Design of Fault-Detection, Isolation, Reconfiguration Functionfor Space Robot Distributed Network Controller
- Paper number
IAC-05-B4.4.05
- Author
Mr. Shinichiro Narita, Keio University, Japan
- Year
2005
- Abstract
In space, human beings has much difficulty in activity for example EVA, because space is much harsh environment. Therefore assistances by the autonomous system are required. In the represent of abandon observing mission of the satellite “MIDORI-2” two years ago, it is presumed that the failure causions are in sub-system such as the breakedown of power source and information lines which do not have direct relation to the mission. In the autonomous systems using in space, collections in case of breakdowns inspection or maintenance that it repairs are difficult. Therefore, algorithms have been developed to avoid to considering failure modes which can be expeced beforehand. Beside, a recovery adaption function called Fault-Detection, Isolation, Reconfiguration (FDIR) function is required to recover breakdown parts which do not become causions of fatal functional and mission stops. Therefore, the more improving reliability is required for mission achievemnts. This requirement is necessaly needed for the autnomous walking and working type robot (RBR) which is proposed to move and mission support on the track of the International Space Station (ISS) structures. Although, examinations of a space robot reliability whose purpose of moving and working autonomously like RBR are not sufficiently.In this research, purposes are 2 points. First is designing the FDIR function in all RBR system include the Main Concentrated Control Unit (MCCU) and the Distributed Network Controller (Netroller). Second, is improving the reliability in the walking and working function of RBR by the FDIR function. In order to achive this purpose, renewing the usual control method. New method is the distributed control to achive the local calculate and control using Micro Processing Unit (MPU) of on-boarded the Netroller with a low ability. This development achieved the high control accuracy, and the distributed control autonomously of each joint. In the near future, the RBR is needed to achive the configuration changes for the mission of walking and working. Therefore, the Netroller achives the Fault-Detection function by checking the parameters like communication status, angle value, joint current. Besides, the reliability model is indroduced toward the equipment of the RBR hardware system. After the fault-modes are understood by this model, maintain redundancies and the quantitative estimations of reliability are achieved through designing of the FDIR function. Therefore, in case of the faults and failures of the parameters by the Netroller, the recovery adaption functions are equiped in the RBR system. Throgh the series of the system design of the RBR, the Netroller is equiped the FDIR function, and experiments of the RBR walking have done, and the possibility is indicated to the missions of the RBR continued.
- Abstract document
- Manuscript document
IAC-05-B4.4.05.pdf (🔒 authorized access only).
To get the manuscript, please contact IAF Secretariat.