Figure 2.1: Current COSMoS System. HWIL simulation quality is the guiding design principle behind COSMoS. There- Figure 2.2: Control scheme with strict noumenonological and phenomenonological separation. 2.3. Real-Time Operation We are assuming that flight software and hardware operate at 1 Hz for general oper- run in proximity to the phenomenon, but it still maintains the distinction between factor: The two processes on the agent represent a quasi-noumenonological process data provided to an agent executable, such as flight software, and data available to Figure 2.6: Asynchronous host to agent to software state data diagram before simu- lation start. Figure 2.7: Asynchronous host to agent to software state data diagram after first transmission. Figure 2.8: Agent plans a maneuver. Figure 2.9: Host receives maneuver plan and re-propagates states. ‘igure 2.10: Agent receives new states and host resumes asynchronous propagation. ‘*The system was unable to parallelize due to issues discussed in Chapter & relative to these equations: Looking at the asynchronous communication inequality the network in a COSMOS simulation: Assuming a worst case scenario where over 1 second, all 10 agents require state updates, send system status updates, and require Looking at bandwidth inequality requires examining all expected data packets on Figure 3.4: 8-hour test mean packet round-trip time Figure 3.5: 8-hour test packet-round trip time standard deviation Figure 4.1: Conceptual design of the COSMoS system. while the planned functions will be discussed in Chapter & Figure 4.2: COSMoS Simulation Data Flow benchmark test. Here, the simulation data flow is largely asynchronous with the hos Figure 5.1: Sense HAT[34] provide proof of concept for integrating hardware devices into the MADNS framework The Sense HAT comes equipped with the following sensors[35]: For the purpose: of testing MADNS and COSMoS, the accelerometer, magnetometer, gyroscope, pres- In a case where the hardware driver had to be built for the simulation, this would nec- and generated the data presented below. The round-trip packet time nearly perfectly matches the desired 20 Hz operation Figure 6.2: Packet-round trip time standard deviation Figure 6.1: Mean packet round-trip time Figure 6.3: 6-minute test mean packet round-trip time set at 20 Hz. The results are seen below: Another test was performed for 6-minutes with the simulation processing rate still Figure 6.4: 6-minute test packet-round trip time standard deviation Figure 6.5: 1-hour test mean packet round-trip time Figure 6.6: 1-hour test packet-round trip time standard deviation Figure 6.7: 8-hour test mean packet round-trip time Figure 6.8: 8-hour test packet-round trip time standard deviation Figure 6.9: 8-hour test maximum temperature by agent Figure 6.10: 8-hour test mean temperature by agent to process HWIL interface data while simultaneously propagating orbits. The HWIL results are discussed further in Chapter 7. Figure 6.11: IRIDUM-8 4-hour orbit plot “igure 6.12: IRIDIUM-8 4-hour angular momentum Figure 6.13: COSMoS 4-hour simulation all orbits Orbit plot from IRIDIUM-8 Figure 6.14: IRIDUM-8 1-hour orbit plot with guidance command Figure 6.15: IRIDIUM-8 1-hour angular momentum with guidance command Figure 6.16: IRIDUM-16 1-hour orbit plot without guidance command Orbit plot from IRIDIUM-16 Figure 6.17: IRIDIUM-16 1-hour angular momentum without guidance command Figure 6.18: 1-hour COSMoS test maximum temperature by agent Figure 6.19: 1-hour COSMoS test mean temperature by agent Figure 7.1: 3-minute gyro, accel, and magnetometer measurements Figure 7.2: 3-minute temp, pressure, and dt measurements Figure 7.3: 6-minute gyro, accel, and magnetometer measurements Figure 7.4: 6-minute temp, pressure, and dt measurements Figure 7.5: 1-hour gyro, accel, and magnetometer measurements Figure 7.6: 1-hour temp, pressure, and dt measurements Figure 7.7: 8-hour gyro, accel, and magnetometer measurements Figure 7.8: 8-hour temp, pressure, and dt measurements Figure 7.9: 1-hour gyro, accel, and magnetometer measurements Figure 7.10: 1-hour temp, pressure, and dt measurements Figure 7.11: 1-hour gyro, accel, and magnetometer measurements Figure 7.12: 1-hour temp, pressure, and dt measurements Figure 7.13: 1-hour COSMoS test maximum temperature by agent Figure 7.14: 1-hour COSMoS test mean temperature by agent The most important thing here is that host_simulation_function return any mes- sages needed by the system for logging, exiting, or any other purpose not directly related to the simulation. def start_agent_simulation(simConfigData, initialStateData, HWILinterface, Figure B.1: Long delays found while using Multiprocessing. Process The Multiprocessing.Queue structures do not fail gracefully. During the November-January rewrite of the MADNS system, multiple tasks were launched as separate processes. Experiments with the Multiprocessing.Pool and Multipro- cessing.Process libraries showed that processing functions created using Pool were significantly slower than those made with Process, so the MADNS code base used Process. The reason for the slow performance of Pool became apparent during heavy testing of the MADNS system. Early benchmark tests came back with the terrible results seen in Fig. B.1. Figure B.2: Speedup caused by serial processing The system was set to run at 20 Hz on both the host and agents, but each message had a round-trip time of 1.1 seconds. The problem was tracked to the host computer, where approximately 1.0 of the 1.1 second delay occurred. This was due to the system simply freezing when the Multiprocessing. Queue library failed. In low-usage cases, this problem could be rectified by setting a lower timeout on the Queue. get() commands, but that caused serious problems with heavy usage. In two cases, during particularly heavy usage, the host computer hung completely and required manual rebooting by disconnecting the power. Once the host was set to process all counter packets in serial, Fig. B.1 shows that the time delay was reduced to 50ms on each round trip as would be expected with the 20 Hz processing rate. The delay seen minutes with an OS.Pipe error as seen in Fig. B.2. When propagating 10 satellites, the system would fail within 45 seconds. Figure C.1: 8-hour packet round-trip time for agents 1-5 Fig. C.1 demonstrates that no counter packets were lost during the benchmark af Figure C.3: 8-hour test packet round-trip time agents 11-15 Figure C.4: 8-hour test packet round-trip time agents 16-2( Figure C.6: 8-hour test packet maximum round trip time Figure C.7: 8-hour test packet minimum round trip time ‘igure C.8: 8-hour test packet round trip time range Figure C.9: 8-hour test packet average round trip time Figure C.10: 8-hour test packet round trip time standard deviation Figure C.13: 8-hour measured temperature agents 6-10 Figure C.14: 8-hour measured temperature agents 11-15 Figure C.15: 8-hour measured temperature agents 16-20 Figure C.16: 8-hour measured temperature agents 21-22 Figure C.17: 8-hour maximum temperature by agent Figure C.18: 8-hour minimum temperature by agent Figure C.19: 8-hour average temperature by agent Figure C.20: 8-hour temperature standard deviation by agent Figure C.21: 8-hour measured CPU usage agents 1-5 Figure C.22: 8-hour measured CPU usage agents 6-10 Figure C.23: 8-hour measured CPU usage agents 11-15 Figure C.24: 8-hour measured CPU usage agents 16-20 Figure C.26: 8-hour recorded HWIL gyro, accelerometer, and magnetometer Figure C.27: 8-hour recorded temperature, pressure, and calculated packet At Figure D.6: Classical orbital elements from agent 11 Figure D.7: Angular momentum agent 11 Figure D.10: Classical orbital elements from agent 12 Figure D.11: Angular momentum agent 12 Figure D.14: Classical orbital elements from agent 13 Figure D.17: Orbit plot from agent 14 Figure D.18: Classical orbital elements from agent 14 Figure D.19: Angular momentum agent 14 Figure D.21: Orbit plot from agent 15 Figure D.25: Orbit plot from agent 17 Figure D.27: Angular momentum agent 17 Figure D.26: Classical orbital elements from agent 17 Figure D.29: Orbit plot from agent 18 Figure D.30: Classical orbital elements from agent 1& Figure D.31: Angular momentum agent 18 Figure D.33: Orbit plot from agent 20 Figure D.37: Orbit plot from agent 33 Figure D.38: Classical orbital elements from agent 33 Figure D.39: Angular momentum agent 33 Figure D.43: 1-hour maximum temperature by agent Figure D.44: 1-hour minimum temperature by agent Figure D.45: 1-hour average temperature by agent Figure D.46: 1-hour temperature standard deviation by agent Figure D.47: 1-hour measured CPU usage agents 1-5 Figure D.48: 1-hour measured CPU usage agents 6-10 Figure D.49: 1-hour recorded HWIL gyro, accelerometer, and magnetometer Figure D.50: 1-hour recorded temperature, pressure, and calculated packet At Figure D.55: Orbit plot from agent 33 Figure D.56: Classical orbital elements from agent 33 Figure D.57: Angular momentum agent 33 Figure D.61: 1-hour maximum temperature by agent Figure D.62: 1-hour minimum temperature by agent Figure D.63: 1-hour average temperature by agent Figure D.64: 1-hour temperature standard deviation by agent Figure D.65: 1-hour recorded HWIL gyro, accelerometer, and magnetometer
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