Complexity Management and Design Optimization Regarding a Variety of Triple Modular Redundancy Schemes through Automation
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Berg, Melanie↗
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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.↗
Risk Assessment System
FEAT, a software system for evaluating risks, was developed by Lockheed and later enhanced under NASA funding. FEAT uses directed graph - or digraph - models to provide information on cause and effect if a set of failure events occurs. James Miller, the program designer at Lockheed, formed DiGraphics, Inc. to market the software that has evolved from FEAT. The Diquest Analyzer, the company's flagship product, assists product designers in identifying the redundancies and weaknesses of a system. The software has applications in the chemical industry for risk assessment, design evaluation, and change management. Additional markets have been found in operations monitoring diagnostics and training of new personnel.
Source record↗
Use of failure-mode effect analysis for improving spacecraft reliability.
Failure mode effect, block redundancy, functional redundancy and cooperative multichannel design for system reliability in Mariner spacecraft
FAILURE MODE↗
Redundancy: How Many Unreliable Spares are Needed for High Reliability and Confidence on a Time Limited Mission?
This paper investigates the number of redundant units needed to achieve high reliability with high confidence. The approach applies to the case where the unit failure rate is too high for a single unit to provide the required reliability over the mission duration. To achieve high reliability, the design then uses N redundant units, one operating unit and N – 1 spares. If the unit failure rate is f, the mission length is L, and f * L is small (not the case assumed here), the unit failure probability over the mission duration is F1 = f * L << 1. In this case, the probability that all N units will fail is FN = F1N, and the needed N = LN(FN)/LN(F1). For the case of large f * L assumed here, F1 = f * L > 1, and F1 is the expected number of failures during the mission. The needed redundancy, N, to achieve the specified N unit reliability, FN, can be computed using the cumulative Poisson distribution with mean equal to F1. The number of spares, N - 1, is increased until the probability - that the total number of failures will be less than N -1 - achieves the required reliability. The confidence that this reliability can be achieved can be computed using the cumulative Poisson distribution or the chi-square distribution. Since the measured unit failure rate, f, has some uncertainty, the confidence that the rate is not lower than the actual failure rate and the required reliability is not overestimated is about 50%. Adding more redundant units increases the confidence that the required reliability, FN, will be achieved. For a fixed number of redundant units, the expected reliability and confidence can be traded off, since lower reliability goals have higher confidence in being achieved. Both the required reliability and confidence can be specified initially and the needed number of redundant units computed using the measured failure rate. The unit failure rate is determined by initial reliability growth testing to remove design errors and to better estimate the final constant failure rate. Reducing the failure rate and reducing its variance both reduce the number of redundant units needed for the required reliability and confidence. Since the total cost is the sum of the costs of the units and of the testing, there is an optimum test time that produces minimum cost.
Harry W. Jones↗
Computer Reliability
Using a NASA developed program, Dr. J. Walter Bond is creating a course in computer reliability modeling. The course will examine three different computer programs, one of them NASA's Care III, the others UCLA's Aries 78 and Aries 82. All three are designed to help estimate the reliability of complex, redundant, fault tolerant system. In computer design, software of this kind can predict or model the effects of various hardware or software failures, a process called reliability modeling.
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Architectural concepts and redundancy techniques in fault-tolerant computers
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.
Rennels, D. A.↗
Design of the Cassini Gimbal Actuator: Some Lessons Learned Along the Way
The evolution of a linear servoactuator design is presented. The linear actuator was needed to position Cassini's redundant rocket motors. A device design inherited from JPL's Mariner and Viking Mars missions served as a starting point. The various improvements made and the efforts involved in developing new component sources are discussed. Because the brush type DC motor from the old design was retained, special attention was placed on the reliability testing of the motor and mechanism at all stages of procurement and assembly.
actuators DC motors reliability lifetime↗
Inflatable Habitats Technology Development
For many years inflatable structures have been theorized for use as satellite dishes, deployable arrays and human habitats. They fall into human-rated and non-human rated structures. As such the structural design requirements and safety redundancy are much different. This paper will discuss the Habitat and Surface Construction Technology that would support the development of Mars greenhouses as well as habitats. This paper will briefly describe the ISS TransHab architectural design and structural testing for the proposed as a habitation module for the International Space Station. It will also discuss inflatable greenhouse design considerations and examples.
Kennedy, Kriss J.↗
CPAS Parachute Testing, Model Development, & Verification
Capsule Parachute Assembly System (CPAS) is the human rated parachute system for the Orion vehicle used during re-entry. Similar to Apollo parachute design. Human rating requires additional system redundancy. A Government Furnished Equipment (GFE) project responsible for: Design; Development testing; Performance modeling; Fabrication; Qualification; Delivery
Romero, Leah M.↗
Optimization of hardware redundancy in space computers.
Space digital computer design fulfilling requirements of efficiency, sophistication, weight and power, discussing reliability optimization and hardware redundancy
Deo, N.↗
Mariner 4 - a point of departure.
Mariner IV spacecraft details noting mission profile and requirements, design goals and use of redundancy for reliability increase
MARINER IV SPACE PROBE↗
Ultra long-life avionics architecture
For survival and achieving reliability in ultra long-life missions, fault tolerant design techniques need to handle the predominant failure mode, which is the wear-out of components. Conventional design methodologies will need excessive redundancy to achieve the required reliability. The objective of this paper is to present a new approach to design a more efficient fault-tolerant avionics system architecture that requires significantly fewer redundant components.
Long-life missions avionics↗
Design Evolutuion of Hot Isotatic Press Cans for NTP Cermet Fuel Fabrication
Nuclear Thermal Propulsion (NTP) is under consideration for potential use in deep space exploration missions due to desirable performance properties such as a high specific impulse (> 850 seconds). Tungsten (W)-60vol%UO2 cermet fuel elements are under development, with efforts emphasizing fabrication, performance testing and process optimization to meet NTP service life requirements [1]. Fuel elements incorporate design features that provide redundant protection from crack initiation, crack propagation potentially resulting in hot hydrogen (H2) reduction of UO2 kernels. Fuel erosion and fission product retention barriers include W coated UO2 fuel kernels, W clad internal flow channels and fuel element external W clad resulting in a fully encapsulated fuel element design as shown.
Mireles, O. R.↗
Modular digital computer system design
Automatically-Reconfigurable Modular Multiprocessor System (ARMMS) provides redundant processing with dynamic mode switching in real time. Design will provide higher computer capability than that presently available for same amount of hardware and will furnish modular system which is responsive to diverse problems effectively.
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SP-100 control drive assembly development
The SP-100 is an electrical generating nuclear power system for space operation. This paper describes the nuclear reactor control systems and the methods used to assure reliable performance for the 10-year design life. Reliable performance is achieved by redundancy and by selecting highly reliable components and design features. Reliability is quantified by analysis using established reliability data. Areas lacking reliability data are identified for development testing. A specific development test description is provided as an example to demonstrate how this process is meeting the system reliability goals.
Gleason, Thomas↗
Spacecraft fault tolerance: The Magellan experience
Interplanetary and earth orbiting missions are now imposing unique fault tolerant requirements upon spacecraft design. Mission success is the prime motivator for building spacecraft with fault tolerant systems. The Magellan spacecraft had many such requirements imposed upon its design. Magellan met these requirements by building redundancy into all the major subsystem components and designing the onboard hardware and software with the capability to detect a fault, isolate it to a component, and issue commands to achieve a back-up configuration. This discussion is limited to fault protection, which is the autonomous capability to respond to a fault. The Magellan fault protection design is discussed, as well as the developmental and flight experiences and a summary of the lessons learned.
Kasuda, Rick↗
An improved turbine disk design to increase reliability of aircraft jet engines
An analytical study was performed on a novel disk design to replace the existing high-pressure turbine, stage 1 disk on the CF6-50 turbofan engine. Preliminary studies were conducted on seven candidate disk design concepts. An integral multidisk design with bore entry of the turbine blade cooling air was selected as the improved disk design. This disk has the unique feature of being redundant such that if one portion of the disk would fail, the remaining portion would prevent the release of large disk fragments from the turbine system. Low cycle fatigue lives, initial defect propagation lives, burst speed, and the kinetic energies of probable disk fragment configurations were calculated, and comparisons were made with the existing disk, both in its current material, IN 718, and with the substitution of an advanced alloy, Rene 95. The design for redundancy approach which necessitated the addition of approximately 44.5 kg (98 lb) to the design disk substantially improved the life of the disk. The life to crack initiation was increased from 30,000 cycles to more than 100,000 cycles. The cycles to failure from initial defect propagation were increased from 380 cycles to 1564 cycles. Burst speed was increased from 126 percent overspeed to 149 percent overspeed. Additionally, the maximum fragment energies associated with a failure were decreased by an order of magnitude.
Barack, W. N.↗