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NASA NTRS1999

The Design of a Fault-Tolerant COTS-Based Bus Architecture

In this paper, we report our experiences and findings on the design of a fault-tolerant bus architecture comprised of two COTS buses, the IEEE 1394 and the 12C. This fault-tolerant bus is the backbone system bus for the avionics architecture of the X2000 program at the Jet Propulsion Laboratory. COTS buses are attractive because of the availability of low cost commercial products. However, they are not specifically designed for highly reliable applications such as long-life deep-space missions. The X2000 design team has devised a multi-level fault tolerance approach to compensate for this shortcoming of COTS buses. First, the approach enhances the fault tolerance capabilities of the IEEE 1394 and 12 C buses by adding a layer of fault handling hardware and software. Second, algorithms are developed to enable the IEEE 1394 and the 12 C buses assist each other to isolate and recovery from faults. Third, the set of IEEE 1394 and 12 C buses is duplicated to further enhance system reliability. The X2000 design team has paid special attention to guarantee that all fault tolerance provisions will not cause the bus design to deviate from the commercial standard specifications. Otherwise, the economic attractiveness of using COTS will be diminished. The hardware and software design of the X2000 fault-tolerant bus are being implemented and flight hardware will be delivered to the ST4 and Europa Orbiter missions.

Chau, Savio N.↗

NASA NTRS2019

Networked Array Recorder (NeAR) Microphones for Field-Deployed Phased Arrays

An innovative edge-computing concept known as NeAR (Networked Array Recorder) has been developed to provide enhancements to existing field-deployable microphone phased arrays utilized for aeroacoustic flyover measurements of airframe and propulsive noise sources. The proposed system allows for the elimination of multiple miles of sensor wiring in an array installation, thereby improving the scalability of the overall system, increasing the fault-tolerance of the hardware, and reducing the effort needed to build-up and tear-down an array in the field. A demonstration of the NeAR concept was performed at Edwards Air Force Base in California in March – April, 2018, where twelve individual NeAR microphones were deployed as a piggyback on a conventional phased array system deployed for airframe noise flyover testing. The microphones operated successfully during the demonstration with good time history and spectral correlations shown between the NeAR units and conventional microphones located nearby in the array. The NeAR concept has spinoffs beyond its use for phased arrays, including applications in remote environmental sensing and noise monitoring.

Cull.iton, William G.↗

NASA NTRS1983

On requirements for software fault tolerance for flight controls

The need for the application of software fault tolerance techniques in digital flight control systems is argued to follow from the requirements derivable from the safety constraints of such systems, requirements which can be stated in terms of minimum acceptable system reliability levels and, moreover, stated quantitatively. It is argued further that, while fault tolerance appears to be a viable mechanism in general, individual fault tolerance schemes need to be analyzed to ensure that they are adequate to the task and being properly utilized, that such analysis is essentially an exercise in software 'reliability' estimation involving software characteristics not currently included in software 'reliability' modeling (most especially, the degree of correlation of malfunctions among redundant, dissimilar software modules), and that, consequently, further research and studies in the characterization of software behavior and malfunctions is required.

Migneault, G. E.↗

NASA NTRS1984

Advanced information processing system

Design and performance details of the advanced information processing system (AIPS) for fault and damage tolerant data processing on aircraft and spacecraft are presented. AIPS comprises several computers distributed throughout the vehicle and linked by a damage tolerant data bus. Most I/O functions are available to all the computers, which run in a TDMA mode. Each computer performs separate specific tasks in normal operation and assumes other tasks in degraded modes. Redundant software assures that all fault monitoring, logging and reporting are automated, together with control functions. Redundant duplex links and damage-spread limitation provide the fault tolerance. Details of an advanced design of a laboratory-scale proof-of-concept system are described, including functional operations.

Lala, J. H.↗

NASA NTRS1990

Location of a faulty module in a computing system

Considering the interplay between different phases of fault tolerance, a new problem of locating a faulty module in a computing system is formulated and solved. First, the probability of each module being faulty, or faulty probability, is calculated using the likelihood principle from the model parameters for fault detection, diagnostics, error propagation, and error detection. Then, based on the faulty probabilities and a given required diagnostic coverage, the order in which modules are to be diagnosed and the maximum time allotted to diagnose each module are determined by minimizing the average total diagnostic time. An example is presented and analyzed to answer the question of whether or not a system should delay the diagnosis upon detection of an error until more errors are detected.

Lin, Tein-Hsiang↗

NASA NTRS1985

Ensuring fault tolerance of phase-locked clocks

Processors within a real-time multiprocessor system must be synchronized with as little overhead as possible. Although synchronization can be achieved via both software (e.g., interactive convergence and interactive consistency algorithms) and hardware (e.g., multistage synchronizers and phase-locked clocks), phase-locked clocks are most attractive due to their small overheads. Despite the fact that synchronization of the multiprocessor system with phase-locked clocks is totally different in nature from the interactive consistency algorithm, it is presently proven that it must satisfy the same condition, N equal to or greater than 3m + 1, where N is the total number of clocks in the multiprocessor system and m is the maximum number of faults tolerable. Also presented are results showing how to design phase-locked clocks so as to be impervious up to a given arbitrary number of malicious failures.

Krishna, C. M.↗

NASA NTRS2008

Update on Development of SiC Multi-Chip Power Modules

Progress has been made in a continuing effort to develop multi-chip power modules (SiC MCPMs). This effort at an earlier stage was reported in 'SiC Multi-Chip Power Modules as Power-System Building Blocks' (LEW-18008-1), NASA Tech Briefs, Vol. 31, No. 2 (February 2007), page 28. The following recapitulation of information from the cited prior article is prerequisite to a meaningful summary of the progress made since then: 1) SiC MCPMs are, more specifically, electronic power-supply modules containing multiple silicon carbide power integrated-circuit chips and silicon-on-insulator (SOI) control integrated-circuit chips. SiC MCPMs are being developed as building blocks of advanced expandable, reconfigurable, fault-tolerant power-supply systems. Exploiting the ability of SiC semiconductor devices to operate at temperatures, breakdown voltages, and current densities significantly greater than those of conventional Si devices, the designs of SiC MCPMs and of systems comprising multiple SiC MCPMs are expected to afford a greater degree of miniaturization through stacking of modules with reduced requirements for heat sinking; 2) The stacked SiC MCPMs in a given system can be electrically connected in series, parallel, or a series/parallel combination to increase the overall power-handling capability of the system. In addition to power connections, the modules have communication connections. The SOI controllers in the modules communicate with each other as nodes of a decentralized control network, in which no single controller exerts overall command of the system. Control functions effected via the network include synchronization of switching of power devices and rapid reconfiguration of power connections to enable the power system to continue to supply power to a load in the event of failure of one of the modules; and, 3) In addition to serving as building blocks of reliable power-supply systems, SiC MCPMs could be augmented with external control circuitry to make them perform additional power-handling functions as needed for specific applications. Because identical SiC MCPM building blocks could be utilized in such a variety of ways, the cost and difficulty of designing new, highly reliable power systems would be reduced considerably. This concludes the information from the cited prior article. The main activity since the previously reported stage of development was the design, fabrication, and testing a 120- VDC-to-28-VDC modular power-converter system composed of eight SiC MCPMs in a 4 (parallel)-by-2 (series) matrix configuration, with normally-off controllable power switches. The SiC MCPM power modules include closed-loop control subsystems and are capable of operating at high power density or high temperature. The system was tested under various configurations, load conditions, load-transient conditions, and failure-recovery conditions. Planned future work includes refinement of the demonstrated modular system concept and development of a new converter hardware topology that would enable sharing of currents without the need for communication among modules. Toward these ends, it is also planned to develop a new converter control algorithm that would provide for improved sharing of current and power under all conditions, and to implement advanced packaging concepts that would enable operation at higher power density.

Lostetter, Alexander↗

NASA NTRS2015

Software Testbed for Developing and Evaluating Integrated Autonomous Subsystems

To implement fault tolerant autonomy in future space systems, it will be necessary to integrate planning, adaptive control, and state estimation subsystems. However, integrating these subsystems is difficult, time-consuming, and error-prone. This paper describes Intelliface/ADAPT, a software testbed that helps researchers develop and test alternative strategies for integrating planning, execution, and diagnosis subsystems more quickly and easily. The testbed's architecture, graphical data displays, and implementations of the integrated subsystems support easy plug and play of alternate components to support research and development in fault-tolerant control of autonomous vehicles and operations support systems. Intelliface/ADAPT controls NASA's Advanced Diagnostics and Prognostics Testbed (ADAPT), which comprises batteries, electrical loads (fans, pumps, and lights), relays, circuit breakers, invertors, and sensors. During plan execution, an experimentor can inject faults into the ADAPT testbed by tripping circuit breakers, changing fan speed settings, and closing valves to restrict fluid flow. The diagnostic subsystem, based on NASA's Hybrid Diagnosis Engine (HyDE), detects and isolates these faults to determine the new state of the plant, ADAPT. Intelliface/ADAPT then updates its model of the ADAPT system's resources and determines whether the current plan can be executed using the reduced resources. If not, the planning subsystem generates a new plan that reschedules tasks, reconfigures ADAPT, and reassigns the use of ADAPT resources as needed to work around the fault. The resource model, planning domain model, and planning goals are expressed using NASA's Action Notation Modeling Language (ANML). Parts of the ANML model are generated automatically, and other parts are constructed by hand using the Planning Model Integrated Development Environment, a visual Eclipse-based IDE that accelerates ANML model development. Because native ANML planners are currently under development and not yet sufficiently capable, the ANML model is translated into the New Domain Definition Language (NDDL) and sent to NASA's EUROPA planning system for plan generation. The adaptive controller executes the new plan, using augmented, hierarchical finite state machines to select and sequence actions based on the state of the ADAPT system. Real-time sensor data, commands, and plans are displayed in information-dense arrays of timelines and graphs that zoom and scroll in unison. A dynamic schematic display uses color to show the real-time fault state and utilization of the system components and resources. An execution manager coordinates the activities of the other subsystems. The subsystems are integrated using the Internet Communications Engine (ICE). an object-oriented toolkit for building distributed applications.

Testbed↗

NASA NTRS1993

Comparative analysis of different configurations of PLC-based safety systems from reliability point of view

The study of a comparative analysis of distinct multiplex and fault-tolerant configurations for a PLC-based safety system from a reliability point of view is presented. It considers simplex, duplex and fault-tolerant triple redundancy configurations. The standby unit in case of a duplex configuration has a failure rate which is k times the failure rate of the standby unit, the value of k varying from 0 to 1. For distinct values of MTTR and MTTF of the main unit, MTBF and availability for these configurations are calculated. The effect of duplexing only the PLC module or only the sensors and the actuators module, on the MTBF of the configuration, is also presented. The results are summarized and merits and demerits of various configurations under distinct environments are discussed.

Tapia, Moiez A.↗

NASA NTRS1997

Experimental Robot Position Sensor Fault Tolerance Using Accelerometers and Joint Torque Sensors

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. The proposed method uses joint torque sensors found in most existing advanced robot designs along with easily locatable, lightweight accelerometers to provide a joint position sensor fault recovery mode. This mode uses the torque sensors along with a virtual passive control law for stability and accelerometers for joint position information. Two methods for conversion from Cartesian acceleration to joint position based on robot kinematics, not integration, are presented. The fault tolerant control method was tested on several joints of a laboratory robot. The controllers performed well with noisy, biased data and a model with uncertain parameters.

Aldridge, Hal A.↗

NASA NTRS1983

Shuttle Entry Air Data System concepts applied to Space Shuttle Orbiter flight pressure data to determine air data - STS 1-4

The Shuttle Entry Air Data System (SEADS) is the implementation of a new concept in air data systems, with application to entry vehicles. This concept incorporates an array of flush orifices in the nose and forward fuselage of the vehicle and a new flowfield modeling concept for the analysis of flight data and the determination of the required air data parameters. Although the SEADS has not been fully demonstrated, a developmental analysis capability has been assembled and demonstrated. This analytical capability has been used to analyze selected Development Flight Instrumentation (DFI) pressure data from STS-1 through STS-4 and determine angle of attack and freestream dynamic pressure. The results of this study verify the potential of the SEADS as a highly fault tolerant operational air data system. In addition, the transition of SEADS from its present status as an experimental system to an operational system is shown to be readily achievable.

Siemers, P. M., III↗

NASA NTRS1988

Parallel and distributed computation for fault-tolerant object recognition

The distributed associative memory (DAM) model is suggested for distributed and fault-tolerant computation as it relates to object recognition tasks. The fault-tolerance is with respect to geometrical distortions (scale and rotation), noisy inputs, occulsion/overlap, and memory faults. An experimental system was developed for fault-tolerant structure recognition which shows the feasibility of such an approach. The approach is futher extended to the problem of multisensory data integration and applied successfully to the recognition of colored polyhedral objects.

Wechsler, Harry↗

NASA NTRS1988

Feasibility of using GPS measurements for OMV attitude update

This paper presents the results of a feasibility study to determine whether the measurements from GPS satellites can be used to estimate the OMV attitude to an accuracy comparable to the onboard sun sensors, i.e., better than 0.5 degree in each axis. The results documented in this paper demonstrate that OMV attitude can be estimated to an accuracy of 0.1 - 0.5 degree in each axis by processing GPS measurements in an onboard integrated, 17-state GPS/inertial navigation filter. The result is particularly significant for missions of short duration burns where accurate attitude information is needed to minimize guidance and control errors. It is shown that the GPS attitude technique described in this paper can be easily implemented in the current OMV navigation system design. Results reported in this paper are expected to support the goal of developing a fault-tolerant guidance, navigation, and control system offering an improved total navigation performance for the OMV.

Upadhyay, Triveni N.↗

NASA NTRS2006

Development and Flight Testing of a Neural Network Based Flight Control System on the NF-15B Aircraft

The Intelligent Flight Control System (IFCS) project at the NASA Dryden Flight Research Center, Edwards AFB, CA, has been investigating the use of neural network based adaptive control on a unique NF-15B test aircraft. The IFCS neural network is a software processor that stores measured aircraft response information to dynamically alter flight control gains. In 2006, the neural network was engaged and allowed to learn in real time to dynamically alter the aircraft handling qualities characteristics in the presence of actual aerodynamic failure conditions injected into the aircraft through the flight control system. The use of neural network and similar adaptive technologies in the design of highly fault and damage tolerant flight control systems shows promise in making future aircraft far more survivable than current technology allows. This paper will present the results of the IFCS flight test program conducted at the NASA Dryden Flight Research Center in 2006, with emphasis on challenges encountered and lessons learned.

Bomben, Craig R.↗

NASA NTRS2019

Modal Analysis of a Two-Parachute System

The Orion capsule is designed to land under a nominal configuration of three main parachutes; however, the system is required to be fault tolerant and land successfully if one of the main parachutes fails to open. The Capsule Parachute Assembly System (CPAS) Team performed a series of drop tests in order to characterize the performance of the system with two main parachutes. During the series of drop tests, several distinct dynamical modes were observed. The most consequential of these is the pendulum mode. Three other modes are benign: flyout (scissors), maypole, and breathing. The actual multi-body system is nonlinear, flexible, and possesses significant cross-coupling. Rather than perform analysis of this highly complex system directly, we conduct analysis of each dynamical mode observed during flight, based on first principles. This approach is analogous to traditional aircraft flight dynamics analysis in which the full nonlinear behavior of the airframe is decomposed into longitudinal dynamics (phugoid and short-period modes) and lateral dynamics (spiral, roll-subsidence, and dutch-roll modes). This analysis is intended to supplement multi-body nonlinear simulations in order to provide further insight into the system.

Pei, Jing↗

NASA NTRS1986

FTMP (Fault Tolerant Multiprocessor) programmer's manual

The Fault Tolerant Multiprocessor (FTMP) computer system was constructed using the Rockwell/Collins CAPS-6 processor. It is installed in the Avionics Integration Research Laboratory (AIRLAB) of NASA Langley Research Center. It is hosted by AIRLAB's System 10, a VAX 11/750, for the loading of programs and experimentation. The FTMP support software includes a cross compiler for a high level language called Automated Engineering Design (AED) System, an assembler for the CAPS-6 processor assembly language, and a linker. Access to this support software is through an automated remote access facility on the VAX which relieves the user of the burden of learning how to use the IBM 4381. This manual is a compilation of information about the FTMP support environment. It explains the FTMP software and support environment along many of the finer points of running programs on FTMP. This will be helpful to the researcher trying to run an experiment on FTMP and even to the person probing FTMP with fault injections. Much of the information in this manual can be found in other sources; we are only attempting to bring together the basic points in a single source. If the reader should need points clarified, there is a list of support documentation in the back of this manual.

Feather, F. E.↗

NASA NTRS1985

The embedded operating system project

The design and construction of embedded operating systems for real-time advanced aerospace applications was investigated. The applications require reliable operating system support that must accommodate computer networks. Problems that arise in the construction of such operating systems, reconfiguration, consistency and recovery in a distributed system, and the issues of real-time processing are reported. A thesis that provides theoretical foundations for the use of atomic actions to support fault tolerance and data consistency in real-time object-based system is included. The following items are addressed: (1) atomic actions and fault-tolerance issues; (2) operating system structure; (3) program development; (4) a reliable compiler for path Pascal; and (5) mediators, a mechanism for scheduling distributed system processes.

Campbell, R. H.↗

NASA NTRS1989

A design philosophy for multi-layer neural networks with applications to robot control

A system is proposed which receives input information from many sensors that may have diverse scaling, dimension, and data representations. The proposed system tolerates sensory information with faults. The proposed self-adaptive processing technique has great promise in integrating the techniques of artificial intelligence and neural networks in an attempt to build a more intelligent computing environment. The proposed architecture can provide a detailed decision tree based on the input information, information stored in a long-term memory, and the adapted rule-based knowledge. A mathematical model for analysis will be obtained to validate the cited hypotheses. An extensive software program will be developed to simulate a typical example of pattern recognition problem. It is shown that the proposed model displays attention, expectation, spatio-temporal, and predictory behavior which are specific to the human brain. The anticipated results of this research project are: (1) creation of a new dynamic neural network structure, and (2) applications to and comparison with conventional multi-layer neural network structures. The anticipated benefits from this research are vast. The model can be used in a neuro-computer architecture as a building block which can perform complicated, nonlinear, time-varying mapping from a multitude of input excitory classes to an output or decision environment. It can be used for coordinating different sensory inputs and past experience of a dynamic system and actuating signals. The commercial applications of this project can be the creation of a special-purpose neuro-computer hardware which can be used in spatio-temporal pattern recognitions in such areas as air defense systems, e.g., target tracking, and recognition. Potential robotics-related applications are trajectory planning, inverse dynamics computations, hierarchical control, task-oriented control, and collision avoidance.

Vadiee, Nader↗