Reactive system model for building fault-tolerant distributed applications

The development of fault-tolerant computing systems is a very difficult task. Two reasons contributed to this difficulty can be described as follows. The First is that, in normal practice, fault-tolerant computing policies and mechanisms are deeply embedded into most application programs, so that these application programs cannot cope with changes in environments, policies and mechanisms. These factors may change frequently in a distributed environment, especially in a heterogeneous environment. Therefore, in order to develop better fault-tolerant systems that can cope with constant changes in environments and user requirements, it is essential to separate the fault tolerant computing policies and mechanisms in application programs. The second is, on the other hand, a number of techniques have been proposed for the construction of reliable and fault-tolerant computing systems. Many computer systems are being developed to tolerant various hardware and software failures. However, most of these systems are to be used in specific application areas, since it is extremely difficult to develop systems that can be used in general-purpose fault-tolerant computing. The motivation of this thesis is based on these two aspects. The focus of the thesis is on developing a model based on the reactive system concepts for building better fault-tolerant computing applications. The reactive system concepts are an attractive paradigm for system design, development and maintenance because it separates policies from mechanisms. The stress of the model is to provide flexible system architecture for the general-purpose fault-tolerant application development, and the model can be applied in many specific applications. With this reactive system model, we can separate fault-tolerant computing polices and mechanisms in the applications, so that the development and maintenance of fault-tolerant computing systems can be made easier.

Isolation, characterization and structural determination of a unique type of arabinogalactan from an immunostimulatory extract of Chlorella pyrenoidosa

An arabinogalactan was isolated from a hot water extract of freeze-dried cells of the green microalga, Chlorella pyrenoidosa. This hot water extract is a proprietary immunomodulator, with the trademark Respondin™ (ONC-107). The arabinogalactan was recovered from the ethanol-soluble fraction of the supernatant resulting from a process that involved controlled ethanol precipitation followed by size exclusion chromatography on Sephadex G-100, then Cetavlon precipitation. Sugar analyses, GC–MS data for (S)-2-octyl glycosides, and 1D and 2D NMR experiments established unambiguously that the repeating unit was →2)-α-l-Araf-(1→3)-[α-l-Araf-(1→4)]-β-d-Galp-(1→. This structure does not fit into any of the known classes of arabinogalactans. SEC/MALS experiments gave a molecular mass for the arabinogalactan isolated as 47 ± 4 kDa but the original structure was probably larger.

The isolation and characterisation of humic acids using a variety of alkaline extractants

The investigation into humic acid; chemistry examined the effect the extraction technique used to isolate humic material from the sediment had on the chemical/structural composition and yield of the acid; compared the various isolation techniques used in the literature and developed an extraction technique which minimises the solubilisation of the heavy metals from the inorganic sediment and, examined the complexation capacity of humic acids derived from a sediment source in relation to the heavy metal content and extraction technique.

The study into fault tolerance based on rollback-recovery for clusters

The provision of fault tolerance is an important aspect to the success of distributed and cluster computing. Through this research , a transparent, autonomic and efficient fault tolerant facility was designed and implemented; thereby relieving the burden of a user having to handle and react to the failure of an application.

Isolation and characterisation of Arabidopsis RAD30 and ERCC1

This thesis describes the isolation and characterisation of two plant genes, AtERCC1 and AtRAD30. Evidence from protein homology comparisons, and functional complementation, in vitro mutagenesis, or interaction assays suggests the involvement of these genes in the repair or tolerance, respectively, of UV-induced DNA change.

Isolation, cloning and expression of a putative abalone gene relating to egg-laying hormone

A putative abalone egg-laying hormone has been amplified by polymerase chain reaction (PCR) from abalone genomic DNA. The PCR product was found to hybridize to Lymnaea stagnalis egg-laying hormone (CDCH) cDNA probe and the PCR product was then cloned and sequenced. Nucleotide sequences of putative abalone egg-laying hormone were determined.

Robust functional estimation and fault diagnosis for complex uncertain systems

System monitoring and fault diagnosis capabilities are the most important aspects in improving safety and reliability of automatic control systems. This research proposed new methodologies on fault diagnosis and estimation for complex uncertain systems. As a result of this research, complex industrial plants can now be more effectively controlled.

Designing optimal fault tolerant Jacobian for robotic manipulators

Fault tolerance of robotic manipulators is determined based on the fault tolerance measures. In this study a Jacobian of a 7DOF optimal fault tolerant manipulator is designed based on optimality of worse case relative manipulability and worse case dexterity from geometric perspective instead of numerical solution of constrained optimisation problem or construction of optimal Jacobean through a desired null space. The proposed Jacobean matrix is optimal and equally fault tolerant for a single joint failure within any joint of the manipulators.

Fault tolerance force for redundant manipulators

Fault tolerant manipulators maintain their trajectory even if their joint/s fails. Assuming that the manipulator is fault tolerant on its trajectory, fault tolerant compliance manipulators provide required force at their end-effector even when a joint fails. To achieve this, the contributions of the faulty joints for the force of the end-effector are required to be mapped into the proper compensating joint torques of the healthy joints to maintain the force. This paper addresses the optimal mapping to minimize the force jump due to a fault, which is the maximum effort to maintain the force when a fault occurs. The paper studies the locked joint fault/s of the redundant manipulators and it relates the force jump at the end-effector to the faults within the joints. Adding on a previous study to maintain the trajectory, in here the objective is to providing fault tolerant force at the end-effector of the redundant manipulators. This optimal mapping with minimum force jump is presented using matrix perturbation model. And the force jump is calculated through this model for single and multiple joints fault. The proposed optimal mapping is used in different fault scenarios for a 5-DOF manipulator; also it is deployed to compensate the force at the end-effector for the 5-DOF manipulator through simulation study and the results are presented.

Minimum reconfiguration for fault tolerant manipulators

When a robotic manipulator is fault tolerant it is beneficial to study the configurations which tolerate non-catastrophic locked joint failures with a minimum relative change for the joint velocities. This problem is addressed using the properties of the condition number of the Jacobian matrix. The relationship between the faults within the joints of the manipulators and the condition number of the Jacobean matrix is used to introduce the optimal configurations for fault recovery. These optimum configurations require a minimum reconfiguration for fault tolerance of robotics manipulators. Then these configurations are studied for a 4-DOF planar manipulator to validate the proposed framework.