Hypervisor-Based Virtual Hardware for Fault Tolerance in COTS Processors Targeting Space Applications

Robots designed for space applications, deep sea applications, handling of hazardous material and surgery should ideally be able to handle as many potential faults as possible. This paper provides novel indices for fault tolerance analysis of redundantly actuated parallel robots. Such robots have the potential for higher accuracy, improved stiffness, and higher acceleration compared to similar-sized serial robots. The faults considered are free-swinging joint failures (FSJFs), defined as a software or hardware fault, preventing the administration of actuator torque on a joint. However, for a large range of robots, the proposed indices are applicable also to faults corresponding to the disappearance of a kinematic chain, for example, a breakage. Most existing fault tolerance indices provide a ratio between a robot's performance after the fault and the performance before the fault. In contrast, the indices proposed in this paper provide absolute measures of a robot's performance under the worst-case faults. The proposed indices are based on two recently introduced metrics for motion/force transmission analysis of parallel robots. Their main advantage is their applicability to parallel robots with arbitrary degrees-of–freedom (DOF), along with their intuitive geometric interpretation. The feasibility of the proposed indices is demonstrated through application on a redundantly actuated planar parallel mechanism.

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4D printing technology, modern era: A short review

International Journal of Energy Technology ◽

10.32438//ijet.203015 ◽

2020 ◽

pp. 92-111

Author(s):

Khodadad Mostakim ◽

Nahid Imtiaz Masuk ◽

Md. Rakib Hasan ◽

Md. Shafikul Islam

Keyword(s):

Smart Materials ◽

Computer Aided Design ◽

Short Review ◽

Stimuli Responsive ◽

4D Printing ◽

Space Applications ◽

Printing Technology ◽

Practical Applications ◽

Biomedical Technologies ◽

Novel Material

The advancement in 3D printing has led to the rapid growth of 4D printing technology. Adding time, as the fourth dimension, this technology ushered the potential of a massive evolution in fields of biomedical technologies, space applications, deployable structures, manufacturing industries, and so forth. This technology performs ingenious design, using smart materials to create advanced forms of the 3-D printed specimen. Improvements in Computer-aided design, additive manufacturing process, and material science engineering have ultimately favored the growth of 4-D printing innovation and revealed an effective method to gather complex 3-D structures. Contrast to all these developments, novel material is still a challenging sector. However, this short review illustrates the basic of 4D printing, summarizes the stimuli responsive materials properties, which have prominent role in the field of 4D technology. In addition, the practical applications are depicted and the potential prospect of this technology is put forward.

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