The TableSat Platform and Its Verifiable Control Software
نویسندگان
چکیده
The TableSat single degree-of-freedom tabletop satellite platform was developed to support education and research activities in embedded software and control systems. This paper describes the TableSat system, actuated by a pair of computer fans as thrusters, and then focuses on the evolution of its software for sensor calibration and fault-tolerant control. Sensor systems include a three-axis magnetometer, core sun sensor suite, and single-axis rate gyro. The sun sensor and magnetometer together provide redundancy in pointing direction measurement, supporting limited sensor fusion and enabling the system to continue operation given redundant sensor failure situations. Baseline software was developed to support rate control and pointing control based either on magnetometer or sun sensor data. This software was encapsulated within the ObjectBench code generation system to support formal software specification. Guarantees of execution properties such as sequencing and timing constraints were established with the ObjectCheck model checking system. Design choices, evaluation processes, and results from all phases of software development, testing and verification are presented. Use of the TableSat system as an interdisciplinary research and education tool is also discussed.
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