A Family of Reconfigurable Hybrid On-Board Science Data Processors

SpaceCube: A Family Of Reconfigurable Hybrid On-Board Science Data Processors

Thomas P. Flatley Head, Science Data Processing Branch Software Engineering Division NASA - Goddard Space Flight Center Greenbelt, MD USA

NASA/ESA Conference on Adaptive Hardware and Systems (AHS-2012) Nuremberg/Erlangen, Germany June 25-28, 2012

GODDARD SPACE FLIGHT CENTER The Challenge

The next generation of NASA science missions will require “order of magnitude” improvements in on-board computing power

Mission Enabling Science Algorithms & Applications • Real-time Wavefront Sensing • Real-time “Situational and Control Awareness” • On-Board Data Volume • Intelligent Data Compression Reduction • Real-time Calibration / • Real-time Image Processing Correction • Autonomous Operations • On-Board Classification • On-Board Product Generation • Inter-platform Collaboration • Real-time Event / Feature Detection

2 GODDARD SPACE FLIGHT CENTER Our Approach

• The traditional path of developing radiation hardened flight processor will not work … they are always one or two generations behind • Science data does not need to be 100% perfect, 100% of the time, especially if you can collect 100x MORE DATA using radiation tolerant* processing components • Accept that radiation induced upsets will happen occasionally … and just deal with them • Target 10x to 100x improvement in “MIPS/watt”

*Radiation tolerant – susceptible to radiation induced upsets (bit flips) but not radiation induced destructive failures (latch-up) 3 GODDARD SPACE FLIGHT CENTER Our Solution

SpaceCube: a high performance reconfigurable science data processor based on Xilinx Virtex FPGAs

• Hybrid processing … CPU, DSP and FPGA logic • Integrated “radiation upset mitigation” techniques • SpaceCube “core software” infrastructure • Small “critical function” manager/watchdog • Standard interfaces

4 GODDARD SPACE FLIGHT CENTER SpaceCube Family Overview

Unit Mission Notes Specs Stats Status Flight Relative Navigation Sensors Size: 5”x5”x7” 2009 Hubble Servicing 4”x4” card SpaceCube 1.0a Experiment Wt: 7.5 lbs Mission 4 (2) Virtex4

STS-125 May 2009 Pwr: 37W In Flight Size: 5”x5”x7” MISSE-7 added RS-485, RHBS, 4”x4” card SpaceCube 1.0b Wt: 7.5 lbs (ISS) STS-129 Nov 2009 (2) Virtex4

Pwr: 32W Flight adds GigE & SATA, commercial Size: 5”x5”x4” 2011 4”x4” card SpaceCube 1.5 SMART (DoD/ORS) parts, Wt: 4 lbs

(1) Virtex5

sounding rocket flight Pwr: < 20W

Development Software Size: 5”x5”x7” Argon Ground Original RNS unit, w/added 1553 & 4”x4” card SpaceCube 1.0c Wt: 7.5 lbs Demonstration Ethernet (2) Virtex4

Pwr: 40W

Flight Size: 5”x5”x7” 2013 STP-H4 CIB Experiment Interface w/added 4”x4” card

SpaceCube 1.0d Wt: 7.5 lbs

(ISS) 1553 & Ethernet (2) Virtex4

Pwr: 40W Development

Earth/Space (ISE 2.0 2013

Science Flight) Exploration 4”x6” card Size: 5”x5”x7” Under Std 3U form factor, GigE, SpaceCube 2.0 missions (2) Virtex5 Wt: < 10 lbs

SATA, Spacewire, cPCI

SIRF Pwr: 15-20W

ISE 2.0

(ISS)

Development

(IPEX 2014 Flight) CubeSats, Sounding 2.5”x2.5” cards Under Size: 3.5”x3.5”x3.5” Rocket, UAV “Mini” version of SpaceCube 2.0, (1) Virtex5/SIRF SpaceCube 2.0 Mini Wt: < 3 lbs CubeSat form factor (1) Aeroflex Rad-Hard Pwr: 5-15W IPEX Cubesat FPGA 5 GODDARD SPACE FLIGHT CENTER Processor Comparison

MIPS Power MIPS/ W MIL-STD-1750A 3 15W 0.2 RAD6000 35 10-20W 2.331 RAD750 300 10-20W 202 SPARC V8 86 1W3 863 LEON 3FT 60 3-5W3 153 GSFC SpaceCube 1.0 3000 5-15W 4004 GSFC SpaceCube 2.0 5000 10-20W 5005 Notes: 1 – typical, 35 MIPS at 15 watts 2 – typical, 300 MIPS at 15 watts 3 – processor device only ... total board power TBD 4 – 3000 MIPS at 7.5 watts (measured) 5 – 5000 MIPS at 10 watts (calculated) 6 GODDARD SPACE FLIGHT CENTER Current SpaceCube Systems SpaceCube 1.0a

Prototype

SpaceCube 1.0b SpaceCube 1.5 7 GODDARD SPACE FLIGHT CENTER On-Board Image Processing Long Range Camera on Rendezvous

Short Range Camera on Deploy

Flight Image RNS Tracking Solution

Flight Image RNS Tracking Solution HST-SM4 GSFC SpaceCube 1.0a - Hubble SM 4 (May 2009): • Autonomous Rendezvous and Docking Experiment • Hosted camera AGC and two Pose algorithms STS-125 Payload Bay 8 GODDARD SPACE FLIGHT CENTER MISSE7/8 SpaceCube

9 GODDARD SPACE FLIGHT CENTER SpaceCube Upset Mitigation

GSFC SpaceCube 1.0b (Nov 2009): • “Radiation Hardened by Software” Experiment (RHBS) • Autonomous Landing Application • Collaboration with NRL and the DoD Space Test Program (STP)

Orbit ISS Days in orbit 900+ MISSE7/8 Total SEUs 175+ Total Errors 0 10 GODDARD SPACE FLIGHT CENTER On-Orbit Upset Locations

11 GODDARD SPACE FLIGHT CENTER On-Orbit Upset Locations

12 GODDARD SPACE FLIGHT CENTER SMART Sounding Rocket Experiment

SpaceCube 1.5 on the SMART sounding rocket payload (SubTec-5, launched June 2011): • Multi-function avionics • Collaboration with ORS 13 GODDARD SPACE FLIGHT CENTER SMART Real-time Video

SpaceCube 1.5 - SMART GigE Camera 1 Real-time Downlink at 6 fps – clip NASA Wallops Flight Facility - June 10, 2011 14 GODDARD SPACE FLIGHT CENTER On-Board Data Reduction

15 GODDARD SPACE FLIGHT CENTER On-Board Data Reduction (cont)

16 GODDARD SPACE FLIGHT CENTER RUSHMAPS IRAD Results

E=534.1 eV E= 87.4 eV

E=342.7 eV E= 56.7 eV

E=217.19eV E= 37.7 eV

E=139.1 eV E= 24.3 eV 17 GODDARD SPACE FLIGHT CENTER On-Board Product Generation

• Classification • Product Generation • Event Detection • Atmospheric Correction

18 GODDARD SPACE FLIGHT CENTER HyspIRI Demonstration Testbed

19 GODDARD SPACE FLIGHT CENTER Argon AR&D Test Payload

Power Control Wireless Patch Unit (PCU) MDA RNS Cameras Antennas (x4) And Baffles Ball VNS

IR Camera

Wireless Experiment Box (WEB)

Neptec TriDAR SpaceCube (EDU)

Estimated Mass: 140 lb Ecliptic/Sony Rough Size: Situational 25”x32”x14” Awareness 20 GODDARD SPACE FLIGHT CENTER Camera Argon Payload Assembly

21 GODDARD SPACE FLIGHT CENTER GSFC Satellite Servicing Lab Testing with simulated 6-DOF motion of Argon and Target • Rotopod and FANUC motion platforms simulate target-sensor dynamics • Up to 13 m separation possible Testing conducted at GSFC in January-February 2012 • Motion includes closed-loop approach and non-cooperative “tumble” • Open loop testing to characterize sensor/algorithm performance • Closed-loop tests - evaluate end-to-end system (sensors, algorithms, control law) in real time

GSFC Satellite Servicing Laboratory

Argon

GOES-12 Model

22 GODDARD SPACE FLIGHT CENTER SpaceCube 2.0 Prototype

23 GODDARD SPACE FLIGHT CENTER SpaceCube 2.0 Block Diagram

cPCI / SATA / VPX / Spacewire

SpaceCube2 FLASH Mission Power Card Processor Memory UniqueMission Card Card UniqueI/O

Spacewire / LVDS / MGT / GigE / Mission Unique High-speed

Standard 3U Card Form Factor Nominal Box Level Parameters: Size 5”x5”x7”, Weight 10-15 lbs, Power 10-20 watts

24 GODDARD SPACE FLIGHT CENTER SpaceCube 2.0 Processor Card

3U Compact PCI Card Std J1 cPCI V5FX130T 32-bit PPC440 PPC440 SpaceWire 512MB RAM 512MB RAM 2GB FLASH 2GB FLASH LVDS/RS-422

Ethernet V5FX130T Custom PPC440 PPC440 MGT J2 512MB RAM 512MB RAM 2GB FLASH 2GB FLASH Special Command Reset serial gigabit, UART Spacewire, analog, and JTAG GPIO V5 SIRF 8MB rad-hard SRAM, a 64Mb PROM, 8 GB Flash, 512MB SDRAM

25 GODDARD SPACE FLIGHT CENTER 26 GODDARD SPACE FLIGHT CENTER SpaceCube 2.0 EM for STP-H4

STP-H4 is a DoD Space Test Program payload/experiment pallet on the ISS 27 GODDARD SPACE FLIGHT CENTER STPSTP-H4-H4 On -/Orbit ISE Location2.0 Location STP-H4 & ISS FOV Location

MISSE-7 & MISSE-8 SpaceCube 1.0b ELC-3 ELC-2 Zenith

Nadir Columbus-EPF STP-H4/ISE 2.0 ELC-1 Launch June 2013 Nadir/Ram/Outboard JEM-EF ExPA Location

28 ISS Flying Towards You 28 GODDARD SPACE FLIGHT CENTER Image Credit: DoD Space Test Program Camera 1 – SpaceCube Earth View, 8° FOV (35mm lens, ~40m/pixel) Manta G-125, 1280 x 960 px, up to 30 fps

29 GODDARD SPACE FLIGHT CENTER Camera 2 – SpaceCube Earth View, 32° FOV (8.5mm lens, ~175m/pixel) Manta G-125, 1280 x 960 px, up to 30 fps

30 GODDARD SPACE FLIGHT CENTER Camera 3 – SpaceCube Earth View, 53° FOV (6mm lens, ~300m/pixel) Manta G-125, 1280 x 960 px, up to 30 fps

31 GODDARD SPACE FLIGHT CENTER ISS Experiment Pallet: STP-H4

32 GODDARD SPACE FLIGHT CENTER Image Credit: DoD Space Test Program ISS SpaceCube Experiment 2.0 Camera Box

FireStation

CIB

SpaceCube 2.0 FireStation Antenna

33 GODDARD SPACE FLIGHT CENTER Image Credit: DoD Space Test Program Image Credit: DoD Space Test Program Photo credit: DoD Space Test Program

34 GODDARD SPACE FLIGHT CENTER CubeSats: IPEX & TechCube 1

35 GODDARD SPACE FLIGHT CENTER SpaceCube “Mini”

36 GODDARD SPACE FLIGHT CENTER SpaceCube “Mini” for IPEX

37 GODDARD SPACE FLIGHT CENTER SpaceCube At Geo Experiment (SAGE)

28V Power H RS-422 or LVDS Uplink O SpaceCube S RS-422 or LVDS Downlink Mini “A” T “Instrument”

• from ESTO partner S • from IRAD partner P • from SSCO partner A • from ESA partner? C • or “canned” data E C 28V Power R A RS-422 or LVDS Uplink SpaceCube F Mini “B” T RS-422 or LVDS Downlink

38 GODDARD SPACE FLIGHT CENTER The SpaceCube Team

39 GODDARD SPACE FLIGHT CENTER Questions ?

tom.flatley@nasa.gov

http://en.wikipedia.org/wiki/SpaceCube http://gsfctechnology.gsfc.nasa.gov/SpaceCube.htm

http://esto.nasa.gov/conferences/estf2011/ papers/Flatley_ESTF2011.pdf

40 GODDARD SPACE FLIGHT CENTER