steven woodward cfps, csqa steve@cloud …steven woodward cfps, csqa [email protected]...
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Steven Woodward CFPS, [email protected]
613-823-7573www.cloud-perspectives.com
Image credit: NASA/JPL
Context
Boundary…Leaving Earths Atmosphere
Functionality Discovered on Mars!
Mars FPA Extensions/ Considerations
Mission Summary
2©Copyright Cloud Perspectives 2013 All rights reserved
This presentation provides examples of actual Curiosity functionality without disclosing actual command details
Examples provided are subsets of Curiosity functionality (over 3200 detailed commands are actually available!)
Provide insights applying IFPUG approaches to complex functionality
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Use the IFPUG approach to clarify and model Mars Rover functionality
Determine some local interpretations/ extensions reasonable for this class of software
Extremely small “slice” of functionality to generate discussions
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Terminology
The Asset
Constraints & Challenges
Business and Technical lines are blurry
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Image credit: NASA/JPL
A method to model and quantify software functionality (ISO/ IEC 20926)
Used to clarify requirements
Foster early meaningful discussions
Monitor progress
Estimate budgets, quality and schedule
Pricing and Contracting
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Many valuable uses!
Context
Boundary…Leaving Earths Atmosphere
Functionality Discovered on Mars!
Mars FPA Extensions/ Considerations
Mission Summary
7©Copyright Cloud Perspectives 2013 All rights reserved
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Image credit: NASA/JPL
Solution is the entire end-to-end function
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Solution is the functionality to send commands to the Mars Rover
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Count the Rover capable services
Count the satellite communication services
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Lots of Analysis and Cooperation!◦ Gas Chromatograph
◦ Mass Spectrometer
◦ Tuneable Laser Spectrometer
◦ X-Ray diffraction and Fluorescence (CheMin)
◦ Mars Hand Lens Imager
◦ Alpha Particle X-ray Spectrometer
◦ Mars Science Laboratory Mast Camera
◦ ChemCam (Laser Pulses, Spectrometer)
◦ Radiation Assessment Detector
◦ Rover Environmental Monitoring Station
◦ Dynamic Albedo of Neutrons
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Context
Boundary…Leaving Earths Atmosphere
Functionality Discovered on Mars!
Mars FPA Extensions/ Considerations
Mission Summary
14©Copyright Cloud Perspectives 2013 All rights reserved
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Image credit: NASA/JPL
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Actuators conceptually
outside of the boundary,
frequently own “systems of
systems”
“Driving System”
Command
Instruction to Actuator/ Device
One Command – performs logic, formats and generates
a single instruction to an actuator or device
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Actuators conceptually
outside of the boundary,
frequently own “systems of
systems”
“Driving System”
Command
One Command – performs logic, formats and generates
multiple instructions to multiple devices
Instructions to Multiple
Actuators/ Devices
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“Driving System”
Command
One Command – performs logic, and sets a value, etc
with nothing leaving the boundary
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Actuators conceptually
outside of the boundary,
could be own “systems of
systems”
“Driving System”
Autonomously – performs logic, formats and generates
multiple or single instructions
Instructions to Multiple
Actuators/ Devices
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Rotate in place 30 degrees to the right
Rotate in place 90 degrees to the right
Rotate 30 degrees to the right, while moving forward 2 meters
Rotate 45 degrees to the right, while moving forward 3 meters
Same functionality except to the left?....is moving left a business or technical requirement? (could move in place 330 degrees)
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Rotate in place 999 degrees to the right (EP)
Rotate in place 999 degrees to the left (EP)
Rotate 999 degrees to the right, while moving forward 99 meters (EP)
Rotate 999 degrees to the left while moving forward 99 (EP)
EP Smallest unit of activity meaningful to
the user, leaving the application in a
consistent state
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Is driving forward 10 meters always processed the same?◦ “Blind Mode”
◦ “Visual Odometry Mode”
◦ “Autonomous Mode”
Consider Unknown Hazards Safe
Consider Unknown Hazards UnSafe
These are complex functions and systems, where the FPA needs
to get key perspectives from stakeholders on how to model
functionality of such complex functions/ requirements.
Establishing core consistent guidelines and extensions based on
an IFPUG framework is key.
EO to the right 999 degrees while moving forward 99 meters in “Blind Mode”◦ Wheel Right Front – angle, rotations
◦ Wheel Left Front – angle, rotations
◦ Wheel Right Middle – angle, rotations
◦ Wheel Left Middle – angle, rotations
◦ Wheel Right Rear – angle, rotations
◦ Wheel Left Rear – angle, rotations
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14 DETs crossing the boundary plus error/ confirmation
Total 15 DETs
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“Unstow” the arm (command sent to “Flight Software”◦ Verify the arm position (must be equal to “90 arm
position” and “0” rotation position)
◦ Verify wheel “lock”
◦ Turn “on” the arm heater
◦ Wait 10 minutes
◦ Turn “off” the arm heater
◦ Un-Lock Arm
◦ Move elbow to 90 degree position
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Actuators conceptually
outside of the boundary,
frequently own “systems of
systems”
“Driving System”
Command
One Command – performs logic, formats and generates
multiple instructions to multiple devices
Instructions and queries to
Multiple Actuators/ Devices
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Once sent, user considers
“consistent state”
Unstow the Arm (EO 2 DETs, Updates ILF)
The complexity is NOT on the console, but rather in the logic
contained in the “Flight Software” on Mars!
“Engage….make it so”
Data is retained for query, validation
Data is updated to reflect current known information/ settings
Data is set
Data is updated based upon collected information
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No tape drives on Mars
Data typically stored in non-volatile memory
Blobs and other formats
One physical “file/ container” may contain a combination of logical entities
Thousands of attributes are retained and stored on Curiosity
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Logically need to categorize attributes◦ Arm Joint Angles
◦ Camera Mast Joint Angles
◦ Suspension Joint Angles
◦ High-Gain Antenna Joint Angles
◦ Position
◦ Orientation
◦ Images
◦ Logs
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Last Guarded Position: Here we have placed a tool on a location. The flight software remembers that location so we can command any tool on the arm back to that location, we can command the cameras to look at that location, etc. This persists over boot cycles so we can wake up the next day and use that location in a command.
Goal: This is a location that we are driving to. We can tell the rover to turn to face that location (or away from it), to drive to it, to point cameras at it, etc.
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“Driving System”
EO Right 999 degrees and 99 meters forward “blind mode”
DETs: 15, FTRs: Movement Log (updated), Orientation (2 FTR)
FPs: 6
EO Right 999 degrees and 99 meters forward “visual odometry mode””
DETs: 15, FTRs: Movement Log (updated), Orientation, Position
Suspension Joint Angles (4 FTR)
FPs: 7
Context
Boundary…Leaving Earths Atmosphere
Functionality Discovered on Mars!
Mars FPA Extensions/ Considerations
Mission Summary
32©Copyright Cloud Perspectives 2013 All rights reserved
Some corrections
Some new functions
Some changes
Recent release:◦ Autonomous navigation
◦ Avoid pointing the ChemCam at the sun
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Determine what is the unique end-to-end function (from user perspective) for the application in question
A user can be a person or thing!
Identify the unique elementary processes◦ Smallest unit of activity meaningful to the user,
leaving the application in a consistent state
◦ It should be unique from other EP’s (unique edits, attributes, processing logic)
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Count the data attributes entering or exiting the application boundaries
Count the “retained” data applying the IFPUG rules for categorizing updated vs referenced vs “logically technical hard coded”
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How much functionality does the “flight software” support, resident on the rover asset?
How much/ what functionality was defined in the “sequence set” for today? Is it a reasonable set of sequences, given the resources available (schedule and energy for example)
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In some cases the “poke update” to specific data can be a “bug” fix
In some cases a “poke update” is to update a business recognizable parameter
In some cases a “poke update” is of a technical, none business nature (updating essentially a “hard coded” value)
◦ Local guidelines help insure consistency overall and by mission and understand terminology
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Context
Boundary…Leaving Earths Atmosphere
Functionality Discovered on Mars!
Mars FPA Extensions/ Considerations
Mission Summary
38©Copyright Cloud Perspectives 2013 All rights reserved
Boundaries – check
Data – check
Functions – check
Unique characteristics – check
Unique perspectives – check
Requires Context, Extensions and Interpretations with a Value Focus
Pricing and Software Estimation require calibration on Mars
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40©Copyright Cloud Perspectives 2013 All rights reserved
Image credit: NASA/JPL-Caltech/MSSS
Special Thanks to
John Wright and
NASA JPL!
http://www.jpl.nasa
.gov/