Pan-STARRS Project Management System PS1 Moving Object Processing System (MOPS) Software Requirement Specification (SRS) Grant Award No. : F29601-02-1-0268 Prepared For : Pan-STARRS Team, IfA Document No. : PSDC-530-001 Document Date : 2006 November 3 Revision : 05 Institute for Astronomy, University of Hawaii 2680 Woodlawn Drive, Honolulu, Hawaii 96822 An Equal Opportunity/Affirmative Action Institution
Revision History Revision Date Affected Pages Explanation of Change DR.v6 2004 July 2 All Incorporates changes from many people. Particularly Andy Douglas, Will Burgett and Gene Magnier. DR.v7 2004 July 9 All almost every single requirement was touched DR.v8 2004 July 14 Many changes suggested by Tim Spahr, Steve Chesley, and Jim Heasley 01 2005 Jan 31 Many incorporates changes suggested/motivated by the MOPS SRR PSDC-540-001-00 02 2005 April 3 Many incorporates changes suggested/by Andy Douglas Added Tracklets DB (4.3.8) Added Shape Model DB (4.3.7) Changed Attributed Detections DB to Attributed Tracklets DB (Error! Reference source not found.) 03 2005 April 22 changes suggested by Larry Denneau 04 bugzilla 369 re: Shape Model DB bugzilla 370 re: Shape Model DB bugzilla 372 re: Shutdown state bugzilla 376 re: Bitflags in Metadata DB 05 2006 November 3 All Updated for the MOPS CDR 2
Table of Contents Revision History... 2 Table of Contents... 3 List of Figures... 5 List of Tables... 5 1 Scope... 6 1.1 Identification... 6 1.2 System Overview... 6 1.3 Moving Object Processing System Overview... 7 1.4 PS1 Solar System Science Goals... 7 1.5 PS1 MOPS Top Level Requirements... 7 1.6 Moving Object Processing System Summary... 8 1.7 Document Overview... 8 2 Referenced Documents... 9 2.1 Government Documents... 9 2.2 Non-Government Documents... 9 3 Qualification Provisions... 10 4 Requirements... 11 4.1 Modes and States... 11 4.1.1 Running... 11 4.1.2 Shutdown... 11 4.1.3 Stopped... 11 4.2 Capability Requirements... 11 4.2.1 System monitoring... 11 4.2.2 Ephemeris generation... 12 4.2.3 Linkage... 12 4.2.4 Orbits... 14 4.3 External Interface Requirements... 16 4.3.1 Identification... 16 4.3.2 All DB... 16 4.3.3 Fields DB... 17 4.3.4 Low Confidence (LC) Single Occurrence Transient (SOT) DB... 17 3
4.3.5 High Confidence (HC) Single Occurrence Transient (SOT) DB... 18 4.3.6 Derived Objects DB... 19 4.3.7 Synthetic Objects DB... 20 4.3.8 Tracklets DB... 21 4.3.9 World s observations DB... 22 4.3.10 World Derived Parameters DB(s)... 22 4.4 Internal Interface Requirements... 22 4.5 Internal Data Requirements... 23 4.6 Computer Resource Requirements... 23 4.7 Software Quality Factors... 23 4.7.1 Maintainability... 23 4.7.2 Portability... 24 4.8 Design and implementation constraints... 24 4.8.1 Design & implementation standards... 24 4.9 Logistics-related requirements... 27 4.9.1 System Backups... 27 4.10 Other requirements... 27 4.10.1 Inputs... 27 5 Requirements Traceability... 30 6 Notes... 34 7 Appendices... 35 7.1 Definitions... 35 4
List of Figures Figure 1 Relationship between detections, tracklets and tracks.... 12 Figure 2 Orbit Convergence Notifications... 14 Figure 3 Orbit Determination Failure Modes... 15 Figure 4 -MOPS Databases... 16 List of Tables Table 2-1 Government Documents... 9 Table 2-2 Non-Government Documents... 9 Table 3-1 Qualification Methods List... 10 Table 4-1 Minimum efficiency requirement for selected solar system objects... 13 Table 4-2 Database Identification... 16 Table 4-3: Disk Storage Requirements at end of PS1 Operations... 23 Table 4-4 Hungarian Notation... 25 Table 5-1 Requirements Traceability... 30 Table 7-1 Acronym Definitions (alphabetical)... 35 Table 7-2 Object Identification Terminology... 36 5
1 Scope 1.1 Identification This document is the Software Requirements Specification (SRS) for the Panoramic Survey Telescope and Rapid Response System (Pan-STARRS) Moving Object Processing System (MOPS) for the prototype telescope PS1, and is a System-level controlled specification/design description document in the official Pan-STARRS engineering specification tree. 1.2 System Overview Project sponsor Acquirer User Developer AFRL, United States Air Force University of Hawaii Institute for Astronomy Astronomical community University of Hawaii Institute for Astronomy, participating institutions, and associated subcontractors The Institute for Astronomy at the University of Hawaii is developing a large optical synoptic survey telescope system, the Panoramic Survey Telescope and Rapid Response System (Pan-STARRS). Pan-STARRS will be an array of four 1.8m telescopes each with a 7 deg 2 field of view, giving the system an ĕtendue (defined as the product of the collecting area A multiplied by the field-of-view solid angle Ω) larger than all existing survey instruments combined. Each telescope will be equipped with a 1.44 billion pixel CCD camera with low noise and rapid read-out, and the data will be reduced in near real time to produce both cumulative static sky and difference images from which transient, moving, and variable objects can be detected. Pan-STARRS will be able to survey up to ~6,000 deg 2 per night to a detection limit of approximately 24 th magnitude. This unique combination of sensitivity and sky coverage will open up many new possibilities in time domain astronomy including a major goal of surveying the Potentially Hazardous Object (PHO) population down to a diameter of ~300 meters. In addition, the Pan-STARRS data will be used to investigate a broad range of astronomical problems of extreme current interest concerning the Solar System, the Galaxy, and the Cosmos at large. A prototype single telescope system, PS1, is being developed as a preliminary step before construction of the complete four telescope system. The science goals, priorities, top-level concept of operations with associated operational requirements, and system performance drivers with associated system performance requirements are described in the PS1 Science Goals Statement (SGS: PSDC- 230-001). 6
1.3 Moving Object Processing System Overview One of the major scientific goals for PS1 is the identification of Potentially Hazardous and other solar system objects (PS1 Science Goals Statement, PSDC-230-001)). The MOPS subsystem provides the ability to address this need by analyzing detections made by the IPP, selecting those that are moving, and calculating orbital elements and other parameters for related sets of detections. 1.4 PS1 Solar System Science Goals The primary goal of the PS1 MOPS system is to validate the MOPS operations. The top level MOPS science goals as specified in the PS1 Science Goals Statement (SGS: PSDC-230-001) are: 4.2.8 Solar system object parameters For those objects that PS1 identifies as solar system objects, the minimum set of object parameters to be calculated for each object shall be the orbital elements, an Earth-object MOID, and the absolute magnitude. 4.2.9 Asteroid discovery PS1 shall be able to detect a 1000 meter asteroid at a distance of 2.5 AU at opposition, or, equivalently a 140 meter asteroid at a distance of 0.72 AU at opposition. (The equations by which these limits are derived, and the assumptions regarding the properties of the bodies are given in the the PS1 Mission Concept document, PSDC-230-002-00). 1.5 PS1 MOPS Top Level Requirements To maximize the solar system science capability of the PS1 system, the MOPS top level requirements for PS1 are: 9.2.1 MOPS shall create and maintain a DB of detections and object parameters (e.g., orbit elements, absolute magnitudes) for all objects that it detects. 9.2.2 MOPS shall determine object parameters for >90% of the PHOs that are continuously above S/N=5 for 12 consecutive days at any time during the course of PS1 operations. 9.2.3 MOPS shall determine object parameters for >80% of the non-pho solar system objects (e.g. Main Belt, Trojan, Centaur, TNO, Comet) that are continuously above S/N=5 for 12 consecutive days at any time during the course of PS1 operations. 9.2.4 MOPS shall determine the efficiency and accuracy for detection, attributing, linking, orbit identification, etc., for solar system objects as a function of (at minimum) semimajor axis, eccentricity, inclination, absolute magnitude, position with respect to opposition and galactic latitude. 7
1.6 Moving Object Processing System Summary The MOPS will handle the identification of new and known solar system objects identified in the course of PS1 surveying. A schematic view of the MOPS is available in the SCD (see Figure 32) The MOPS will obtain transients detections in sets of images separated by a Transient Time Interval (TTI) from the IPP. It will then link together multiple detections of the same moving object and maintain a DB of observations and orbits for solar system objects. General tasks that need to be completed on a regular basis: 1) Intra-night linking of possible detections of the same object 2) Inter-night linking of previously unknown object s intra-night linked detections 3) Linking detections of the same object in different lunations and apparitions 4) Attributing detections of known solar system objects in PS1 images 5) Updating, calculating, integrating orbits for all known objects 6) Providing/obtaining selected observations and orbits to/from the international community 7) Monitoring of the MOPS efficiency 1.7 Document Overview The PS1 MOPS Software Requirements Specification contains the system requirements of the PS1 MOPS in order to meet the goals specified by the SGS as flowed from the PS1 DRM. The requirements flow begun in the DRM and continued in the SGS is further developed in this SRS to provide additional derived system and subsystem requirements. 8
2 Referenced Documents 2.1 Government Documents Table 2-1 Government Documents Document ID Document Title DI-IPSC-81431A (mil-std-498) System/Subsystem Specification (SSS) http://www.pogner.demon.co.uk/mil_498 2.2 Non-Government Documents PSDC documents in Table 2-2 that omit the version number always refer to the latest version. Document ID PSDC-230-001 PSDC-430-004 PSDC-430-005 PSDC-430-005 PSDC-430-006 IEEE-754 Table 2-2 Non-Government Documents Document Title Pan-STARRS PS1 Reference Mission Pan-STARRS Code Conventions Pan-STARRS PS1 IPP SRS Pan-STARRS IPP SRS (pslib only) Pan-STARRS IPP ADD (pslib only) IEEE Std. 754 for binary floating-point arithmetic PSDC-540-001 PS1 MOPS SRR Report 9
3 Qualification Provisions Each requirement in this document is immediately followed by a QUALIFICATION METHOD identifying the means to be used to ensure that the requirement is met. The qualification methods are summarized in Table 3-1. Table 3-1 Qualification Methods List Qualification Method Demonstration Test Analysis Inspection Special Meaning Observed functional operation of the component not requiring the use of external instrumentation or subsequent analysis. Observed functional operation of the component using external instrumentation for subsequent analysis. Processing accumulated data obtained from other qualification methods. Visual examination. Special qualification methods. 10
4 Requirements 4.1 Modes and States There is no difference between a mode and state in the MOPS. The MOPS shall have two states termed Running and Stopped : 4.1.1 Running While in this state the MOPS data and software shall be operating automatically with no human intervention possible except for commanding the MOPS to change into it s Stopped state. 4.1.2 Shutdown Once the MOPS has been commanded to enter its Stopped state (4.1.3) it shall enter into a Shutdown state during which it will complete all the tasks that it was performing when the command was received before entering the Stopped state. 4.1.3 Stopped While in this state the MOPS data and software shall be available for update and maintenance by approved MOPS personnel. 4.2 Capability Requirements 4.2.1 System monitoring The MOPS shall self-monitor its operation for the following: 4.2.1.1 Warnings QUALIFICATION METHOD: TEST When a MOPS sub-process running average or nearly-instantaneous efficiency drops below the specified efficiency for the sub-process the MOPS shall email a warning summary report to the MOPS lead and operations personnel. 4.2.1.2 Errors QUALIFICATION METHOD: TEST The MOPS shall monitor error conditions generated during each sub-process operations and email a summary report to the MOPS lead and operations personnel when an error condition is detected. 11
4.2.1.3 Status On a daily basis the MOPS shall email a report summarizing MOPS operations to the MOPS lead and operations personnel. 4.2.1.4 Critical Notifications The MOPS shall halt its operations (set itself into it s Stopped state: 4.1.2) and notify the MOPS lead and operations personnel of its condition when an error (4.2.1.2) occurs. 4.2.2 Ephemeris generation 4.2.2.1 Daily ephemerides The MOPS shall be capable of determining the astrometric location and apparent magnitude (to a precision equal to or exceeding the astrometric and photometric precision of the PS system) of 10 8 solar system objects for each day of the survey and provide error estimates on each value. 4.2.3 Linkage Figure 1 shows the relationship between detections, tracklets and tracks. Tracklets are composed of multiple detections. Tracks are composed of more than one tracklet. Tracks that can be fit to orbits with low residual are known as derived objects. Figure 1 Relationship between detections, tracklets and tracks. 4.2.3.1 Attribution efficiency The MOPS shall be >99% efficient at linking 2 detections (S/N>5) of a known moving object on the same night to the known orbit when the estimated error in the location is <15". 12
4.2.3.2 Attribution accuracy The false attribution rate shall be less than 0.1%. 4.2.3.3 Intra-lunation linking efficiency The MOPS shall meet the following minimum efficiency requirements at identifying multiple detections (S/N>5) of the same unknown object detected on at least 3 nights within a lunation for different classes of solar system objects: Table 4-1 Minimum efficiency requirement for selected solar system objects. Object Type Minimum Efficiency PHO 95% MB 98% KBO 99% 4.2.3.4 Intra-lunation linking accuracy The false linking rate (after orbit determination) shall be less than 0.1%. 4.2.3.5 Orbit identification efficiency The MOPS shall be >95% efficient at linking intra-lunation short-arc orbits of at least 10 days to other intra-lunation short-arc orbits of at least 10 days for the same object observed in other lunations or apparitions. 4.2.3.6 Orbit identification accuracy The orbit misidentification rate shall be less than 0.1%. 4.2.3.7 High Confidence (HC) SOT False Detections QUALIFICATION METHOD: TEST The MOPS shall meet the stated efficiency and accuracy requirements (4.2.3.1-4.2.3.6) when the false detection rate for S/N>5 detections is 2 10 2 /deg 2. 4.2.3.8 Low Confidence (LC) SOT False Detections QUALIFICATION METHOD: TEST The MOPS shall meet the stated efficiency and accuracy requirements (4.2.3.1-4.2.3.6) when the false detection rate for S/N>3 detections is 2 10 5 /deg 2. 13
4.2.3.9 Detection identifier Each detection shall be assigned a unique identifier. 4.2.3.10 Tracklet identifier Each (intra-night) tracklet shall be assigned a unique identifier. 4.2.3.11 Track identifier Each (intra-lunation) track shall be assigned a unique identifier. 4.2.3.12 Orbit identifier Each orbit shall be assigned a unique identifier. 4.2.3.13 Co-ordination with IAU designations The MOPS shall coordinate the Pan-STARRS internal designation with the official IAU designation for an object when it becomes available. 4.2.3.14 Culling The MOPS shall remove all incorrectly attributed tracklets from orbits as they are identified. 4.2.4 Orbits 4.2.4.1 Convergence Notification QUALIFICATION METHOD: TEST The MOPS orbit software shall return an indication of the following possible outcomes of an orbit determination: Figure 2 Orbit Convergence Notifications Outcome Success Qualified Success Failed Meaning Converged with no problems. Converged but with possible problems. No convergence 4.2.4.2 Orbit Determination Failures QUALIFICATION METHOD: TEST The MOPS orbit software shall indicate at least the following failure modes. 14
Figure 3 Orbit Determination Failure Modes Outcome Single Step Not Converged RMS Paralyzed Diverging Unreasonably large RMS Negative Eccentricity Negative Perihelion Eccentricity > 1 Exceed Max. Iterations Error in lower level routine Perihelion too small Meaning Orbit did not converge because only a single fitting step was requested. RMS not changing even though elements are moving. Unable to identify a path to a converging orbit. RMS between orbit and detections is too large Minimization resulted in unphysical eccentricity Minimization results in unphysical perihelion distance. Hyperbolic orbit Too much iteration steps before convergence Failure occurred in lower level library code. Derived perihelion is so small that integration time becomes too long. 4.2.4.3 Orbit Determination Failure Notification QUALIFICATION METHOD: TEST The result of an orbit determination failure (4.2.4.2) on correct linkages of synthetic objects shall be forwarded to a central processing location for further analysis. 4.2.4.4 Orbit Determination Failure Email QUALIFICATION METHOD: TEST The result of an orbit determination failure (4.2.4.2) on correct linkages of synthetic objects shall be sent to the MOPS lead and operations personnel informing them of the failure. 4.2.4.5 Heliocentric orbits QUALIFICATION METHOD: TEST The MOPS shall be capable of calculating heliocentric orbits to a maximum precision in every element of 10 12. 4.2.4.6 Single lunation QUALIFICATION METHOD: TEST The MOPS shall be capable of IOD for >99% of all correctly linked intra-lunation arcs (> 1 day and < 1 lunation) of detections. 4.2.4.7 Integration QUALIFICATION METHOD: TEST The MOPS shall be capable on a daily basis of integrating all known orbits to any date within Pan-STARRS s operational lifetime of 10 years. 15
4.2.4.8 Reproducibility QUALIFICATION METHOD: TEST The MOPS shall be capable of re-creating the history of detections and determination of derived object parameters for all derived objects. 4.3 External Interface Requirements The following sections refer to the interfaces between the MOPS and its internal databases as shown in Figure 4. Moving Object Processing System (MOPS) Low-Confidence Single Occurrence Transients High-Confidence Single Occurrence Transients Tracklets Attributed Detections Derived Objects Synthetic Objects Figure 4 -MOPS Databases 4.3.1 Identification Table 4-2 Database Identification Database Section Fields 4.3.3 Low Confidence (LC) SOT 4.3.4 High Confidence (HC) SOT 4.3.5 Derived Objects 4.3.6 Synthetic Objects 4.3.7 Tracklets 4.3.8 4.3.2 All DB 4.3.2.1 Backups On a per lunation basis there shall be 2 full backups of all MOPS DBs. 4.3.2.2 On-site backup. One of the two backups (4.3.2.1) shall be on-site. 16
4.3.2.3 Off-site backup. One of the two backups (4.3.2.1) shall be at a remote site. 4.3.2.4 Backup reliability. The backups (4.3.2.1) shall be capable of recovering 99% of all MOPS data acquired prior to the day on which a backup is required. 4.3.3 Fields DB 4.3.3.1 Existence The MOPS shall implement a fields DB. 4.3.3.2 Content The MOPS fields DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design. 4.3.3.3 Size The fields DB shall be capable of storing at least 2 10 6 records. (10 3 images/night 365 nights/year 4 years of operation.) 4.3.3.4 Read access 4.3.3.4.1 Rate At least 10 3 records for a specific night shall be retrievable within 1s. 4.3.3.4.2 TTI Pairs All image sets (same boresight) separated within a TTI for a single night shall be retrievable within 1s. 4.3.4 Low Confidence (LC) Single Occurrence Transient (SOT) DB 4.3.4.1 Existence The MOPS shall implement a LC SOT DB. 17
4.3.4.2 Content The MOPS LC SOT DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design. 4.3.4.3 Size The LC SOT DB shall be capable of storing at least 10 13 records. (>~2 10 5 detections/deg 2 7 deg 2 /image 1000 images/night 365 nights/year 4 years of operation) 4.3.4.4 Read access 4.3.4.4.1 Extraction of HC SOT detections The MOPS shall be capable of retrieving at least 10 6 HC SOT from the LC SOT DB within 1000 seconds. 4.3.4.4.2 Attribution of LC SOT detections The MOPS shall be capable of retrieving at least 10 7 LC SOT from TTI pairs of images within 50 arc-seconds of the predicted location of derived objects (see Section 4.3.6) in under one hour. 4.3.4.5 Write access 4.3.4.5.1 Synthetic detections The MOPS shall be capable of writing all the parameters for synthetic detections into the LC SOT DB for 5 10 7 synthetic detections in under one hour. 4.3.4.5.2 Detection attribution The MOPS shall be capable of modifying any single parameter within the LC SOT DB detections record for 10 7 objects in under one hour. 4.3.5 High Confidence (HC) Single Occurrence Transient (SOT) DB 4.3.5.1 Existence The MOPS shall implement a HC SOT DB. 18
4.3.5.2 Content The MOPS HC SOT DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design. 4.3.5.3 Size The HC SOT DB shall be capable of storing 10 10 records. (>~2 10 2 detections/deg 2 7 deg 2 /image 1000 images/night 365 nights/year 4 years of operation) 4.3.5.4 Read Access 4.3.5.4.1 Extraction of tracklets The MOPS shall be capable of retrieving at least 1000 HC SOT tracklets for a TTI pair of images from the LC SOT DB within one second. 4.3.5.5 Write access 4.3.5.5.1 Synthetic Noise The MOPS shall be capable of writing all synthetic detection parameters into the HC SOT DB for synthetic noise detections at a rate of 1000/second. 4.3.5.5.2 Detection attribution The MOPS shall be capable of modifying any single parameter within the HC SOT DB at a rate of 1000/second. 4.3.6 Derived Objects DB 4.3.6.1 Existence The MOPS shall implement a DB containing derived parameters for objects detected by the system. 4.3.6.2 Content The MOPS derived objects DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design. 19
4.3.6.3 Interface The interface to the MOPS Derived objects DB shall provide access to each of the parameters for every object detected by the system. 4.3.6.4 Size The derived objects DB shall be capable of holding at least 10 8 orbits. 4.3.6.5 Read Access The MOPS shall be capable of extracting all parameters for objects within the Derived Objects DB at a rate of 1000/s. 4.3.6.6 Write Access The MOPS shall be capable of writing or modifing all parameters for at least 10 6 objects within the Derived Objects DB at a rate of 1000/s. 4.3.7 Synthetic Objects DB 4.3.7.1 Existence The MOPS shall implement a DB containing parameters for synthetic objects. 4.3.7.2 Content 4.3.7.2.1 Parameters The MOPS synthetic objects DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design. 4.3.7.2.2 Synthetic Regular Objects The synthetic object DB shall re-create the expected (selection effect corrected) orbit distribution of all solar system objects that might be acquired by PS4 in ten years of operation. 4.3.7.2.3 Synthetic Unusual Objects The MOPS shall incorporate a population of extremely rare or unknown types of orbits in the synthetic population not to exceed 5% of the total population of synthetic regular objects. 20
4.3.7.3 Size 4.3.7.2.4 Synthetic Unusual Object Flag Unusual synthetic objects (Section 4.3.7.2.1) shall be flagged as such in all DBs in which they appear. 4.3.7.3.1 Orbits This DB shall be capable of holding 10 8 orbits. 4.3.7.3.2 Shapes This DB shall be capable of holding 10 6 shape models. 4.3.7.4 Read Access The MOPS shall be capable of extracting all parameters for all objects within the Synthetic Objects DB at a rate of 1000/s. 4.3.7.5 Write Access The MOPS shall be capable of writing or modifying all parameters for all objects within the Synthetic Objects DB at a rate of 1000/s. 4.3.8 Tracklets DB 4.3.8.1 Existence The MOPS shall implement a tracklets DB. 4.3.8.2 Content The MOPS tracklets DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design. 4.3.8.3 Size The tracklets DB shall be capable of storing 10 10 records. (>~3 10 2 objects/deg 2 7 deg 2 /image 1000 images/night 365 nights/year 4 years of operation 1.0 tracklets/detection) 21
4.3.8.4 Read access The MOPS shall be capable of extracting all tracklets within 120 arcsec and with rates of motion within 10% of a specified value at the extrapolated time on a given night at a rate of 100/s. 4.3.8.5 Write access The MOPS shall be capable of appending 1000 tracklets to the DB within 1s. 4.3.9 World s observations DB The central repository for the world s observations of Minor Planets is the Minor Planet Center (MPC). 4.3.9.1 Coordination On a regular basis new PS1 observations shall be uploaded to the MPC and new angles-only observations from other observatories shall be downloaded. 4.3.9.2 Interface The MOPS shall be capable of retrieving all available parameters in the LC SOT DB from the MPC s observations DB. 4.3.9.3 Read Access The MOPS shall be capable of downloading MPC observations and writing them into the LC SOT DB at a rate of 1000/s. 4.3.9.4 Write Access The MOPS shall be capable of uploading PS1 observations to the MPC at a rate of 1000/s. 4.3.10 World Derived Parameters DB(s) 4.3.10.1 Read/Write Access Read and write access to the various world-derived parameters shall be at a rate of 1000 objects/s. 4.4 Internal Interface Requirements QUALIFICATION METHOD: N/A 22
All internal interface requirements are to be left to the design. 4.5 Internal Data Requirements QUALIFICATION METHOD: N/A All internal data requirements are to be left to the design. 4.6 Computer Resource Requirements 4.6.1.1 Disk Storage The MOPS shall provide disk storage for each of the DBs of Section 4.2.4.7 according to Table 4-3. Table 4-3: Disk Storage Requirements at end of PS1 Operations Database Size (GB) Fields 0.2 LC SOT Detections 500,000 HC LOT Detections 500 Derived Object Parameters 1,000 Synthetic Object Parameters 1,100 Tracklets 1,200 4.7 Software Quality Factors 4.7.1 Maintainability The MOPS shall be in its stopped mode (4.1.2) for less than 4 hours per week. Each of the following requirements is intended to increase code maintainability. 4.7.1.1 Regression Tests The MOPS shall develop regression tests for all critical components. 4.7.1.2 Unit Tests The MOPS shall develop unit tests for all critical components. 23
4.7.1.3 Internal documentation QUALIFICATION METHOD: INSPECTION The MOPS shall provide internal documentation. 4.7.1.4 Operations Documentation & Procedures QUALIFICATION METHOD: INSPECTION The MOPS shall provide operations documentation and procedures including maintenance instructions updated at least every 6 months. 4.7.2 Portability Portability shall be limited to those platforms listed in Section 4.8.1.9. 4.8 Design and implementation constraints 4.8.1 Design & implementation standards QUALIFICATION METHOD: INSPECTION The MOPS shall follow the IPP programming languages, standards, conventions, architectural requirements, etc, defined in the Pan-STARRS IPP documents PSDC-430-004 and PSDC-430-005 with the following exceptions and/or additions: 4.8.1.1 Version Control and Distribution QUALIFICATION METHOD: INSPECTION All source code shall be regularly maintained and distributed via CVS. 4.8.1.2 Source Code Installation and Building QUALIFICATION METHOD: INSPECTION The MOPS shall provide an automated installation and build package for the MOPS for the supported hardware architectures. 4.8.1.3 New source code QUALIFICATION METHOD: INSPECTION New C code is to comply with ANSI Standard C99 4.8.1.4 Existing source code QUALIFICATION METHOD: INSPECTION All existing source code (e.g., libraries, legacy and third party code) is to remain in its native language. PERL or SWIG interfaces to non-c code shall be provided. 4.8.1.5 Third party binaries QUALIFICATION METHOD: INSPECTION Third party binaries shall be x86 ELF compatible. 24
4.8.1.6 Scripting language QUALIFICATION METHOD: INSPECTION All scripting shall be in Perl 5.8. Table 4-4 Hungarian Notation Scope / Type Prefix static s global g float f int i,n char c string sz Boolean b long l short s double d pointer p In this system a double pointer to long shall then have the prefix ppl 4.8.1.7 Coding style & conventions QUALIFICATION METHOD: INSPECTION 4.8.1.7.1 Hungarian notation All internally developed C code shall adopt Hungarian prefix notation to indicate variable type. This notation specifies for each variable its scope and/or type according to the following Table 4-4. 4.8.1.7.2 Unit Specification All internally developed C code shall adopt a variable naming convention such that a suffix on each variable with a unit shall be specified. 4.8.1.7.3 Units notation The units suffix shall be an underscore followed by a standardized lower-case abbreviation for the unit. e.g., fdistancetomoon_au, fxposition_pix, dra_deg. 4.8.1.8 Comment conventions QUALIFICATION METHOD: INSPECTION OF CODE AND DOXYGEN OUTPUT 25
4.8.1.8.1 C code Commenting of new C code shall be consistent throughout the code, independent of developer, and compatible with Doxygen parsing. 4.8.1.8.2 Doxygen templates All Doxygen blocks shall be based upon standardized PS Doxygen templates. 4.8.1.8.3 Other languages Commenting of new PERL code shall conform to standard PERL documentation procedures. 4.8.1.9 Operating system QUALIFICATION METHOD: TEST ON UNIX SYSTEM The delivered code is required to run within UNIX operating systems and shall be in compliance with the language-independent UNIX operating system standard, POSIX, Open Group Base Specifications Issue 6, IEEE Std. 1003.1, 2003. 4.8.1.10 Documentation QUALIFICATION METHOD: INSPECTION OF CODE AND DOXYGEN OUTPUT Documentation shall be provided through the Doxygen commenting conventions or through external PDF files. 4.8.1.11 Makefiles QUALIFICATION METHOD: TEST Makefiles shall be provided with appropriate flags set so that all code compiles without warnings with gcc Wall (gcc v2.95 and higher) under x86/linux. This compilation without warnings requirement is to be extendable to other identified architectures/operating systems with minimal modifications to Makefiles or configuration scripts. 4.8.1.12 Exit Flags QUALIFICATION METHOD: INSPECTION, TEST 4.8.1.12.1 Existence All code exits shall be flagged by a numerical return value indicating the exit status. 4.8.1.12.2 Values An exit status of 0 (zero) shall indicate successful completion of a code unit. 4.8.1.12.3 Usage The exit status of all routines shall be checked and responded to appropriately by the calling routine. 4.8.1.13 Flexibility and Expandability QUALIFICATION METHOD: INSPECTION, TEST 26
4.8.1.13.1 Parallelization SW design and implementation shall take advantage of the parallel nature of the processing tasks. 4.8.1.13.2 Configurability The system shall be capable of being reconfigured to allow for changes in hardware configuration (e.g., number of nodes in a Beowulf cluster). 4.9 Logistics-related requirements 4.9.1 System Backups 4.9.1.1 On-site DB backups The MOPS DBs shall be backed up on-site to provide 100% data recovery in the event of disk failure. 4.10 Other requirements The following requirements are identified here as interface specifications with other PS1 components. 4.10.1 Inputs 4.10.1.1 Efficiency of single occurrence transient detections 4.10.1.1.1 Detection Efficiency Detection efficiency shall be defined as ε=n D /N A where N A is the actual number of objects in a region and N D is the number of those objects identified in the same region to within the required photometric and astrometric accuracy. 4.10.1.1.2 Efficiency parameterization The MOPS shall be provided a measure of the detection efficiency (4.10.1.1.1) in each image for identifying SOTs (asteroids and comets) as a function of their magnitude and rate of motion. 4.10.1.1.3 Accuracy 27
The absolute detection efficiency (4.10.1.1.1) shall be known to better than 1% at every flux level corresponding to S/N>5 detections. 4.10.1.2 Single occurrence detections in PS1 images 4.10.1.2.1 Nearly stationary moving objects The search algorithm for transient detections of moving objects with a stellar stationary PSF (e.g. asteroids) in PS1 images shall have a detection efficiency (4.10.1.1.1) of >99% efficient for (total) S/N>5 detections moving at 0.1 /week and <1 o /day. 4.10.1.2.2 Rapidly moving objects The search algorithm for transient detections of moving objects with a stellar stationary PSF (e.g. asteroids) in PS1 images shall have a detection efficiency (4.10.1.1.1) of >95% for (total) S/N>5 detections moving at 1 o /day and <10 o /day. 4.10.1.3 Detection of comets in PS1 images 4.10.1.3.1 Nearly stationary moving objects The search algorithm for transient detections of moving objects with a non-stellar stationary PSF (e.g. comets) in PS1 images shall have a detection efficiency (4.10.1.1.1) of >98% for (total) S/N>5 magnitude detections moving at 1 /week and <1 o /day. 4.10.1.3.2 Rapidly moving objects The search algorithm for single occurrence detections of moving objects with a nonstellar stationary PSF (e.g. comets) in PS1 images shall have a detection efficiency (4.10.1.1.1) of >95% efficient for (total) S/N>5 detections moving at 1 o /day and <10 o /day. 4.10.1.4 Astrometry Astrometry shall be reported to the MOPS in ICRS coordinates. 4.10.1.5 Astrometric accuracy Astrometry of moving objects reported to the MOPS shall be no worse than 150% of the accuracy for stationary objects of the same integrated flux. 28
4.10.1.6 Time standard The time corresponding to an astrometric measurement shall be reported to the MOPS in UTC accurate to at least 50ms. 4.10.1.7 Photometric accuracy Solar system object photometry reported to the MOPS shall be no worse than 150% of the accuracy for stationary objects of the same integrated flux. 29
5 Requirements Traceability Table 5-1 Requirements Traceability SRS Requirement Parent Requirement 4.1.1 4.1.2 4.1.3 4.2.1.1 4.2.1.2 4.2.1.3 4.2.1.4 4.2.2.1 9.2.4 4.2.3.1 9.2.4 4.2.3.2 4.2.3.3 9.2.4 4.2.3.4 4.2.3.5 9.2.4 4.2.3.6 4.2.3.7 4.2.3.8 4.2.3.9 9.2.1 4.2.3.10 9.2.1 4.2.3.11 9.2.1 4.2.3.12 9.2.1 4.2.3.13 4.2.3.14 4.2.4.1 9.2.2 & 9.2.3 4.2.4.2 9.2.2 & 9.2.3 4.2.4.3 4.2.4.4 4.2.4.5 9.2.2 & 9.2.3 4.2.4.6 9.2.2 & 9.2.3 4.2.4.7 9.2.2 & 9.2.3 30
4.2.4.8 4.3.2.1 9.2.1 4.3.2.2 9.2.1 4.3.2.3 9.2.1 4.3.2.4 9.2.1 4.3.3.1 9.2.1 4.3.3.2 9.2.1 4.3.3.3 9.2.1 4.3.3.4.1 9.2.1 4.3.3.4.2 9.2.1 4.3.4.1 9.2.1 4.3.4.2 9.2.1 4.3.4.3 9.2.1 4.3.4.4.1 9.2.1 4.3.4.4.2 9.2.1 4.3.4.5.1 9.2.1 4.3.4.5.2 9.2.1 4.3.5.1 9.2.1 4.3.5.2 9.2.1 4.3.5.3 9.2.1 4.3.5.4.1 9.2.1 4.3.5.5.1 9.2.1 4.3.5.5.2 9.2.1 4.3.6.1 9.2.1 4.3.6.2 9.2.1 4.3.6.3 9.2.1 4.3.6.4 9.2.1 4.3.6.5 9.2.1 4.3.6.6 9.2.1 4.3.7.1 9.2.4 4.3.7.2.1 9.2.4 4.3.7.2.2 9.2.4 4.3.7.2.3 9.2.4 4.3.7.2.4 9.2.4 31
4.3.7.3.1 9.2.4 4.3.7.3.2 9.2.4 4.3.7.4 9.2.4 4.3.7.5 9.2.4 4.3.8.1 9.2.1 4.3.8.2 9.2.1 4.3.8.3 9.2.1 4.3.8.4 9.2.1 4.3.8.5 9.2.1 4.3.9.1 4.3.9.2 4.3.9.3 4.3.9.4 4.3.10 4.3.10.1 4.6 4.6.1.1 4.7.1 4.7.1.1 4.7.1 4.7.1.2 4.7.1 4.7.1.3 4.7.1 4.7.1.4 4.7.1 4.7.2 4.7.1 4.8.1 4.7.1 4.8.1.1 4.7.1 4.8.1.2 4.7.1 4.8.1.3 4.7.1 4.8.1.4 4.7.1 4.8.1.5 4.7.1 4.8.1.6 4.7.1 4.8.1.7 4.7.1 4.8.1.7.1 4.7.1 4.8.1.7.2 4.7.1 4.8.1.7.3 4.7.1 32
4.8.1.8.1 4.7.1 4.8.1.8.2 4.7.1 4.8.1.8.3 4.7.1 4.8.1.9 4.7.1 4.8.1.10 4.7.1 4.8.1.11 4.7.1 4.8.1.12.1 4.1 4.8.1.12.2 4.1 4.8.1.12.3 4.1 4.8.1.13.1 4.7.1 4.8.1.13.2 4.7.1 4.9.1.1 9.2.1 4.10.1.1.1 9.2.4 4.10.1.1.2 9.2.4 4.10.1.1.3 9.2.4 4.10.1.2.1 9.2.2 & 9.2.3 4.10.1.2.2 9.2.2 & 9.2.3 4.10.1.3.1 9.2.2 & 9.2.3 4.10.1.3.2 9.2.2 & 9.2.3 4.10.1.4 9.2.2 & 9.2.3 4.10.1.5 9.2.2 & 9.2.3 4.10.1.6 9.2.2 & 9.2.3 4.10.1.7 9.2.2 & 9.2.3 33
6 Notes 34
7 Appendices 7.1 Definitions Table 7-1 Acronym Definitions (alphabetical) Acronym IAU CfA CSCI DB EPO FIFO HC IAU ICRS IEO IOD IPP JPL KBO LC MB MOPS MPC MVP NEO PHO PS PS1 Meaning International Astronomical Union Center for Astrophysics (Harvard) Computer Software Configuration Item Database - could be any format or structure, relational or flat data base, distributed or local, satisfying access and search speed requirements. Final format left to MOPS design. Education & Public Outreach First in First out High Confidence International Astronomical Union International Celestial Reference System Interior to Earth s Orbit Initial Orbit Determination Image Processing Pipeline Jet Propulsion Laboratory Kuiper Belt Object Low Confidence Main Belt of asteroids between Mars and Jupiter Moving Object Processing System for PS1 Minor Planet Center of the IAU currently located at the CfA. MOPS Verification Program Near Earth Object. An orbject with an orbit with perihelion <1.3AU. Potentially Hazardous Object. An object with an orbit that approaches Earth s orbit to within 0.05AU. Pan-STARRS the full Pan-STARRS system Pan-STARRS 1 the first Pan-STARRS telescope 35
PSF PSPS PTS1 SCD SDO SGS SOT SRS SS TAI TBD TBR TLA TNO TTI TTI WBS Point Spread Function Published Science Products Subsystem PS1 Telescope Scheduler System Concept Definition Scattered Disk Object Science Goals Statement Single Occurrence Transient Software Requirement Specification Solar System International Atomic Time To Be Determined To Be Reviewed Three Letter Acronym Trans-Neptunian Object. Objects beyond the orbit of Neptune include the classical Kuiper Belt, resonant objects, Scattered Disk Objects, Oort cloud objects, etc. Transient Time Interval. The desired time interval between successive exposures for identifying moving objects in pairs of images. Delta Transient Time Interval. The allowed departure (plus/minus) from a TTI between successive images used in identifying moving objects. Work Breakdown Structure Table 7-2 Object Identification Terminology Terms Detection Observation Designation Orbit Identification Attribution Linkage Meaning A signal above a specified S/N in an image. A detection that has been associated with an object. The identifying label assigned to newly identified objects. The identification of two separately determined orbits as representing the same object. The identification of a detection with a known orbit. The identification of sets of detections that allow an orbit determination for an object. 36