methodology_Survey_2008-0610_RevB-JAE2.pdf

References

[7] Additional Methodologies Identified as Gaps since 2008 INCOSE Survey. MBSE Wiki, Metrics and Methodologies [Online]. Available: http://www.omgwiki.org/MBSE/doku.php?id=mbse:methodology

[8] S. Friedenthal, A. Moore, R. Steiner, A Practical Guide to SysML. 3rd ed. Elsevier, Waltham, MA, 2014

[9] S. Spangelo, D. Kaslow, C. Delp, B. Cole, L. Anderson, E. Fosse, B. Gilbert, L. Hartman, T. Kahn, and J. Cutler, “Applying Model Based Systems Engineering (MBSE) to a Standard CubeSat,” in Proceedings of IEEE Aerospace Conference, Big Sky, MT, March 2012.

[10] S. Spangelo, L. Anderson, E. Fosse, L Cheng, R. Yntema, M. Bajaj, C. Delp, B. Cole, G. Soremekun, D. Kaslow, and J. Cutler, “Model Based Systems Engineering (MBSE) Applied to Radio Explorer (RAX) CubeSat Mission Operational Scenarios,” Proceedings of IEEE Aerospace Conference, Big Sky, MT, March 2013.

[11] L. Anderson, B. Cole, R. Yntema, M. Bajaj, S. Spangelo, D. Kaslow, C. Lowe, E. Sudano, M. Boghosian, R. Reil, S. Asundi, and S. Friedenthal, “Enterprise Modeling for CubeSats,” Proceedings of IEEE Aerospace Conference, Big Sky, MT, March 2014.

[12] D. Kaslow, G. Soremekun, H. Kim, S. Spangelo, “Integrated Model-Based Systems Engineering (MBSE) Applied to the Simulation of a CubeSat Mission”, Proceedings of IEEE Aerospace Conference, Big Sky, MT, March 2014.

References

[13] D. Kaslow, L. Anderson, S. Asundi. B. Ayres, C. Iwata, B. Shiotani, R. Thompson, “Developing a CubeSat Model-Based System Engineering (MBSE) Reference Model – Interim Status”, Proceedings of IEEE Aerospace Conference, Big Sky, MT, March 2015.

[14] D. Kaslow, L. Anderson, S. Asundi. B. Ayres, C. Iwata, B. Shiotani, R. Thompson, “Developing and Distributing a CubeSat Model-Based System Engineering (MBSE) Reference Model ”, Proceedings of the 31st Space Symposium, Colorado Springs, CO, April 2015.

[15] CubeSat Design Specification, rev. 13, The CubeSat Program, Cal Poly SLO, February 2014.

[16] INCOSE Systems Engineering Handbook, v. 3.2.2, October 2011, INCOSE-TP-2003-002-03.2.2.

[17] NASA Systems Engineering Handbook, rev. 1, December 2007, NASA/SP-2007-6105 Rev1.

[18] J.R. Wertz, D. Everett, and J. Puschell, Eds., Space Mission Engineering: The New SMAD, (Space Technology. Library, Volume 28), Hawthorne, CA, Microcosm Press, 2011

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