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At least 91 records · Page 5

Robust adaptive kinematic control of redundant robots

The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

Tarokh, M.↗

Robot Position Sensor Fault Tolerance

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. A new method is proposed that utilizes analytical redundancy to allow for continued operation during joint position sensor failure. Joint torque sensors are used with a virtual passive torque controller to make the robot joint stable without position feedback and improve position tracking performance in the presence of unknown link dynamics and end-effector loading. Two Cartesian accelerometer based methods are proposed to determine the position of the joint. The joint specific position determination method utilizes two triaxial accelerometers attached to the link driven by the joint with the failed position sensor. The joint specific method is not computationally complex and the position error is bounded. The system wide position determination method utilizes accelerometers distributed on different robot links and the end-effector to determine the position of sets of multiple joints. The system wide method requires fewer accelerometers than the joint specific method to make all joint position sensors fault tolerant but is more computationally complex and has lower convergence properties. Experiments were conducted on a laboratory manipulator. Both position determination methods were shown to track the actual position satisfactorily. A controller using the position determination methods and the virtual passive torque controller was able to servo the joints to a desired position during position sensor failure.

Aldridge, Hal A.↗

Catalyst for Carbon Monoxide Oxidation

In many applications, it is highly desirable to operate a CO2 laser in a sealed condition, for in an open system the laser requires a continuous flow of laser gas to remove the dissociation products that occur in the discharge zone of the laser, in order to maintain a stable power output. This adds to the operating cost of the laser, and in airborne or space applications, it also adds to the weight penalty of the laser. In a sealed CO2 laser, a small amount of CO2 gas is decomposed in the electrical discharge zone into corresponding quantities of CO and O2. As the laser continues to operate, the concentration of CO2 decreases, while the concentrations of CO and O2 correspondingly increase. The increasing concentration of O2 reduces laser power, because O2 scavenges electrons in the electrical discharge, thereby causing arcing in the electric discharge and a loss of the energetic electrons required to boost CO2 molecules to lasing energy levels. As a result, laser power decreases rapidly. The primary object of this invention is to provide a catalyst that, by composition of matter alone, contains chemisorbed water within and upon its structure. Such bound moisture renders the catalyst highly active and very long-lived, such that only a small quantity of it needs to be used with a CO2 laser under ambient operating conditions. This object is achieved by a catalyst that consists essentially of about 1 to 40 percent by weight of one or more platinum group metals (Pt, Pd, Rh, Ir, Ru, Os, Pt being preferred); about 1 to 90 percent by weight of one or more oxides of reducible metals having multiple valence states (such as Sn, Ti, Mn, Cu, and Ce, with SnO2 being preferred); and about 1 to 90 percent by weight of a compound that can bind water to its structure (such as silica gel, calcium chloride, magnesium sulfate, hydrated alumina, and magnesium perchlorate, with silica gel being preferred). Especially beneficial results are obtained when platinum is present in the catalyst composition in an amount of about 5 to 25 (especially 7) percent by weight, SnO2 is present in an amount of about 30 to 40 (especially 40) percent by weight, and silica gel is present in an amount of 45 to 55 (especially 50) percent by weight. The composition of this catalyst was suggested by preliminary experiments in which a Pt/SnO2 catalyst was needed for bound water to enhance its activity. These experimental results suggested that if the water were bound to the surface, this water would enhance and prolong catalyst activity for long time periods. Because the catalyst is to be exposed to a laser gas mixture, and because a CO2 laser can tolerate only a very small amount of moisture, a hygroscopic support for the catalyst would provide the needed H2O into the gas. Silica gel is considered to be superior because of its property to chemisorb water on its surface over a wide range of moisture content.

Davis, Patricia↗

Theoretical consistency test of steam transport properties

The kinetic theory of polyatomic gases is used to test the mutual consistency of the thermal conductivity, viscosity, and specific heat of low-pressure steam from 100 to 700 C. No inconsistency exists within the cited tolerances of the skeleton tables recommended by the Sixth International Conference on the Properties of Steam, but there is some basis for suspecting that the high-temperature thermal conductivity values are slightly low. Methods for tightening the consistency bounds are suggested.

Thoen-Hellemans, J.↗

The Effects of Impactor Shape on the Compression After Impact Strength of Carbon/Epoxy Face Sheet Aluminum Honeycomb Core Sandwich Structure

This study presents experimental results of compression after impact (CAI) strength testing of aluminum core sandwich structure with carbon/epoxy face sheets impacted at three different energies with either a 12.7 mm hemispherical, 24.5 mm hemispherical or sharp tip impactor. This study was undertaken to verify whether design allowables typically generated by blunt (hemispherical) impactors may be valid in ‘real world” applications where an impact may not be by a blunt object of a specific size. Results of practical interest in this study were that the visual damage was much easier to see for the sharp impactor, the damage size as detected by thermography was smaller for the sharp impactor for a given impact energy and dent depth was greater for the sharp impactor. The CAI strength results showed that the sharp impactor gave about the same CAI strength values at all three impact energy levels used. The larger hemispherical impactor gave slightly higher CAI results than the smaller blunt impactor. Overall it was deemed difficult to develop a CAI allowable that would cover all impactor shapes with any fidelity and thus using a lower bound strain allowable is suggested.

compression after impact (CAI)↗

Real-Time System Verification by Kappa-Induction

We report the first formal verification of a reintegration protocol for a safety-critical, fault-tolerant, real-time distributed embedded system. A reintegration protocol increases system survivability by allowing a node that has suffered a fault to regain state consistent with the operational nodes. The protocol is verified in the Symbolic Analysis Laboratory (SAL), where bounded model checking and decision procedures are used to verify infinite-state systems by k-induction. The protocol and its environment are modeled as synchronizing timeout automata. Because k-induction is exponential with respect to k, we optimize the formal model to reduce the size of k. Also, the reintegrator's event-triggered behavior is conservatively modeled as time-triggered behavior to further reduce the size of k and to make it invariant to the number of nodes modeled. A corollary is that a clique avoidance property is satisfied.

Pike, Lee S.↗

Extending the Licklider Transmission Protocol to Multi-Band Links

Most deep space missions return data to Earth using links operating at a single frequency band. Indeed, their data requirements are low enough that bandwidth regulations do not constrain the system. In contrast, spacecraft such as Kepler or Europa Clipper are transitioning to a new operational paradigm where engineering and science data are transmitted through simultaneous links operating at different frequency bands (henceforth termed multi-band links). This ensures, for instance, that critical data is correctly received using a well characterized X-band link, while science data at a much larger data rate can be returned efficiently (both in terms of bandwidth and energy) through a Ka-band link.Having a spacecraft establish two simultaneous links with a ground station opens a large span of potential improvements for space communications and mission operations. In this paper, we consider the problem of running a Licklider Transmission Protocol (LTP) session over a multi-band link. LTP is an implementation of a selective Automatic Repeat reQuest (ARQ) protocol, i.e. it ensures correct delivery of data over an error prone link with potentially long propagation delays. To maximize its efficiency in deep space environments, LTP operates in deferred-ACK mode and is typically included as one of the core protocols in the Delay Tolerant Networking (DTN) suite.The contributions of this paper are as follows: First, we propose an extension to LTP for multi-band links (denoted MBLTP) and sketch how it can be implemented without modifying the current definition of LTP data units. Next, we develop bounds on the performance of MBLTP when transmitting a single data file over a multi-band link. Three metrics are considered, file expected delivery time, total energy spent and bundle jitter. The results of the analytic model are first benchmarked against simulations to ensure validity, and then compared against the performance of both traditional LTP and Parallel LTP (PLTP).We demonstrate that MBLTP can significantly reduce the latency and jitter with which data products are delivered to destination over a deep space link compared to LTP at moderate energy cost. Similarly, we also demonstrate that MBLTP outperforms PLTP in all considered metrics.

Sanchez Net, Marc↗

The application of emulation techniques in the analysis of highly reliable, guidance and control computer systems

Emulation techniques can be a solution to a difficulty that arises in the analysis of the reliability of guidance and control computer systems for future commercial aircraft. Described here is the difficulty, the lack of credibility of reliability estimates obtained by analytical modeling techniques. The difficulty is an unavoidable consequence of the following: (1) a reliability requirement so demanding as to make system evaluation by use testing infeasible; (2) a complex system design technique, fault tolerance; (3) system reliability dominated by errors due to flaws in the system definition; and (4) elaborate analytical modeling techniques whose precision outputs are quite sensitive to errors of approximation in their input data. Use of emulation techniques for pseudo-testing systems to evaluate bounds on the parameter values needed for the analytical techniques is then discussed. Finally several examples of the application of emulation techniques are described.

Migneault, Gerard E.↗

Derivation and experimental verification of clock synchronization theory

The objective of this work is to validate mathematically derived clock synchronization theories and their associated algorithms through experiment. Two theories are considered, the Interactive Convergence Clock Synchronization Algorithm and the Mid-Point Algorithm. Special clock circuitry was designed and built so that several operating conditions and failure modes (including malicious failures) could be tested. Both theories are shown to predict conservative upper bounds (i.e., measured values of clock skew were always less than the theory prediction). Insight gained during experimentation led to alternative derivations of the theories. These new theories accurately predict the clock system's behavior. It is found that a 100% penalty is paid to tolerate worst case failures. It is also shown that under optimal conditions (with minimum error and no failures) the clock skew can be as much as 3 clock ticks. Clock skew grows to 6 clock ticks when failures are present. Finally, it is concluded that one cannot rely solely on test procedures or theoretical analysis to predict worst case conditions. conditions.

INTERACTIVE CONVERGENCE CLOCK↗

Fast causal multicast

A new protocol is presented that efficiently implements a reliable, causally ordered multicast primitive and is easily extended into a totally ordered one. Intended for use in the ISIS toolkit, it offers a way to bypass the most costly aspects of ISIS while benefiting from virtual synchrony. The facility scales with bounded overhead. Measured speedups of more than an order of magnitude were obtained when the protocol was implemented within ISIS. One conclusion is that systems such as ISIS can achieve performance competitive with the best existing multicast facilities - a finding contradicting the widespread concern that fault-tolerance may be unacceptably costly.

Birman, Kenneth P.↗

Fast casual multicast

A new protocol is presented that efficiently implements a reliable, causally ordered multicast primitive and is easily extended into a totally ordered one. Intended for use in the ISIS toolkit, it offers a way to bypass the most costly aspects of ISIS while benefiting from virtual synchrony. The facility scales with bounded overhead. Measured speedups of more than an order of magnitude were obtained when the protocol was implemented within ISIS. One conclusion is that systems such as ISIS can achieve performance competitive with the best existing multicast facilities--a finding contradicting the widespread concern that fault-tolerance may be unacceptably costly.

Birman, Kenneth↗

Experimental validation of clock synchronization algorithms

The objective of this work is to validate mathematically derived clock synchronization theories and their associated algorithms through experiment. Two theories are considered, the Interactive Convergence Clock Synchronization Algorithm and the Midpoint Algorithm. Special clock circuitry was designed and built so that several operating conditions and failure modes (including malicious failures) could be tested. Both theories are shown to predict conservative upper bounds (i.e., measured values of clock skew were always less than the theory prediction). Insight gained during experimentation led to alternative derivations of the theories. These new theories accurately predict the behavior of the clock system. It is found that a 100 percent penalty is paid to tolerate worst-case failures. It is also shown that under optimal conditions (with minimum error and no failures) the clock skew can be as much as three clock ticks. Clock skew grows to six clock ticks when failures are present. Finally, it is concluded that one cannot rely solely on test procedures or theoretical analysis to predict worst-case conditions.

Palumbo, Daniel L.↗

High Level Design Proof of a Reliable Computing Platform

An architecture for fault-tolerant computing is formalized and shown to satisfy a key correctness property. The reliable computing platform uses replicated processors and majority voting to achieve fault tolerance. Under the assumption of a majority of processors working in each frame, we show that the replicated system computes the same results as a single processor system not subject to failures. Sufficient conditions are obtained to establish that the replicated system recovers from transient faults within a bounded amount of time. Three different voting schemes are examined and proved to satisfy the bounded recovery time conditions.

DiVito, Ben L.↗

Formal design and verification of a reliable computing platform for real-time control. Phase 1: Results

A high-level design is presented for a reliable computing platform for real-time control applications. Design tradeoffs and analyses related to the development of the fault-tolerant computing platform are discussed. The architecture is formalized and shown to satisfy a key correctness property. The reliable computing platform uses replicated processors and majority voting to achieve fault tolerance. Under the assumption of a majority of processors working in each frame, it is shown that the replicated system computes the same results as a single processor system not subject to failures. Sufficient conditions are obtained to establish that the replicated system recovers from transient faults within a bounded amount of time. Three different voting schemes are examined and proved to satisfy the bounded recovery time conditions.

Divito, Ben L.↗

A Convex Approach to Fault Tolerant Control

The design of control laws for dynamic systems with the potential for actuator failures is considered in this work. The use of Linear Matrix Inequalities allows more freedom in controller design criteria than typically available with robust control. This work proposes an extension of fault-scheduled control design techniques that can find a fixed controller with provable performance over a set of plants. Through convexity of the objective function, performance bounds on this set of plants implies performance bounds on a range of systems defined by a convex hull. This is used to incorporate performance bounds for a variety of soft and hard failures into the control design problem.

Maghami, Peiman G.↗

Development of a Fan for Future Space Suit Applications

NASA's next generation space suit system will place new demands on the fan used to circulate breathing gas through the ventilation loop of the portable life support system. Long duration missions with frequent extravehicular activities (EVAs), the requirement for significant increases in reliability and durability, and a mission profile that imposes strict limits on weight, volume and power create the basis for a set of requirements that demand more performance than is available from existing fan designs. This paper describes the development of a new fan to meet these needs. A centrifugal fan was designed with a normal operating speed of approximately 39,400 rpm to meet the ventilation flow requirements while also meeting the aggressive minimal packaging, weight and power requirements. The prototype fan also operates at 56,000 rpm to satisfy a second operating condition associated with a single fan providing ventilation flow to two spacesuits connected in series. This fan incorporates a novel nonmetallic "can" to keep the oxygen flow separate from the motor electronics, thus eliminating ignition potential. The nonmetallic can enables a small package size and low power consumption. To keep cost and schedule within project bounds a commercial motor controller was used. The fan design has been detailed and implemented using materials and approaches selected to address anticipated mission needs. Test data is presented to show how this fan performs relative to anticipated ventilation requirements for the EVA portable life support system. Additionally, data is presented to show tolerance to anticipated environmental factors such as acoustics, shock, and vibration. Recommendations for forward work to progress the technology readiness level and prepare the fan for the next EVA space suit system are also discussed.

Paul. Heather L.↗

Sensitivity of liquid bridges subject to axial residual acceleration

It has become evident that the float zone crystal growth method and isothermal liquid bridges may be very sensitive to the residual acceleration environment of a spacelab. Using a slender-body approximation, the problem of determining the axisymmetric response of the shape of the free surface of a cylindrical liquid column bounded by two solid regions is modeled by a one-dimensional system of nonlinear equations. It is found that the sensitivity of the zone shape depends on the static Bond number, BO, aspect ratio, and viscosity, as well as the amplitude and frequency of the disturbance. The general trend is an increase in tolerable residual gravity with increasing frequency. At the eigenfrequencies of the zone, however, there are dramatic deviations from this trend. At these frequencies the tolerable residual gravity level can be two orders of magnitude lower at this frequency.

Zhang, Yiqiang↗

A Performance Prediction Model for a Fault-Tolerant Computer During Recovery and Restoration

The modeling and design of a fault-tolerant multiprocessor system is addressed. Of interest is the behavior of the system during recovery and restoration after a fault has occurred. The multiprocessor systems are based on the Algorithm to Architecture Mapping Model (ATAMM) and the fault considered is the death of a processor. The developed model is useful in the determination of performance bounds of the system during recovery and restoration. The performance bounds include time to recover from the fault, time to restore the system, and determination of any permanent delay in the input to output latency after the system has regained steady state. Implementation of an ATAMM based computer was developed for a four-processor generic VHSIC spaceborne computer (GVSC) as the target system. A simulation of the GVSC was also written on the code used in the ATAMM Multicomputer Operating System (AMOS). The simulation is used to verify the new model for tracking the propagation of the delay through the system and predicting the behavior of the transient state of recovery and restoration. The model is shown to accurately predict the transient behavior of an ATAMM based multicomputer during recovery and restoration.

Obando, Rodrigo A.↗