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NASA NTRS1997

Original Size and Shape of the Sudbury Structure

This paper presents new evidence bearing on the original size and shape of the Sudbury impact structure. Current opinion is almost unanimous that the structure is a multiring basin with an original diameter of about 200 km and a circular shape that has since been shortened in a northwest-southeast direction by Penokean deformation Evidence for this interpretation, collected chiefly from north of the Sudbury Igneous Complex (SIC), includes supposed outer rings on Landsat imagery, distant occurrences of "Sudbury breccia" (generally defined as pseudotachylite), shatter cone occurrences, and outliers of Huronian sedimentary rock thought to be down-faulted rings. New data from imaging radar and field work north of the SIC, however, contradict this evidence. Radar imagery shows no signs of the supposed outer rings mapped by earlier workers on Landsat images. The most prominent ring has been found to be a chance alignment of two independent fracture sets. Radar imagery from the CCRS Convair 580, with look direction almost normal to the north rim of the SIC, shows no evidence of the rings despite strong look azimuth highlighting. Radar imagery has shown many unmapped diabase dikes north of the SIC. Several exposures of supposed Sudbury breccia are associated with these dikes or with Nipissing diabase intrusions, in some cases actually inside the dikes or directly continuous with them. They appear to be igneous intrusion breccias with no relation to impact. Shock-wave interaction at lithologic contacts cannot be invoked for most of these, because they are part of a northwest trending swarm cutting the SIC in the North Range, and hence too young for an impact origin. Similar diabase-related breccias and pseudotachylite-like veins have been found far outside the Sudbury area between Chapleau and Thessalon. Shatter cones north of the SIC are few and poorly developed, perhaps due to the coarse-grained Footwall rock, and cannot be considered a continuous zone analogous to their occurrence on the South Range in Huronian rocks. Supposed down-faulted outliers of Huronian rocks north of the SIC show no consistent relation to faulting, and the Huronian/Archean contact is locally erosional. Radar imagery and field-checking confirm Rousell's conclusion that the North Range has undergone little or no Penokean deformation. T'his implies that the plan view outline of the crater (floor of the SIC) is original. Extrapolation of the North Range as part of a circular arc leads to an impossibly great diameter. It is concluded that although Penokean deformation largely accounts for the structure's shape, the original crater was not circular and was much smaller than 200 km across.

Lowman, P. D., Jr.↗

NASA NTRS2007

Deep Space Network Antenna Logic Controller

The Antenna Logic Controller (ALC) software controls and monitors the motion control equipment of the 4,000-metric-ton structure of the Deep Space Network 70-meter antenna. This program coordinates the control of 42 hydraulic pumps, while monitoring several interlocks for personnel and equipment safety. Remote operation of the ALC runs via the Antenna Monitor & Control (AMC) computer, which orchestrates the tracking functions of the entire antenna. This software provides a graphical user interface for local control, monitoring, and identification of faults as well as, at a high level, providing for the digital control of the axis brakes so that the servo of the AMC may control the motion of the antenna. Specific functions of the ALC also include routines for startup in cold weather, controlled shutdown for both normal and fault situations, and pump switching on failure. The increased monitoring, the ability to trend key performance characteristics, the improved fault detection and recovery, the centralization of all control at a single panel, and the simplification of the user interface have all reduced the required workforce to run 70-meter antennas. The ALC also increases the antenna availability by reducing the time required to start up the antenna, to diagnose faults, and by providing additional insight into the performance of key parameters that aid in preventive maintenance to avoid key element failure. The ALC User Display (AUD) is a graphical user interface with hierarchical display structure, which provides high-level status information to the operation of the ALC, as well as detailed information for virtually all aspects of the ALC via drill-down displays. The operational status of an item, be it a function or assembly, is shown in the higher-level display. By pressing the item on the display screen, a new screen opens to show more detail of the function/assembly. Navigation tools and the map button allow immediate access to all screens.

Ahlstrom, Harlow↗

NASA NTRS1998

Analysis of a Memory Device Failure

The recent failure of a vintage memory device presented a unique challenge to failure analysts. Normally device layouts, fabrication parameters and other technical information were available to assist the analyst in the analysis. However, this device was out of production for many years and the manufacturer was no longer in business, so the information was not available. To further complicate this analysis, the package leads were all but removed making additional electrical testing difficult. Under these conditions, new and innovative methods were used to analyze the failure. The external visual exam, radiography, PIND, and leak testing were performed with nominal results. Since electrical testing was precluded by the short lead lengths, the device was delidded to expose the internal structures for microscopic examination. No failure mechanism was identified. The available electrical data suggested an ESD or low level EOS type mechanism which left no visible surface damage. Due to parallel electrical paths, electrical probing on the chip failed to locate the failure site. Two non-destructive Scanning Electron Microscopy techniques, CIVA (Charge Induced Voltage Alteration) and EBIC (Electron Beam Induced Current), and a liquid crystal decoration technique which detects localized heating were employed to aid in the analysis. CIVA and EBIC isolated two faults in the input circuitry, and the liquid crystal technique further localized two hot spots in regions on two input gates. Removal of the glassivation and metallization revealed multiple failure sites located in the gate oxide of two input transistors suggesting machine (testing) induced damage.

Nicolas, David P.↗

NASA NTRS2025

Localization of Ad-Hoc Lunar Constellations in Communication Failure Modes for Distributed Spacecraft Autonomy

As Lunar missions increase in complexity, inspired by NASA’s Artemis Program, they will require reliable and sufficient Position, Navigation, and Timing (PNT) capability to support the upcoming Lunar users. The navigation service should also be compatible with the smaller platforms, like CubeSats, being sent by the public and private sectors. A non-dedicated, ad-hoc Lunar navigation constellation can provide PNT services on-demand using the non-dedicated swarm assets. Swarm members cooperatively and autonomously localize themselves with minimal interaction from Earth, freeing up valuable bandwidth and ground segment resources. The autonomous localization of Lunar constellations utilizes neighbor two-way intersatellite link (ISL) measurements in a distributed extended Kalman filter (DEKF) system to minimize operating costs. Because the decentralized Lunar PNT system relies on relay communication amongst the agents, network failures or loss of assets among ad-hoc Lunar constellations may impact localization performance. This study presents an evaluation of localization performance under increasing levels of network degradation. A simulation of an ad-hoc Lunar PNT swarm is augmented to include system faults and the impacts of intermittent and permanent failures on localization performance are evaluated. We investigate three potential causes of network degradation: single spacecraft loss, multiple spacecraft loss, and antenna failure. The numerical assessments from the simulation show that the LPNT system under study, based on an autonomous decentralized concept of operation, is highly robust and resilient to communication failures. Minor faults, such as single spacecraft loss, solar interference, technical malfunctions, message delays, and antenna outages, have minimal impact on state estimation, with only a 4.47% and 3.75% degradation in median position error for assets and a representative ground user, respectively, compared to an ideal communication scenario. However, major faults, such as hardware failures or meteor strikes leading to the loss of multiple spacecrafts, are more concerning. The permanent loss of three spacecraft results in a more severe performance degradation, with median position error increasing by 23.3% for assets and 11.7% for a representative ground user, despite the Lunar PNT system remaining functional.

Yeji Kim↗

NASA NTRS1991

Geology and tectonics of Beta Regio, Guinevere Planitia, Sedna Planitia, and Western Eistla Regio, Venus - Results from Arecibo image data

The geology of a portion of the equatorial region of Venus (1 deg S to 45 deg N and from 270 deg eastward to 30 deg) is assessed on the basis of new radar images obtained from the Arecibo Observatory. Nine geologic units are mapped on the basis of their radar characteristics, and their distribution and correspondences with topography are examined. Plains are the most abundant unit, comprising 80 percent of the area imaged, and are divided into bright, dark, and mottled. Mottled plains contain abundant lava flows and domes, suggesting that volcanism forming planes is a significant process in the equatorial region of Venus. Tesserae are found primarily on Beta Regio and its eastern flank and are interpreted to be locally stratigraphically older units, predating episodes of faulting and plains formation. On the basis of spatial and temporal relationships between geologic units, the highlands of Beta Regio and Western Eistla Regio are interpreted to have formed in association with areas of mantle upwelling which uplift plains, cause rifting, and, in the case of Beta Regio, disrupt a large region of tesserae.

Senske, D. A.↗

NASA NTRS1994

On the derivation of coseismic displacement fields using differential radar interferometry: The Landers earthquake

We present a map of the coseimic displacement field resulting from the Landers, California, June 28, 1992, earthquake derived using data acquired from an orbiting high-resolution radar system. We achieve results more accurate than previous space studies and similar in accuracy to those obtained by conventional field survey techniques. Data from the ERS 1 synthetic aperture radar instrument acquired in April, July, and August 1992 are used to generate a high-resolution, wide area map of the displacements. The data represent the motion in the direction of the radar line of sight to centimeter level precision of each 30-m resolution element in a 113 km by 90 km image. Our coseismic displacement contour map gives a lobed pattern consistent with theoretical models of the displacement field from the earthquake. Fine structure observed as displacement tiling in regions several kilometers from the fault appears to be the result of local surface fracturing. Comparison of these data with Global Positioning System and electronic distance measurement survey data yield a correlation of 0.96; thus the radar measurements are a means to extend the point measurements acquired by traditional techniques to an area map format. The technique we use is (1) more automatic, (2) more precise, and (3) better validated than previous similar applications of differential radar interferometry. Since we require only remotely sensed satellite data with no additioanl requirements for ancillary information. the technique is well suited for global seismic monitoring and analysis.

Zebker, Howard A.↗

NASA NTRS2008

NASA Tech Briefs, November 2008

Topics covered include: Digital Phase Meter for a Laser Heterodyne Interferometer; Vision System Measures Motions of Robot and External Objects; Advanced Precipitation Radar Antenna to Measure Rainfall From Space; Wide-Band Radar for Measuring Thickness of Sea Ice; Vertical Isolation for Photodiodes in CMOS Imagers; Wide-Band Microwave Receivers Using Photonic Processing; L-Band Transmit/Receive Module for Phase-Stable Array Antennas; Microwave Power Combiner/Switch Utilizing a Faraday Rotator; Compact Low-Loss Planar Magic-T; Using Pipelined XNOR Logic to Reduce SEU Risks in State Machines; Quasi-Optical Transmission Line for 94-GHz Radar; Next Generation Flight Controller Trainer System; Converting from DDOR SASF to APF; Converting from CVF to AAF; Documenting AUTOGEN and APGEN Model Files; Sequence History Update Tool; Extraction and Analysis of Display Data; MRO DKF Post-Processing Tool; Rig Diagnostic Tools; MRO Sequence Checking Tool; Science Activity Planner for the MER Mission; UAVSAR Flight-Planning System; Templates for Deposition of Microscopic Pointed Structures; Adjustable Membrane Mirrors Incorporating G-Elastomers; Hall-Effect Thruster Utilizing Bismuth as Propellant; High-Temperature Crystal-Growth Cartridge Tubes Made by VPS; Quench Crucibles Reinforced with Metal; Deep-Sea Hydrothermal-Vent Sampler; Mars Rocket Propulsion System; Two-Stage Passive Vibration Isolator; Improved Thermal Design of a Compression Mold; Enhanced Pseudo-Waypoint Guidance for Spacecraft Maneuvers; Altimetry Using GPS-Reflection/Occultation Interferometry; Thermally Driven Josephson Effect; Perturbation Effects on a Supercritical C7H16/N2 Mixing Layer; Gold Nanoparticle Labels Amplify Ellipsometric Signals; Phase Matching of Diverse Modes in a WGM Resonator; WGM Resonators for Terahertz-to-Optical Frequency Conversion; Determining Concentration of Nanoparticles from Ellipsometry; Microwave-to-Optical Conversion in WGM Resonators; Four-Pass Coupler for Laser-Diode-Pumped Solid-State Laser; Low-Resolution Raman-Spectroscopy Combustion Thermometry; Temperature Sensors Based on WGM Optical Resonators; Varying the Divergence of Multiple Parallel Laser Beams; Efficient Algorithm for Rectangular Spiral Search; Algorithm-Based Fault Tolerance Integrated with Replication; Targeting and Localization for Mars Rover Operations; Terrain-Adaptive Navigation Architecture; Self-Adjusting Hash Tables for Embedded Flight Applications; Schema for Spacecraft-Command Dictionary; Combined GMSK Communications and PN Ranging; System-Level Integration of Mass Memory; Network-Attached Solid-State Recorder Architecture; Method of Cross-Linking Aerogels Using a One-Pot Reaction Scheme; An Efficient Reachability Analysis Algorithm.

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NASA NTRS2006

NASA Tech Briefs, February 2006

Topics discussed include: Nearly Direct Measurement of Relative Permittivity; DCS-Neural-Network Program for Aircraft Control and Testing; Dielectric Heaters for Testing Spacecraft Nuclear Reactors; Using Doppler Shifts of GPS Signals To Measure Angular Speed; Monitoring Temperatures of Tires Using Luminescent Materials; Highly Efficient Multilayer Thermoelectric Devices; Very High-Speed Digital Video Capability for In-Flight Use; MMIC DHBT Common-Base Amplifier for 172 GHz; Modular, Microprocessor-Controlled Flash Lighting System; Generic Environment for Simulating Launch Operations; Modular Aero-Propulsion System Simulation; X-Windows Socket Widget Class; Infrastructure for Rapid Development of Java GUI Programs; Processing Raman Spectra of High-Pressure Hydrogen Flames; X-Windows Information Sharing Protocol Widget Class; Simulating Humans as Integral Parts of Spacecraft Missions; Analyzing Power Supply and Demand on the ISS; Polyimides From a-BPDA and Aromatic Diamines; Making Plant-Support Structures From Waste Plant Fiber; Large Deployable Reflectarray Antenna; Periodically Discharging, Gas-Coalescing Filter; Ion Milling On Steps for Fabrication of Nanowires; Neuro-Prosthetic Implants With Adjustable Electrode Arrays; Microfluidic Devices for Studying Biomolecular Interactions; Studying Functions of All Yeast Genes Simultaneously; Polarization Phase-Compensating Coats for Metallic Mirrors; Tunable-Bandwidth Filter System; Methodology for Designing Fault-Protection Software; and Ground-Based Localization of Mars Rovers.

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NASA NTRS2019

Image-Based Localization of Ultraviolet Corona

Systems and methods for identifying a fault in an electrical distribution system may include capturing an image of a corona event associated with a component of the electrical distribution system and processing the image of the corona event to identify the center and boundary of the corona event. An overlay for display with the image of the corona event may be generated, where the overlay identifying at least a center of the corona event and may be displayed to a user via a user interface device. In some cases, an unmanned aerial vehicle may comprise one or more image sensors capable of capturing the image of the corona event and communicate the images to a remote device for processing and display to the user. The image captured by the image sensors may include an ultraviolet image, a visible spectrum image, an infrared image, or a combination of image types.

Moore, Andrew J.↗

NASA NTRS2002

Evaluation of Standard Gear Metrics in Helicopter Flight Operation

Each false alarm made by a machine monitoring system carries a high price tag. The machine must be taken out of service, thoroughly inspected with possible disassembly, and then made ready for service. Loss of use of the machine and the efforts to inspect it are costly. In addition, if a monitoring system is prone to false alarms, the system will soon be turned off or ignored. For aircraft applications, one growing concern is that the dynamic flight environment differs from the laboratory environment where fault detection methods are developed and tested. Vibration measurements made in flight are less stationary than those made in a laboratory, or test facility, and thus a given fault detection method may produce more false alarms in flight than might be anticipated. In 1977. Stewart introduced several metrics, including FM0 and FM4, for evaluating the health of a gear. These metrics are single valued functions of the vibration signal that indicate if the signal deviates from an ideal model of the signal. FM0 is a measure of the ratio of the peak-to-peak level to the harmonic energy in the signal. FM4 is the kurtosis of the signal with the gear mesh harmonics and first order side bands removed. The underlying theory is that a vibration signal from a gear in good condition is expected to be dominated by a periodic signal at the gear mesh frequency. If one or a small number of gear teeth contain damage or faults, the signal will change, possibly showing increased amplitude, local phase changes or both near the damaged region of the gear. FM0 increases if a signal contains a local increase in amplitude. FM4 increases if a signal contains a local increase in amplitude or local phase change in a periodic signal. Over the years, other single value metrics were also introduced to detect the onset and growth of damage in gears. These various metrics have detected faults in several gear tests in experimental test rigs. Conditions in these tests have been steady state in the sense that the rpm, torque and forces on the gear have been held steady. For gears used in a dynamic environment such as that occurring in aircraft, the rpm, torque and forces on the gear are constantly changing. The authors have measured significant variation in rpm and torque in the transmissions of helicopters in controlled steady flight conditions flown by highly proficient test pilots. Statistical analyses of the data taken in flight show significant nonstationarity in the vibration measurements. These deviations from stationarity may increase false alarms in gear monitoring during aircraft flight. In the proposed paper, the authors will study vibration measurements made in flight on an AH- 1 Cobra and an OH-58C Kiowa helicopters. The primary focus will be the development of a methodology to assess the impact of nonstationarity on false alarms. Issues to be addressed include how time synchronous averages are constructed from raw data as well as how lack of stationarity effects the behavior of single value metrics. Emphasis will be placed on the occurrence of false alarms with the use of standard metrics. In order to maintain an acceptable level of false alarms in the flight environment, this study will also address the determination of appropriate threshold levels, which may need to be higher than for test rigs.

Mosher, M.↗

NASA NTRS2001

Noachian Faulting: What Do Faults Tell Us About the Tectonic History of Tharsis?

The western hemisphere of Mars is dominated by the formation of Tharsis, which is an enormous high-standing region (roughly 25% of the surface area of the planet) capped by volcanics, including the solar system's largest shield volcanoes. Tharsis is surrounded by an enormous radiating system of grabens and a circumferential system of wrinkle ridges that extends over the entire western hemisphere of Mars. This region is perhaps the largest and most long lived tectonic and volcanic province of any of the terrestrial planets with a well-preserved history of magmatic-driven activity that began in the Noachian and has lasted throughout Martian geologic time. Tharsis and the surrounding regions comprise numerous components, including volcanic constructs of varying sizes and extensive lava flow fields, large igneous plateaus, fault and ridge systems of varying extent and relative age of formation, gigantic outflow channel systems, vast system of canyons, and local and regional centers of tectonic activity. Many of these centers are interpreted to be the result of magmatic-related activity, including uplift, faulting, dike emplacement, volcanism, and local hydrothermal activity. Below we present a summary of our work for Tharsis focusing primarily on the earliest stage of development, the Noachian period. Here we hone in on the early centers and how they relate to the early development of the Tharsis Magmatic Complex (TMC).

Anderson, R. C.↗

NASA NTRS1996

Continuum Fatigue Damage Modeling for Critical Design, Control, and Fault Prognosis

This paper develops a simplified continuum (continuous with respect to time, stress, etc.) fatigue damage model for use in critical design, Life Extending Control and fault prognosis. The work is based on the local strain cyclic damage modeling method. New nonlinear explicit equation forms of cyclic damage in terms of stress amplitude are derived to facilitate the continuum modelling. Stress based continuum models are derived. Extension to plastic strain-strain rate models is also presented. Progress toward a non-zero mean stress based is presented. Also new nonlinear explicit equation forms in terms of stress amplitude are derived for this case. Application of the various models to design, control, and fault prognosis is considered.

Lorenzo, Carl F.↗

NASA NTRS1985

Wavelength division multiplexing

Wavelength division multiplexing (WDM) represents an approach for expanding the communication capacity and for implementing special data techniques in a fiber optics system. This technology is implemented by adding optical sources of different wavelengths at optical transmitting locations. The present paper is concerned with some of the current efforts in WDM. WDM applications are related to long haul communications, local area data networks, spacecraft and aircraft data systems, fault tolerant computer networks, special sensor devices, high speed data processors, closed circuit and cable television, and submarine cable systems. Attention is given to the current state of wavelength division multiplexing applications, the availability and status of WDM components semiconductor lasers/transmitters, availability and status of fiber optic detectors/receivers, optical fibers/cables/connectors/taps/star couplers, wavelength multiplexers/demultiplexers, and future WDM for local area networks.

Hendricks, H. D.↗

NASA NTRS1986

Hybrid routing technique for a fault-tolerant, integrated information network

The evolutionary growth of the space station and the diverse activities onboard are expected to require a hierarchy of integrated, local area networks capable of supporting data, voice, and video communications. In addition, fault-tolerant network operation is necessary to protect communications between critical systems attached to the net and to relieve the valuable human resources onboard the space station of time-critical data system repair tasks. A key issue for the design of the fault-tolerant, integrated network is the development of a robust routing algorithm which dynamically selects the optimum communication paths through the net. A routing technique is described that adapts to topological changes in the network to support fault-tolerant operation and system evolvability.

Meredith, B. D.↗

NASA NTRS1988

Driving forces: Slab subduction and mantle convection

Mantle convection is the mechanism ultimately responsible for most geological activity at Earth's surface. To zeroth order, the lithosphere is the cold outer thermal boundary layer of the convecting mantle. Subduction of cold dense lithosphere provides tha major source of negative buoyancy driving mantle convection and, hence, surface tectonics. There are, however, importnat differences between plate tectonics and the more familiar convecting systems observed in the laboratory. Most important, the temperature dependence of the effective viscosity of mantle rocks makes the thermal boundary layer mechanically strong, leading to nearly rigid plates. This strength stabilizes the cold boundary layer against small amplitude perturbations and allows it to store substantial gravitational potential energy. Paradoxically, through going faults at subduction zones make the lithosphere there locally weak, allowing rapid convergence, unlike what is observed in laboratory experiments using fluids with temperature dependent viscosities. This bimodal strength distribution of the lithosphere distinguishes plate tectonics from simple convection experiments. In addition, Earth has a buoyant, relatively weak layer (the crust) occupying the upper part of the thermal boundary layer. Phase changes lead to extra sources of heat and bouyancy. These phenomena lead to observed richness of behavior of the plate tectonic style of mantle convection.

Hager, Bradford H.↗

NASA NTRS1988

Geodetic measurement of deformation in California

The very long baseline interferometry (VLBI) measurements made in the western U.S. since 1979 as part of the NASA Crustal Dynamics Project provide discrete samples of the temporal and spatial deformation field. The interpretation of the VLBI-derived rates of deformation requires an examination of geologic information and more densely sampled ground-based geodetic data. In the first two of three related studies embodying this thesis triangulation and trilateration data measured on two regional networks are processed, one in the central Mojave Desert and one in the Coast Ranges east of the San Andreas fault. At the spatial scales spanned by these local geodetic networks, auxiliary geologic and geophysical data have been utilized to examine the relation between measured incremental strain and the accommodation of strain seen in local geological structures, strain release in earthquakes, and principal stress directions inferred from in situ measurements. In the third study, VLBI data from stations distributed across the Pacific - North American plate boundary zone in the western United States are processed. The VLBI data have been used to constrain the integrated rate of deformation across portions of the continental plate boundary in California and to provide a tectonic framework to interpret regional geodetic and geologic studies.

Sauber, Jeanne Marie↗

NASA NTRS1986

Cenozoic thermal, mechanical and tectonic evolution of the Rio Grande rift

Two areas of New Mexico which exhibit complex but similar Cenozoic histories of extensional tectonism are analyzed. The first study area is the Basin and Range province and southern Rio Gande rift in southern New Mexico; the second study area is the central Rio Grande rift in central and northern New Mexico, the southern San Luis basin, the Espanola basin, and the Albuquerque basin. Two phases of extension were identified: the first phase which began in mid-Oligocene was characterized by local high-strain extension events, low-angle faulting, and the development of broad, shallow basins, all indicating an approximately NE-SW + or - 25 deg extension direction; the later phase which occurred primarily in the late Miocene, was characterized by synchronous, high-angle faulting, resulting in large vertical strains which produced the modern Rio Grande rift morphology. Extension direction was approximately E-W. Geotherms were estimated and lithospheric strength curves were calculated for these two phases of extension. A high geotherm was deduced for the early phase resulting in a shallow crustal brittle transition, and insignificant mantle strength. The lithosphere subsequently cooled, resulting in a significant zone of mantle strength beneath the Moho. It is concluded that the interrelationship among regional and local prerifting, synrifting, and postrifting events in the Rio Grande rift attests to the fact that the rifting (in the region studied) should be considered in the context of other geologic events.

Morgan, P.↗

NASA NTRS2012

Self-stabilizing byzantine-fault-tolerant clock synchronization system and method

Systems and methods for rapid Byzantine-fault-tolerant self-stabilizing clock synchronization are provided. The systems and methods are based on a protocol comprising a state machine and a set of monitors that execute once every local oscillator tick. The protocol is independent of specific application specific requirements. The faults are assumed to be arbitrary and/or malicious. All timing measures of variables are based on the node's local clock and thus no central clock or externally generated pulse is used. Instances of the protocol are shown to tolerate bursts of transient failures and deterministically converge with a linear convergence time with respect to the synchronization period as predicted.

Malekpour, Mahyar R.↗