| An Innovative On-Board Computer for Space Robot |
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| 作者姓名： | 魏然 金明河 夏进军 刘宏 |
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| 作者单位： | [1]Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China [2]Institute of Robotics and Mechatronics, German Aerospace Center, Wessling 82230, Germany |
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| 基金项目： | The High Technology Research and Development Program of China （ No. 2002AA742201） |
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| 摘 要： | In this paper an on-board computer system for the first Chinese Intelligent Space Robotic System was presented. A fault tolerance design on on-board computer （OBC） was proposed that allows commercial-off-the-shelf （COTS） devices to be incorporated into dual processing modules of on-board computer. The processing module is composed of 32-bit ARM RISC processor and other COTS devices. This innovative approach deeply relies on light weight/low cost equipment development using commercial miniaturized parts and non-space qualified technologies. As well as, a set of fault handling mechanisms was implemented in the computer system. The on-board software was organized around a set of processes that communicate between each other through a routing process. The qualification experiment shows that the fault tolerant on-board computer has excellent data processing capability and is enough to meet the demanding of the extremely tight constraints on mass, volume, power consumption and space environmental conditions.
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| 关 键 词： | 机器人 单板计算机 层错限差 空间环境 |
| 文章编号： | 1007-1172（2007）01-0035-07 |
| 修稿时间： | 2006-04-05 |
An Innovative On-Board Computer for Space Robot |
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| WEI Ran,JIN Ming-he,XIA Jin-jun,LIU Hong,.An Innovative On-Board Computer for Space Robot[J].Journal of Shanghai Jiaotong university,2007,12(1):35-41,52. |
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| Authors: | WEI Ran JIN Ming-he XIA Jin-jun LIU Hong |
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| Institution: | 1. Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China; 2. Institute of Robotics and Mechatronics, German Aerospace Center, Wessling 82230, Germany |
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| Abstract: | In this paper an on-board computer system for the first Chinese Intelligent Space Robotic System was presented. A fault tolerance design on on-board computer (OBC) was proposed that allows commercial-off-the-shelf (COTS) devices to be incorporated into dual processing modules of on-board computer. The processing module is composed of 32-bit ARM RISC processor and other COTS devices. This innovative approach deeply relies on light weight/low cost equipment development using commercial miniaturized parts and non-space qualified technologies. As well as, a set of fault handling mechanisms was implemented in the computer system. The on-board software was organized around a set of processes that communicate between each other through a routing process. The qualification experiment shows that the fault tolerant on-board computer has excellent data processing capability and is enough to meet the demanding of the extremely tight constraints on mass, volume, power consumption and space environmental conditions. |
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| Keywords: | on-board computer(OBC) space robot fault tolerance |
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