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Published bySarai Fenney Modified over 2 years ago

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SAFER++ VDM++ and UML Thomas Christensen & Tommy Pedersen

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Agenda Discussion VDM++ code Summary

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Discussion How to compensate for a defective thruster ?

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Discussion How to compensate for a defective thruster ? Cases: Rotation around one axis only Translation along one axis only Multi-axis rotation Multi-axis translation

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Discussion

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Case: Rotation around one axis only Example: +pitch (Clockwise around y-axis) Thrusters B1 and F3 are fired (left side thrusters)

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Discussion Case: Rotation around one axis only Example: +pitch (Clockwise around y-axis) Thrusters B1 and F3 are fired (left side thrusters) Thruster B1 fails.. Compensate by: Disabling B1 and F3 Firing equivalent right side thrusters, B2 and F4

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Discussion Case: Translation along one axis only Example: Forward translation (along +X-axis) All forward thrusters are fired, F1, F2, F3, F4

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Discussion Case: Translation along one axis only Example: Forward translation (along +X-axis) All forward thruster are fired, F1, F2, F3, F4 Thruster F3 fails... Compensate by: Disabling diagonally opposite thruster F2 Keep firing F1 and F4 (½ power)

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Discussion Case: Multi-axis rotation Example: -pitch, -yaw (CCW around z and y-axes) Thrusters B4 and F1 are fired

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Discussion Case: Multi-axis rotation Example: -pitch, -yaw (CCW around z and y-axes) Thrusters B4 and F1 are fired Thruster B4 fails... Problem.... No equivalent thruster combinations

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Discussion Case: Multi-axis rotation Possible solution 1: Rotate backwards

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Discussion Case: Multi-axis rotation Possible solution 1: Rotate backwards Fire opposite thrusters, F4, B1 SAFER rotates to same position (backwards) Problems: Counter-intuitive movement. (Warning light ?) May use more GN 2 for propulsion

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Discussion Case: Multi-axis rotation Possible solution 2: Replace single multi-axis rotation by multiple single-axis rotations. Single-axis rotations can always be performed by alternative thrusters. ”Step-wise” rotation Problems: R(a+Δa,b+Δb,c+Δc) ≠ R(a,b,c)R(Δa,Δb,Δc)

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Discussion Case: Multi-axis rotation Possible solution 3: Don’t compensate Example: -pitch -yaw, (CCW around z and y-axes) Thrusters B4 and F1 are fired Thruster B4 fails... Use F1 only

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Discussion Case: Multi-axis rotation Possible solution 3: Don’t compensate Problems: Wider turn radius. Thruster output constant, cannot boost to compensate

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Discussion Case: Multi-axis translation Not possible Translation prioritized X > Y > Z Only one axis at a time

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Discussion Summary Cases: Compensation possible Rotation around one axis only Translation along one axis only Compensation not feasible Multi-axis rotation Compensation not relevant Multi-axis translation

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VDM++ SelectThrusters() ==... if numberOfDefThr = 0 then selected := selected else if numberOfDefThr = 1 then if card (selected inter defThrusters) = 0 then selected := selected else selected := CompensateSingle(selected, defThrusters) else if numberOfDefThr > 1 then if card (selected inter defThrusters) = 0 then selected := selected else if card (selected inter defThrusters) = 1 then selected := CompensateSingle(selected, defThrusters) else if card (selected inter defThrusters) > 1 then selected := CompensateMultiple(selected, defThrusters)

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VDM++ CompensateSingle : set of ThrusterPosition * set of ThrusterPosition ==> set of ThrusterPosition CompensateSingle(selected, defective) == let transType : TransformationType = GetTransformationType(intcmd) in cases transType: -> alt_thrusters = (tran_single_axis(defective union DiagonalMap(defective))) -> alt_thrusters = (OppositeMap(defective) union OppositeMap(selected\defective)), -> alt_thrusters = {}, others -> alt_thrusters = {} return alt_thrusters;

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VDM++ TransformationType = | | ; public DiagonalMap : map ThrusterPosition to ThrusterPosition = { -- Back Thruster positions |->,... public OppositeMap : map ThrusterPosition to ThrusterPosition = { -- Back Thruster positions |->,

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VDM++ tran_single_axis : map set of ThrusterPosition to set of ThrusterPosition = { -- +X translation {, } |-> {, }, -- -X translation {, } |-> {, },...

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VDM++ GetTransformationType : IntegratedCommand ==> TransformationType GetTransformationType() == let mk_(tran, rot) = intcmd.GetCommand() in if rot(Command`ROLL) = and rot(Command`PITCH) = and rot(Command`YAW) = and tran(Command`X) = and tran(Command`Y) = and tran(Command`Z) = then return else if rot(Command`ROLL) = and rot(Command`PITCH) = and rot(Command`YAW) = and (tran(Command`X) <> or tran(Command`Y) <> or tran(Command`Z) <> ) then return else...

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VDM++ public CompensateMultiple : set of ThrusterPosition * set of ThrusterPosition ==> set of ThrusterPosition CompensateMultiple(selected, defective) == return {};

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Summary Strategies for compensating for defective thrusters Single-axis translation and rotation can be compensated for. Multi-axis translation is not possible. Multi-axis rotation cannot safely be compensated for. VDM++ code

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