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A total of 48 operational flight instrumentation measurements were identified for use in performance monitoring and fault detection. The Operational Flight Instrumentation List contains all measurements identified for fault detection and annunciation. Some 16 controller data words were identified for use in fault detection and annunciation.
A plan was developed during 1971 to determine gross tectonic plate motions along the San Andreas Fault System in California. Knowledge of the gross motion along the total fault system is an essential component in the construction of realistic deformation models of fault regions. Such mathematical models will be used in the future for studies which will eventually lead to prediction of major earthquakes. The main purpose of the experiment described is the determination of the relative velocity of the North American and the Pacific Plates. This motion being so extremely small, cannot be measured directly but can be deduced from distance measurements between points on opposite sites of the plate boundary taken over a number of years.
The San Andreas fault experiment (Safe), which employs two laser tracking systems for measuring the relative motion of two points on opposite sides of the fault, has been simulated for an 8-yr observation period. The two tracking stations are located near San Diego on the western side of the fault and near Quincy on the eastern side; they are roughly 900 km apart. Both will simultaneously track laser reflector equipped satellites as they pass near the stations. Tracking of the Beacon Explorer C spacecraft has been simulated for these two stations during August and September for 8 consecutive years. An error analysis of the recovery of the relative location of Quincy from the data has been made, allowing for model errors in the mass of the earth, the gravity field, solar radiation pressure, atmospheric drag, errors in the position of the San Diego site, and biases and noise in the laser systems. The results of this simulation indicate that the distance of Quincy from San Diego will be determined each year with a precision of about 10 cm. Projected improvements in these model parameters and in the laser systems over the next few years will bring the precision to about 1-2 cm by 1980.
This paper presents a description of redundancy techniques employed in the design of fault-tolerant computers, and a discussion of the effects of functional requirements, technology constraints, and cost considerations which enter into the choice of these techniques. The STAR computer, developed at the Jet Propulsion Laboratory for long-duration planetary spacecraft missions, is discussed along with several later fault-tolerant computer designs. The class of computers described in this paper employs dynamic redundancy, i.e., the machine is divided into a set of submodules, each with standby spares; a special hard core monitor unit detects and diagnoses faults, and effects automated recovery by replacing failed parts.
Attention is given to the formal development of the notion of a discrete-time system and the associated concepts of fault, result of a fault, and error. The considered concept of on-line diagnosis is formalized and a diagnosis using inverse machines is discussed. The case of an inverse which is lossless is investigated. It is found that in such a case the class of unrestricted faults can be diagnosed with a delay equal to the delay of losslessness of the inverse system.
An overview of the intermittent/transient (IT) fault study is presented. An interval survivability evaluation of digital systems for IT faults is discussed along with a method for detecting and diagnosing IT faults in digital systems.
The FTMP (Fault-Tolerant Multiprocessor) is a complex multiprocessor computer that employs a form of redundancy related to systems considered by Mathur (1971), in which each major module can substitute for any other module of the same type. Despite the conceptual simplicity of the redundancy form, the implementation has many intricacies owing partly to the low target failure rate, and partly to the difficulty of eliminating single-fault vulnerability. An extensive analysis of the computer through the use of such modeling techniques as Markov processes and combinatorial mathematics shows that for random hard faults the computer can meet its requirements. It is also shown that the maintenance scheduled at intervals of 200 hr or more can be adequate most of the time.
The proceedings of the first working group meeting on validation methods for fault tolerant computer design are presented. The state of the art in fault tolerant computer validation was examined in order to provide a framework for future discussions concerning research issues for the validation of fault tolerant avionics and flight control systems. The development of positions concerning critical aspects of the validation process are given.
Four wire Wye connected ac power systems exhibit peculiar steady state fault characteristics when the fourth wire of three phase induction motors is connected. The loss of one phase of power source due to a series or shunt fault results in currents higher than anticipated on the remaining two phases. A theoretical approach to compute the fault currents and voltages is developed. A FORTRAN program is included in the appendix.
A brief description of a SIFT (Software Implemented Fault Tolerance) Flight Control Computer with emphasis on implementation is presented. A multiprocessor system that relies on software-implemented fault detection and reconfiguration algorithms is described. A high level reliability and fault tolerance is achieved by the replication of computing tasks among processing units.
Analysis of repeated leveling observations in the vicinity of the San Gabriel Fault in Southern California indicate subsidence immediately south of the Fault relative to points to the north, south and east. These observations were previously interpreted as reflecting tectonic motions associated with either the 'Palmdale Bulge' or with preseismic effects of the San Fernando earthquake. Relative subsidence between 1953 and 1964 reaches approximately 9 cm and extends over a distance of more than 20 km. Subsidence occurs directly above the Saugus aquifer and shows a temporal correlation with the history of water level decline within the aquifer. The degree of subsidence of individual benchmarks is roughly proportional to the product of aquifer thickness and water level decline at the location of the benchmarks. Thses observations strongly suggest that movements of the surface near the San Gabriel Fault, previously inferred to be of tectonic origin, actually result from near surface sediment compaction within the Saugus basin.
The length of the Voyager mission and the communication delay caused by the distances involved made fault protection a necessary part of the Voyager Attitude and Articulation Control Subsystem (AACS) design. An overview of the Voyager attitude control fault protection is given and flight experiences relating to fault protection are provided.
In current spacecraft design, a trend can be observed to achieve greater fault tolerance through the application of on-board software dedicated to detecting and isolating failures. Whether fault tolerance through software can meet the desired objectives depends on very careful consideration and control of the system in which the software is imbedded. The considered investigation has the objective to provide some of the insight needed for the required analysis of the system. A description is given of the techniques which have been developed in this connection during the development of the Voyager spacecraft. The Voyager Galileo Attitude and Articulation Control Subsystem (AACS) fault tolerant design is discussed to emphasize basic lessons learned from this experience. The central driver of hardware redundancy implementation on Voyager was known as the 'single point failure criterion'.
A multilayer model of the Earth to calculate finite element of time dependent deformation and stress following an earthquake on a strike slip fault is discussed. The model involves shear properties of an elastic upper lithosphere, a standard viscoelastic linear solid lower lithosphere, a Maxwell viscoelastic asthenosphere and an elastic mesosphere. Systematic variations of fault and layer depths and comparisons with simpler elastic lithosphere over viscoelastic asthenosphere calculations are analyzed. Both the creep of the lower lithosphere and astenosphere contribute to the postseismic deformation. The magnitude of the deformation is enhanced by a short distance between the bottom of the fault (slip zone) and the top of the creep region but is less sensitive to the thickness of the creeping layer. Postseismic restressing is increased as the lower lithosphere becomes more viscoelastic, but the tendency for the width of the restressed zone to growth with time is retarded.
The design of a sensor fault tolerant system which uses analytical redundancy for the Terminal Configured Vehicle (TCV) research aircraft in a Microwave Landing System (MLS) environment was studied. The fault tolerant system provides reliable estimates for aircraft position, velocity, and attitude in the presence of possible failures in navigation aid instruments and onboard sensors. The estimates, provided by the fault tolerant system, are used by the automated guidance and control system to land the aircraft along a prescribed path. Sensor failures are identified by utilizing the analytic relationship between the various sensor outputs arising from the aircraft equations of motion.
Chip-level modeling techniques in the evaluation of fault tolerant systems were researched. A fault tolerant computer was modeled. An efficient approach to functional fault simulation was developed. Simulation software was also developed.
Investigations regarding the synthesis of a reliability assessment capability for fault-tolerant computer-based systems have been conducted for several years. In 1978 a pilot study was conducted to test the feasibility of measuring detection coverage and investigating the dynamics of fault propagation in a digital computer. A description is presented of an investigation concerned with the applicability of previous results to a real avionics processor. The obtained results show that emulation is a practicable approach to failure modes and effects analysis of a digital processor. The run time of the emulated processor on a PDP-10 host computer is only 20,000 to 25,000 times slower than the actual processor. As a consequence large numbers of faults can be studied at relatively little cost and in a timely manner.
Report describes technique using fault simulator implemented entirely in hardware to generate and optimize test vectors for microprocessor. Hardware fault simulator approach reduces test time, while maintaining high reliability in detecting faults.