2020 JPL DARTS Lab Course
Sep 1-Oct 1, 2020

We are pleased to announce the next JPL DARTS Lab course on the DARTS/DSHELL multi-mission vehicle dynamics simulation toolkit. This year's course will be all virtual starting September 1.

The DARTS/DSHELL simulation framework is used to model the dynamics of high degree of freedom (DOF) articulated vehicles, environments, and autonomous platforms. This framework is the basis for domain-specific engineering simulators such as DSENDS for Entry, Descent and Landing (EDL) and ROAMS for ground vehicle applications. The course is oriented towards new and current users. The course will be held in two parts:

• Part 1. DARTS/DSHELL Simulation Framework & Tools (Monday-Wednesday (am))

  This part of the course will focus on the multi-mission DARTS/DSHELL simulation framework and willcover key concepts and modules such as DARTS for dynamics modeling, SimScape for terrain modeling, Dspace for 3D visualization, component data flow DSHELL models and sub-system assemblies, along with the large library of component models for terramechanics, aerodynamics, cameras, high-order gravitational fields, inertial sensors, propulsion systems, rigid/flex body dynamics etc.

• Part 2. Entry, Descent, and Landing (EDL) Flight Dynamics Simulation using DSENDS (Wednesday (pm)-Friday)

  DSENDS is a deployment for the DARTS/DSHELL simulation framework for EDL flight mechanics/dynamics applications. DSENDS is used by projects in all phases of development including flight programs such as MSL, InSight, Mars 2020, Mars Sample Return Lander, Mars Ascent Vehicle, Europa Lander, Hayabusa 2 and SLS/Orion (at JSC). The focus of this course is on the use of DSENDS for end-to-end system flight mechanics performance analysis. This part of the course will pick up where the DARTS/DSHELL framework classes left off and walk a user through the following:

  • Building an end-to-end EDL simulation, including planetary bodies and frames, thrusters/actuators, sensors, deployments, GN&C and aerodynamics.
  • Use of NAIF SPICE tools, NASA planetary Global Reference Atmospheric Models (GRAMs), and typical GN&C sensors such as IMUs and terrain-relative sensors
  • DSENDS for performing Uncertainty Quantification and Sensitivity analyses, including simulation management and workflow best-practices

Basic familiarity with the Python language and kinematics of robotic/physical systems is desirable. Interactive Jupyter notebooks will be used throughout the course for illustration and hands on familiarization with the DARTS/DSHELL and DSENDS simulation software. The course will not include mission specific ITAR content, and is open to non-US and non-JPL persons. There is no fee for the course.

Please fill out and submit the registration form if you are interested and we will also add you to the course mailing list. This couse will be virtual via WebeX for remote attendance. Please email dartslab.courseadmin@jpl.nasa.gov if you have any questions regarding the course.

We appreciate your help in spreading the word to colleagues and others who might be interested in this course.

Details about logistics, and links to session videos, slides, and Jupyter notebooks from prior courses are available online here.

With the current COVID-19 situation, we have decided to make the course full virtual via WebEx. Since we no longer have travel constraints, we are planning to spread the week-long course material across multiple weeks. Starting the week of August 31, each week there will be sessions from 8am-12noon on Tuesday and Thursday mornings to cover a single days’ worth of the planned material. The course will thus carry on for 5 weeks, with the last session being on October 1. We believe that this format will be less demanding on everyone’s time, and also will allow more time to review and absorb the course material. We plan to include more hands on assignments, and are considering adding an 8-10am open-floor session on Wednesdays for questions and clarifications on the covered material.

Those interested in the Spatial Operator Algebra (SOA) theory underlying the the DARTS multibody dynamics software can visit the page for details on an ongoing SOA discussion group which is focused on the the SOA methodology.

The DARTS/DSHELL framework is the basis for multiple domain specific engineering simulators such as

• DSENDS for Entry/Descent/Landing systems: DSENDS is used for trajectory analysis, uncertainty quantification and sensitivity analyses for autonomous landing critical events. Customers include EDL tasks for Mars 2020, InSight, Mars Helicopter, MSL, Europa Lander, mission formulation/proposal tasks, and advanced study tasks for Mars, Venus, Titan, Small Bodies, Earth Re-entry capsules, and the Moon, LDSD/ASPIRE and Mars Ascent Vehicle.
• ROAMS for ground vehicles: ROAMS is used for modeling Mars planetary rovers, mobile robotic platforms such as Athlete and vehicles proposed for lunar surface ops. ROAMS also models vehicles such as HMMWV and Polaris for terrestarial applications.
• RoboDarts for robotics. RoboDarts is focused on the modeling of multi-limb robotic platforms such as for the DARPA ARM-S program and RoboSimian. Beyond simulation applications, RoboDarts models are also suitable for embedded use for whole-body motion robot control applications.
• Other: DSHELL simulators are also in active use for closed-loop Small Body Proximity Operation simulation testbeds. DSHELL has also being adopted by the Johnson Space Center's flight ops directorate for the simulation of ISS, SLS/Orion and other human exploration projects. Parts of this toolkit have also been adapted to develop the GNEIMO software for the simulation of bio-molecular systems.

More information on the JPL DARTS Lab and publications can be found at http://dartslab.jpl.nasa.gov.

Abhi Jain (jain@jpl.nasa.gov)

Erik Bailey (esbailey@jpl.nasa.gov)

Aaron Gaut (gaut@jpl.nasa.gov)

Aaron Schutte (schutte@jpl.nasa.gov)