MONSID has been extensively tested, verified, and validated, including performance analysis. More importantly, MONSID has been actively used over a wide variety of actual systems.
JPL Athena Test Rover
MONSID uncovered surprise behaviors, unanticipated interactions between controller and planner, real faults, terrain-induced stalls, motor stalls, hidden/masked faults that would have fooled a traditional monitor.
Caltech State-of-the-Art Test Facility
Here’s a video the CAST team posted of a recent demo where MONSID was utilized to help them determine when a problem was encountered. MONSID software is showcased in the top 2 charts. For this demo, the satellite was supposed to adjust orientation around the asteroid (the spud-looking thing on the wall) using its reaction wheels. About 20 seconds into the demo, one of the wheels failed. MONSID detected the failure (the blue line spikes in the top chart) and the information was used by the planner (provided by JPL) to effectively update the plans (and hence switch to other controlling hardware) to allow completion of the originally desired task.
Technology Development and Studies
Part of NASA JPL's Autonomy Framework
Target system for Model-Based System Assurance techniques at JPL
Integrated with NASA's F' (F Prime) system for use on the ASTERIA CubeSat
Integrated with ROS (Robot Operating System) at CalTech's CAST lab
Built as a NASA cFS (Core Flight System) application for use on the Air Force Research Lab's autonomy test bed
JPL Lunar Flashlight
Kennedy Space Center propellant management systems