Patent Application
20200035266
The present invention relates to tape storage systems, and more specifically, to linearity/nonlinearity of servo patterns.
Timing-based servo (TBS) is a technology which was developed for linear tape drives in the late 1990s. In TBS systems, recorded servo patterns include transitions with two different azimuthal slopes, thereby forming a chevron-type pattern. These patterned transitions allow for an estimate of the head lateral position to be determined by evaluating the relative timing of pulses generated by a servo reader reading the patterns as they are passed over the servo reader.
In a TBS format, the servo pattern is prerecorded in several bands distributed across the tape. Typically, five or nine servo pattern bands are included on a given tape which runs about parallel to a longitudinal axis of the tape. Data is recorded in the regions of tape located between pairs of the servo bands. In read/write heads of linear tape-open (LTO) and IBM Enterprise tape drives, two servo readers are normally available per head module, from which longitudinal position (LPOS) information as well as a position error signal (PES) may be derived. Effective detection of the TBS patterns is achieved by a synchronous servo channel employing a matched-filter interpolator/correlator, which ensures desirable filtering of the servo reader signal.
With the increase in track density that is envisioned for future tape media and tape drives, accurately controlling the lateral position of the head and/or skew of the head with respect to tape by using feedback generated by reading the TBS patterns becomes increasingly difficult. Conventional servo based implementations may not be sufficiently accurate to ensure adequate positioning of the data readers and writers that move along data tracks. Furthermore, the repetition rate of the head lateral position estimates may be too low to ensure proper track-following operation as tape velocity varies during use. The repetition rate of the head lateral position estimates may additionally be unable to support future actuators with larger bandwidths.
A method according to one embodiment includes applying a static head skew to a magnetic tape head for misaligning first and second readers in a direction perpendicular to a tape travel direction thereacross. The method further includes positioning the first reader at a first y-position relative to a servo pattern in a servo band, and measuring y-positions of the second reader relative to the servo pattern in the servo band while the first reader is at the first y-position. A y-position value is calculated for the second reader based on the measured y-positions. The method further includes repeating the following process several times: moving the first reader to a next y-position, measuring y-positions of the second reader while the first reader is at the next y-position, and calculating a y-position value of the second reader based on the measured y-position of the second reader while the first reader is at the next y-position. A unique nonlinearity value of the servo pattern in the servo band is calculated for each of the calculated y-position values of the second reader using the respective calculated y-position value of the second reader. The method further includes storing and/or outputting the calculated nonlinearity values.
A computer program product for characterizing nonlinearity in a timing-based servo pattern according to one embodiment includes a computer readable storage medium having program instructions embodied therewith. The program instructions are readable and/or executable by a controller to cause the controller to perform the foregoing method.
An apparatus according to another embodiment includes a controller configured to perform the foregoing method.
Other aspects and embodiments of the present invention will become apparent from the following detailed description, which, when taken in conjunction with the drawings, illustrate by way of example the principles of the invention.
The following description is made for the purpose of illustrating the general principles of the present invention and is not meant to limit the inventive concepts claimed herein. Further, particular features described herein can be used in combination with other described features in each of the various possible combinations and permutations.
Unless otherwise specifically defined herein, all terms are to be given their broadest possible interpretation including meanings implied from the specification as well as meanings understood by those skilled in the art and/or as defined in dictionaries, treatises, etc.
It must also be noted that, as used in the specification and the appended claims, the singular forms “a,” “an” and “the” include plural referents unless otherwise specified.
The following description discloses several preferred embodiments of magnetic storage systems, as well as operation and/or component parts thereof for characterizing nonlinearity in servo patterns.
In one general embodiment, a method includes applying a static head skew to a magnetic tape head for misaligning first and second readers in a direction perpendicular to a tape travel direction thereacross, positioning the first reader at a first y-position relative to a servo pattern in a servo band, measuring y-positions of the second reader relative to the servo pattern in the servo band while the first reader is at the first y-position, and averaging the measured y-positions. The method further includes repeating the following process several times: moving the first reader to a next y-position, measuring y-positions of the second reader while the first reader is at the next y-position, and averaging the y-positions measured by the second reader while the first reader is at the next y-position. The method further includes calculating a unique nonlinearity value of the servo pattern in the servo band for each of the average y-position values using the respective average y-position value, and storing and/or outputting the calculated nonlinearity values.
In another general embodiment, a computer program product for characterizing nonlinearity in a timing-based servo pattern includes a computer readable storage medium having program instructions embodied therewith. The computer readable storage medium is not a transitory signal per se. The program instructions are readable and/or executable by a controller to cause the controller to perform the foregoing method.
In another general embodiment, an apparatus includes a controller. The controller is configured to apply a static head skew to a magnetic tape head for misaligning first and second readers in a direction perpendicular to a tape travel direction thereacross, position the first reader at a first y-position relative to a servo pattern in a servo band, measure y-positions of the second reader relative to the servo pattern in the servo band while the first reader is at the first y-position, and average the measured y-positions. The controller is further configured to repeat the following process several times: move the first reader to a next y-position, measure y-positions of the second reader while the first reader is at the next y-position, and average the y-positions measured by the second reader while the first reader is at the next y-position. The controller is further configured to calculate a unique nonlinearity value of the servo pattern in the servo band for each of the average y-position values using the respective average y-position value, and store and/or output the calculated nonlinearity values.
Referring now to
In the network storage system 10, there is a computer system/server 12, which is operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well-known computing systems, environments, and/or configurations that may be suitable for use with computer system/server 12 include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments that include any of the above systems or devices, and the like.
Computer system/server 12 may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, and so on that perform particular tasks or implement particular abstract data types. Computer system/server 12 may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
As shown in
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or local bus using any of a variety of bus architectures, etc. By way of example, which is in no way intended to limit the invention, such architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnects (PCI) bus.
Computer system/server 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer system/server 12, and may include both volatile and non-volatile media, removable and non-removable media.
System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32. Computer system/server 12 may further include other removable/non-removable, volatile/non-volatile computer system storage media. By way of example only, storage system 34 may be provided for reading from and writing to a non-removable, non-volatile magnetic media—not shown and typically called a “hard disk,” which may be operated in a hard disk drive (HDD). Although not shown, a magnetic disk drive for reading from and writing to a removable, non-volatile magnetic disk (e.g., a “floppy disk”), and an optical disc drive for reading from or writing to a removable, non-volatile optical disc such as a compact disc read-only memory (CD-ROM), digital versatile disc-read only memory (DVD-ROM) or other optical media may be provided. In such instances, each disk drive may be connected to bus 18 by one or more data media interfaces. As will be further depicted and described below, memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments described herein.
Program/utility 40, having a set (at least one) of program modules 42, may be stored in memory 28 by way of example, and not limitation, as well as an operating system, one or more application programs, other program modules, program data, etc. Each of the operating system, one or more application programs, other program modules, and program data or some combination thereof, may include an implementation of a networking environment. It should also be noted that program modules 42 may be used to perform the functions and/or methodologies of embodiments of the invention as described herein.
Computer system/server 12 may also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; one or more devices that enable a user to interact with computer system/server 12; and/or any devices (e.g., network card, modem, etc.) that enable computer system/server 12 to communicate with one or more other computing devices. Such communication may occur via Input/Output (I/O) interfaces 22. Still yet, computer system/server 12 may communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and/or a public network (e.g., the Internet) via network adapter 20. As depicted, network adapter 20 communicates with the other components of computer system/server 12 via bus 18. It should be understood that although not shown, other hardware and/or software components could be used in conjunction with computer system/server 12. Examples, include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, redundant array of independent disks (RAID) systems, tape drives, data archival storage systems, etc.
Looking to
Guides 125 guide the tape 122 across the tape head 126. Such tape head 126 is in turn coupled to a controller 128 via a cable 130. The controller 128, may be or include a processor and/or any logic for controlling any subsystem of the drive 100. For example, the controller 128 may control head functions such as servo following, data writing, data reading, etc. The controller 128 may include at least one servo channel and at least one data channel, each of which include data flow processing logic configured to process and/or store information to be written to and/or read from the tape 122. The controller 128 may operate under logic known in the art, as well as any logic disclosed herein, and thus may be considered as a processor for any of the descriptions of tape drives included herein according to various embodiments. The controller 128 may be coupled to a memory 136 of any known type, which may store instructions executable by the controller 128. Moreover, the controller 128 may be configured and/or programmable to perform or control some or all of the methodology presented herein. Thus, the controller 128 may be considered to be configured to perform various operations by way of logic programmed into one or more chips, modules, and/or blocks; software, firmware, and/or other instructions being available to one or more processors; etc., and combinations thereof.
The cable 130 may include read/write circuits to transmit data to the head 126 to be recorded on the tape 122 and to receive data read by the head 126 from the tape 122. An actuator 132 controls position of the head 126 relative to the tape 122.
An interface 134 may also be provided for communication between the tape drive 100 and a host (internal or external) to send and receive the data and for controlling the operation of the tape drive 100 and communicating the status of the tape drive 100 to the host, all as will be understood by those of skill in the art.
Referring momentarily to
An exemplary tape head 302 is also shown as having two modules and as being positioned over a portion of the tape 300 according to one approach. Read and/or write transducers may be positioned on either module of the tape head 302 according to any of the approaches described herein, and may be used to read data from and/or write data to the data bands. Furthermore, tape head 302 may include servo readers which may be used to read the servo patterns in the servo bands according to any of the approaches described herein. It should also be noted that the dimensions of the various components included in
Some tape drives may be configured to operate at low tape velocities and/or with nanometer head position settings. These tape drives may use servo formats that target Barium Ferrite (BaFe) tape media, 4 or 8 data bands, 32 or 64 data channel operation, allow very low velocity operation, support large-bandwidth actuator operation, and improve parameter estimation to minimize standard deviation of the position error signal (PES), thus enabling track-density scaling for tape cartridge capacities up to 100 TB and beyond.
However, according to some embodiments, magnetic tape may further be augmented with additional features that provide additional functionality. Accordingly, HD servo patterns may be implemented in place of the standard TBS patterns, e.g., as seen in
In still further embodiments, a standard TBS pattern (e.g., as shown in
A hybrid servo pattern 410, which includes a standard TBS pattern 402 written in a servo band, as well as an HD pattern 404 that is written in a HD band (e.g., dedicated area) of the tape medium 408 is shown in
The HD pattern 404 may include periodic waveforms of various frequencies alternately written in the length direction L along a longitudinal axis of the tape. The standard TBS pattern 402 may be used to provide initial identification of the servo band (e.g., by providing a servo band ID); initial positioning of the head 406 on an appropriate servo location; acquisition of initial servo channel parameters, such as tape velocity, lateral head position, head-to-tape skew, longitudinal position (LPOS), etc.; etc. Moreover, the HD pattern 404 may enable more accurate and more frequent estimates of servo channel parameters, thereby achieving improved head positioning at a much wider range of tape velocities and support for larger bandwidth head actuation. As such, track-density scaling may be enabled for very large cartridge capacities, as well as improved data rate scaling with host computer requirements through the support of a wider velocity range.
The detection of the periodic waveforms forming a HD pattern may be obtained by a detector that implements a complex algorithmic conversion, e.g., such as a Discrete Fourier Transform (DFT), a Fast Fourier Transform (FFT), etc. However, this implementation complexity may reduce the flexibility in trade-offs between the rate of generation of servo reader lateral position estimates and the standard deviation of the estimation error. Accordingly, components (e.g., controllers) with high throughput may desirably be used to process signals derived from a HD pattern in order to reduce the processing time thereof.
In one embodiment, a detector capable of reading a hybrid of TBS and HD patterns may be implemented. The hybrid detector may be configured to obtain estimates of the energy of relevant spectral frequency components in a readback signal from the HD pattern, while also calculating estimates of the lateral position of the head based on these energies, without applying a DFT or a FFT.
Samples provided at the input of the components performing the spectral estimation may be obtained at the proper sampling instants by interpolating the sequence of readback HD servo signal samples from an analog-to-digital (A/D) converter at a fixed clock frequency in one embodiment, or at a variable clock frequency in another embodiment. The time base of the interpolator may be derived from the estimate of the tape velocity provided by the TBS channel operating in parallel with the HD detector, in some embodiments, as will be described in further detail below.
Various trade-offs between the rate of generation of spectral estimates, from which servo reader lateral position estimates are obtained, and the standard deviation of the estimation error are possible. However, a suitable and preferred implementation may be achieved with a significantly reduced complexity compared to DFT-based or FFT-based implementations. Specifically, in one embodiment, only a small set of spectral estimates are computed, compared to the fixed set of equally-spaced spectral components computed by a DFT or FFT. Furthermore, the integration interval may be freely adjusted, while a DFT/FFT-based solution involves the integration interval being multiples of the DFT/FFT size.
Even when the HD servo pattern uses a large number of tone frequencies, the maximum number of spectral estimates that are computed by the proposed detector may correspond to the maximum number of tracks that an HD servo reader reads simultaneously at any time. Also, the proposed detector may be reconfigured to provide spectral estimates corresponding to the tracks currently being read based on the coarse positioning information from the TBS channel.
Referring again to
Looking momentarily to
Referring again to
In one approach, the servo channel may provide y-position estimates to a track-following control system, e.g., where such y-position estimates are calculated using Equation 1 below.
As shown above, the lateral y-position estimate ŷ of Equation 1 may incorporate: the distance d, the azimuthal slope (angle α) of the servo stripes 412, a measured time Bi between pairs of corresponding servo stripes with the same azimuth angle (e.g., parallel stripes //, or \\) from two different sub-frames, and a measured time Ai between pairs of corresponding servo stripes with opposite azimuth angle (e.g., stripes /\) from the same sub-frame.
For example, in the 5-5-4-4 pattern of
An HD servo pattern preferably includes periodic waveforms of differing frequencies alternately written in the lateral (cross-track) direction. Accordingly, HD servo patterns may be able to desirably provide more accurate and/or more frequent estimates of servo channel parameters according to various embodiments described herein. Looking to
The three portions 508, 506, 504 of the periodic waveforms are characterized by three different frequencies f1, f2, and f3, respectively, where f3>f2>f1. According to various approaches, each waveform may be characterized as having a number of periods in a range from about 25 to about 200, such as 30 periods, 50 periods, 75 periods, 100 periods, etc., within a predetermined spacing. More preferably, the predetermined spacing may be in a range from about 50 μm to about 150 μm, such as about 60 μm, about 75 μm, about 100 μm, etc., depending on the approach. Moreover, the symbol length may be in a range from about 0.5 μm to about 3.0 μm, e.g., such as about 1.0 μm, about 1.5 μm, about 2.0 μm, etc.
Hence, with continued reference to
Similarly, the graph 520 in
Note that the waveform periods of the three frequencies may be integer multiples of a period T, for example T=241.3 nm, which corresponds to the highest spatial frequency, which is proportional to 1/T, when spectral estimation by a DFT/FFT-based detector with a minimum number of spectral bins for given integration interval is adopted.
Ideally, the two periodic waveforms, whose energies are estimated by the DFT/FFT-based detector 608, are sinusoidal waveforms at frequencies f1 and f2. However, a DFT/FFT-based detector 608 when used for HD patterns has an inherent drawback where the number of spectral components, for which an estimate of the energy is provided, depends on the integration interval for the DFT (or FFT) computation, and may be very large when the integration interval extends over several periods of the fundamental frequency, as is typically the case when a low-noise estimation process is used.
As the number of periodic waveform components forming the readback signal of an HD pattern is usually limited to two or three for a given lateral position, it is advantageous to resort to a low-complexity implementation of the detector, whereby only estimates of the energy of the relevant spectral components at two or three frequencies in the readback signal of an HD pattern are efficiently computed.
Now referring to
For an accurate estimation of the energies of the three periodic waveform components in a finite integration interval, the frequencies of the periodic waveform components preferably match the characteristic frequencies of the three digital filters 702, 704, 706, denoted by ω0/2π, ω1/2π, and ω2/2π, respectively. When a match is not possible, it is preferred that the frequencies are within about 0.001% to 1.0% of the frequencies set for the three digital filters 702, 704, 706, and more preferably a difference of less than about 0.1%. This may be achieved by resampling the output sequence of the analog-to-digital converter (ADC) 708 at appropriate time instants, which may be provided by an interpolator 710, with a time base obtained from the tape velocity and a given interpolation distance ΔxHD, as shown in
In one embodiment, the interpolator 710 may be a cubic Lagrange interpolator to achieve smaller signal distortion than a linear interpolator. Of course, any suitable interpolator may be used, as would be understood by one of skill in the art. The output signal samples of the interpolator 710 are obtained that correspond with HD servo signal samples taken at points on the tape that are separated by a step interpolation distance equal to ΔxHD, independently of the tape velocity. ΔxHD is preferably selected such that the condition T/ΔxHD=K is satisfied independently of the tape velocity, where K is a positive integer number. The time base for the generation of the interpolator output samples may be provided by an interpolation time computation unit 712, which yields the sequence of time instants {tn}, at which the resampling of the ADC output sequence takes place. Time instants {tn} may furthermore be provided to circular buffer 722.
The detector 700 illustrated in
For a fixed tape velocity, the time instants {tn} may be uniformly spaced by TI seconds, where TI denotes the time interval that it takes for the tape to travel over a distance equal to the step interpolation distance ΔxHD. The estimation of the time interval TI is performed by a step interpolation time computation unit 714, which computes TI=ΔxHD/νest, i.e., the ratio between ΔxHD and the estimate of the instantaneous tape velocity νest, which may be obtained from the TBS channel in one approach. The TBS channel may operate as a synchronous TBS channel according to one embodiment. The average number of interpolated signal samples generated per ADC clock interval is given by the ratio TI/Ts, where Ts=1/fs denotes the clock interval. The ADC clock frequency, fs, may be a fixed frequency in one approach, or a variable frequency in another approach.
In one embodiment, the HD detector 700 may be configured to estimate the tape velocity to determine time instants at which to obtain interpolated signal samples to input to the Goertzel algorithm as filtering elements based on an output of a TBS channel of the tape drive configured to process a TBS pattern written on the servo band of the magnetic tape medium.
In another embodiment, the HD detector 700 may be configured to compute a head lateral position estimate for coarse positioning of the servo reader based on an output of a TBS channel of the tape drive. Also, the HD detector 700 may be configured to adjust settings for at least one digital filter according to waveform frequency components of the HD servo signal estimated based on the head lateral position estimate. For example, the setting ωi of the i-th digital filter may be adjusted based on the coarse position estimate and the known frequency ωi=2πfi of the HD patterns located at that estimated (coarse) lateral position. In another example, the settings of the i-th digital filter may be adjusted based on the coarse position estimate and the combination of symbol length, integration interval, etc., of the HD patterns located at that estimated (coarse) lateral position.
The HD detector 700 receives, as inputs, values of the three characteristic frequencies {ω0, ω1, ω2}, with ωi=2πfi from which the coefficients of the digital filters 702, 704, 706 are obtained. These frequencies may be obtained from the knowledge of the servo reader lateral position provided by the TBS channel in one embodiment, as described above. Assuming the number “Q” represents the number of samples over which the estimates of the energies of the periodic waveforms are computed, Q may determine the length of the integration interval, and therefore may also determine the spatial frequency resolution. Assuming the value of Q is even, Q/2 represents the number of frequencies for which energy estimates would be provided by a DFT/FFT-based HD detector that operates over Q samples. Q may be obtained from the tape drive memory in one embodiment. Moreover, Q is typically about 100 or larger.
Multiplication of the three energy estimates by gain factors gi, for i=0, 1, 2, is provided to compensate for the different attenuations that the readback HD servo signal may experience at different frequencies, where the normalization g1=1 may be assumed. Hence, a lateral position estimate of the HD servo reader 716, and hence a position error signal from the knowledge of the target head position, may be obtained by a linear combination of the three energy estimates. Note that the maximum number of spectral estimates that are computed at any time is determined by the maximum number of tracks that may be read by the HD servo reader 716, which may equal three in some approaches, and not by the overall number of tones in the HD servo pattern, which may be larger than three. In a case where the number of tones is larger than three, the values of the three characteristic frequencies {ω0, ω1, ω2} that are provided to the HD detector 700 may be derived from knowledge of the lateral position estimate obtained from the TBS channel, as mentioned above.
In another embodiment, the HD detector 700 may be implemented without an interpolator 710, but with digital filters configurable to adjust their settings according to the waveform spatial frequency components of the HD servo signal read from the magnetic tape medium and the tape velocity. Adjustment of the digital filters settings may be based on a coarse head lateral position estimate and/or a tape velocity estimate computed based on an output of a TBS channel of the tape drive.
In an alternate embodiment, an HD detector may implement additional digital filters, in excess to the digital filters used to estimate the energies at the frequencies corresponding to the patterns written on the tracks being read simultaneously by the HD servo reader 716. The one or more excess digital filters may be used to simplify reconfiguration of the detector when the target lateral position changes and, therefore, the input values of frequencies {ωx} vary dynamically.
In a further embodiment, the one or more excess digital filters may be used to distinguish HD patterns characterized by a small number of spectral components/lines from broadband noise and/or data signals. This may be achieved by choosing the characteristic frequency ωi of the excess digital filter such that it measures a spectral component at a frequency that is not used by the HD patterns.
The outputs |Xi,t|2 from the three digital filters 702, 704, 706 are provided to a PES computation unit 724, which provides a position error estimate (εt) at given time t.
Other components of the HD detector 700 may operate as would be known to one of skill in the art, and are omitted here for the sake of clarity of the described embodiments.
Linear magnetic tape recording systems often utilize TBS patterns to estimate head lateral position. During tape drive operation, a magneto-resistive servo read transducer in the head scans over the TBS pattern and a readback signal is produced, e.g., see
The y-position may be estimated from the TBS patterns by measuring the time between the A-burst and B-burst stripes (and between C-burst and D-burst stripes), also termed as A-counts (Ai). Specifically, the y-position is linearly dependent on the A-count values (Ai), provided that the servo stripes are perfectly “straight”. For example, in the 5-5-4-4 servo pattern of
However, servo stripes that are factory pre-formatted on tape cartridges are often not perfectly “straight”, e.g. due to manufacturing imperfections or defects in the servo writer. This leads to a non-linear relationship between measured y-positions, e.g., based on Ai measurements (see
For example, referring to
In contrast, where A-count distances of a TBS pattern do not linearly increase as a function of the (y)-position of the intended trajectory of the servo reader, the TBS pattern may be characterized as being a nonlinear “curved” TBS pattern. For example, see nonlinear stripes 808 of the TBS pattern 806, which will result in the A-count distances Ai3, Ai4 not linearly increasing as a function of the (y)-position of the intended trajectory of the servo reader. Accordingly, nonlinear TBS patterns may cause a data track to be written slightly offset (in cross-track direction) from the desired location. The nonlinearity in the TBS patterns therefore may cause some tracks to be wider or narrower than the nominal/desired width, which leads to more variability/degraded performance when the data is read from magnetic tape. This is because measured A-count distances will not entirely accurately reflect the relative position of the head with respect to servo bands and/or data bands. As a result of such nonlinearities, data written to data tracks of the magnetic tape may be compressed or spaced too far apart. Accordingly, as a result of the TBS pattern 806 being nonlinear (up to a nanometer degree), a y-position dependent error e may result. Specifically, the y-position dependent error e may result from a difference existing between an average measured y-position 810 and an actual (true) y-position 812. Note that in
In various approaches, for each servo band/pattern, the intention is to determine the y-position dependent error e, such that an estimate of the actual (true) y-position, which is referred to as linearized y-position, can be computed by subtracting the y-position dependent error e from the measured y-position.
Various embodiments described herein characterize the nonlinearity in servo patterns. According to various embodiments, such nonlinearity characterizations are calculated and thereafter stored and/or used for compensating for such nonlinearities, as will become apparent from reading various descriptions herein.
It should be noted that such characterizations may be made on any type of servo patterns, although many of the embodiments and/or approaches described herein may specifically reference TBS patters. For example, in addition and/or as an alternative to TBS patterns, embodiments and/or approaches described herein may be applied to HD servo patterns (see
Now referring to
Each of the steps of the method 900 may be performed by any suitable component of the operating environment. For example, in various embodiments, the method 900 may be partially or entirely performed by a drive controller, a host coupled to a drive, or some other device having one or more processors therein. The processor, e.g., processing circuit(s), chip(s), and/or module(s) implemented in hardware and/or software, and preferably having at least one hardware component may be utilized in any device to perform one or more steps of the method 900. Illustrative processors include, but are not limited to, a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), etc., combinations thereof, or any other suitable computing device known in the art.
As shown in
According to one approach, the static head skew is applied to the magnetic tape head by an actuator. Accordingly, operation 902 may include instructing a skew actuator.
It should be noted that method 900 may be performed during any one or more directions of tape travel, e.g., in a single direction of tape travel, such as forward (beginning of tape to end of tape), or backward (end of tape to beginning of tape); or in both directions of tape travel, such as forward and backward. However, in preferred approaches, method 900 is performed with the tape traveling in a single direction.
Operation 904 of method 900 includes positioning the first reader at a first y-position relative to a servo pattern in a servo band. As mentioned elsewhere herein, the servo pattern may be any type of servo pattern. According to some approaches, the servo pattern is a TBS pattern that comprises bursts of servo stripes. According to some other approaches, the servo pattern is a HD servo pattern containing multiple HD tracks having a repeating periodic waveform.
The first y-position may be any position relative to a servo pattern in a servo band of the magnetic tape. In a preferred approach, the first y-position is located toward an outermost lateral portion of the servo pattern in a servo band of the magnetic tape. The first y-position may be predefined, selected on the fly, etc.
Operation 906 of method 900 includes measuring y-positions of the second reader relative to the servo pattern in the servo band while the first reader is at the first y-position, e.g., while the first reader is locked to and track follows at the first y-position while the tape is moving over the magnetic tape head. Any number of y-positions of the second reader may be measured, e.g., according to some predefined criteria. For example, according to various approaches, a y-position may be computed, e.g., for each servo frame, for every other frame, for every 5th frame, etc.
In one approach, some or all of the measured y-positions are at least temporarily stored in memory, e.g., to be subsequently used in any type of calculating.
In one approach, some or all of the measured y-positions of the second reader are averaged, e.g., see operation 908. In one approach, the y-positions are averaged each time a y-position measurement is performed by the second reader, while the first reader is at the first y-position. In another approach, the y-positions are averaged after all of the y-position measurements are performed by the second reader at the current y-position. In yet another approach, a subset of the measured y-positions are selected for averaging based on predefined criteria such as every other measured y-position, every 5th measured y-position, y-position values within a range e.g., to exclude outliers, etc.
Operation 910 includes moving the first reader to a next y-position, e.g., for performing further y-position measurements at a different y-position than the immediately previous y-position.
In one approach, the next y-position corresponds to an average y-position of the second reader during the immediately previous measuring. Accordingly, in such an approach, a distance between the next y-position and the average y-position of the second reader during the immediately previous measuring may about equal the distance between the first and second readers in a direction perpendicular to the tape travel direction thereacross.
In another approach, the next y-position corresponds to a predefined step size away from the y-position of the first reader during the immediately previous measuring. In various approaches, the predefined step may include any distance. In some approaches, the predefined step is less than or equal to the distance between the first and second readers in a direction perpendicular to the tape travel direction thereacross. In other approaches, the predefined step is greater the distance between the first and second readers in a direction perpendicular to the tape travel direction thereacross.
In one approach, after the first reader is moved to the next y-position, y-positions of the second reader while the first reader is at the next y-position are measured in operation 912, e.g., in a similar manner as performed in operation 906.
In another approach, the y-positions measured by the second reader while the first reader is at the next y-position are averaged in operation 914, e.g., in a similar manner as performed in operation 908.
It should be noted that the process defined by operations 910-914 may be performed any number of times, and preferably several times, e.g., see “Repeat process several times” logic exiting operation 914 and looping back to operation 910. Performing more iterations tends to result in a more accurate nonlinearity characterization of the measured servo patterns of the servo band, as will become apparent in operation 916. In one approach, the process (operations 910-914) stops when an end of the servo band is reached. For example, in one approach, upon detecting that the next y-position resides on an outermost portion of the servo band and/or off of the servo band, the process stops. Accordingly, the y-position measurements may correlate to different y-positions across the entire servo band, e.g., from the first position of the second reader to the last position of the second reader (where the process ends).
Operation 916 includes calculating a unique nonlinearity value of the servo pattern in the servo band for each of the average y-position values using the respective average y-position value.
In one approach, calculating a unique nonlinearity value of the servo pattern in the servo band for each of the average y-position values includes calculating a difference between the average y-position values and linearized y-positions. To clarify, in some approaches, the “average y-position” corresponds to an (average) measured y-position, i.e. the y-position based on measured Ai counts and computed by means of Equation 1, which assumes a linear servo pattern. In such an approach, the linearized y-positions corresponds to where the y-position is expected to be. Accordingly, y-positions having a relatively greater difference between an average y-position value and a linearized y-positions may be assumed to correspond to and thereby contribute to greater degrees of nonlinearity in the servo band. In contrast, y-positions having a relatively lesser difference between an average y-position value and a linearized y-positions may be assumed to contribute less, if at all, to nonlinearity in measured servo patters.
In various approaches, the linearized y-positions are calculated based on an assumption of at least two y-positions. In preferred approaches, the at least two y-positions are known and/or assumed to be accurate. For example, in one approach, the linearized y-positions are calculated based on the first y-position and the last average measured y-position. In such an approach the first y-position and the last average measured y-position may serve as anchor points.
Accordingly, in one approach, each of the linearized y-positions correspond to a different position along a linear function that extends between the first y-position and the last average measured y-position, e.g., see
Moreover, in some approaches, the calculated unique nonlinearity values are stored and/or output, e.g., see operation 918. According to one approach, the calculated unique nonlinearity values are stored in and/or output to a table of nonlinearity values. According to another approach, the calculated unique nonlinearity values are additionally and/or alternatively stored and/or output to a controller for use in compensating for the calculated nonlinearity of the servo pattern in the servo band, e.g., as will be described elsewhere herein (see
It should be noted that the number of servo frames used during various operations of method 900 may depend on the amount of tape that is passed by the head during such operations. In some approaches, at least one meter of tape is passed over the head in at least one of the measuring operations. In other approaches, at least fifty meters of tape is passed over the head in at least one of the measuring operations. In yet another approach, at least one hundred meters of tape is passed over the head in at least one of the measuring operations. Accordingly, such measuring operations may be performed using any number of servo frames, e.g., at least one, hundreds, thousands, etc.
It should be noted that the greater the number of incorporated servo frames, the greater the accuracy of characterizing nonlinearity may be. This is because nonlinearities are often on the nanometer scale, and therefore more samples should provide a more accurate reflection of even a nanometer increment of nonlinearity.
It should also be noted that according to various approaches, method 900 may be performed at any time and/or any number of times. For example, in one approach, method 900 is performed on a magnetic tape during manufacturing. In such an approach, the nonlinearity of servo patterns of the magnetic tape are characterized (if any nonlinearity exists) and stored in a memory component of the cartridge that contains the magnetic tape. According to another approach, method 900 is additionally and/or alternatively performed on a magnetic tape, e.g., on demand, upon request from a host or library controller, in response to detecting that the magnetic tape has been loaded in a tape drive, etc. According to yet another approach, method 900 is additionally and/or alternatively performed, e.g., by a tape drive, at any time after the magnetic tape is loaded into the tape drive, e.g., in response to detecting servoing errors.
Accordingly, as a result of characterizing such nonlinearities of servo patterns, writing and/or reading events may utilize such characterizations for mitigating writing and/or readback errors that would otherwise occur in response to treating nonlinear servo patterns as if they were linear. Utilizing such characterizations will be described in detail elsewhere herein, e.g., see
Referring first to
In
As described elsewhere herein, e.g., see operation 910 of method 900, in one approach, the first reader 1008 is moved to a next y-position for measuring y-positions of the second reader. For example, in one approach, the next y-position corresponds to an average y-position of the second reader during the immediately previous measuring, e.g., position 1016 of
Referring now to
In one approach, some or all of the y-positions measured by the second reader are averaged, e.g., as in operation 914 of
Referring now to
A measured y-position line 1104 connects each of the measured y-positions {tilde over (y)}i, and an linearized y-position line 1102 connects each of the linearized y-positions yi.
In one approach, based on calculating N number of linearized y-positions yi of the servo band is calculated based on a first y-position y0=y0(1) and a last y-position, e.g., yN=yN-1(2), i.e. based on the measured y-positions y0(1) and yN-1(2). Accordingly, in one approach, the following Equation (2) is used for calculating the linearized y-positions yi:
y
i
=y
0
−p*i Equation (2)
where i=0 . . . N, and p=(y0−yN)/N.
Moreover, in one approach, the measured y-positions is determined using the following Equations (3):
{tilde over (y)}
i
=y
i
(1) for 0≤i<N,
{tilde over (y)}
i
=y
N-1
(2) for i=N. Equation (3)
Accordingly, in one approach, calculating a unique nonlinearity value of the servo pattern in the servo band for each of the average y-position values includes calculating a difference between the average y-position values and linearized y-positions. For example, with continued reference to
In other words, as illustrated in
It should be noted that in one approach, measured y-positions y0(2), y1(2), y2(2) represent y-positions that are traversed by both a first and a second reader of a skewed magnetic tape head when the step size is equal to the lateral offset of the first and second readers (e.g., 1018 of
In the present approach, a unique nonlinearity value of the servo pattern in the servo band is calculated for each of the average y-position values using different respective average y-position values measured by a second reader of a skewed magnetic tape head. Of course, such respective average y-positions of the second reader relative to the servo pattern in the servo band may be measured while the first reader is at a different y-position, e.g., see the first y-position and/or the next y-position of method 900.
In one approach, where the next y-position corresponds to a predefined step size away from the y-position of the first reader during the immediately previous measuring, the skew applied to the magnetic tape head preferably spaces the first and second readers about an estimated value of p (see Equation 2) apart in a direction perpendicular to a tape travel direction thereacross. In one approach, provided that the skew applied to the magnetic tape head spaces the first and second readers less than or about an estimated value of p apart from each other, the predefined step size is set to be the estimated value of p. Put a different way, the skew applied to the head is preferably chosen such that on average yi(1)−yi(2)≈p or equivalently Σi=0:N-1(yi(1)−yi(2))=Np. Accordingly, in one approach, the y-position of the first reader is adjusted to the predefined step size away from the immediately previous measuring in each step sequence.
Referring now to
Referring first to
With continued reference to
Accordingly, the first measured y-position may be located about 43 μm above the servo centerline. Moreover, the end of the servo band (45.31 μm below the centerline of the servo band) may be the last measured y-position.
In the current example, the lateral offset distance between a first reader and a second reader (in the direction perpendicular to a tape travel direction thereacross, e.g., 1018 of
For reference, if the stripes of the measured TBS pattern were linear, each of the profiles 1202, 1204, 1206 would not vary from the zero of the plotted nonlinearity (nm). However, in graph 1200, the stripes of the measured TBS pattern in the servo band may be determined to include nonlinearities. In one approach, negative nonlinearity values correspond to the measured servo y-position being lower (in a direction perpendicular to a tape travel direction thereacross) than the y-position would be if the servo stripes written on the magnetic tape had no nonlinearities. In contrast, in another approach, positive nonlinearity values correspond to the measured servo y-position being higher (in a direction perpendicular to a tape travel direction thereacross) than the y-position would be if the servo stripes written on the magnetic tape had no nonlinearities.
For purposes of a further example, referring now to
Graph 1300 illustrates nonlinearities of TBS patterns in a second servo band. Specifically the graph 1300 includes a measured y-position (nm) vs. pattern nonlinearity (nm) comparison of three different readings, e.g., reflected by nonlinearity profiles 1302, 1304, 1306, performed using the same measurement procedure introduced in method 900, performed at three different points in time. In the present approach, each of the nonlinearity profiles 1302, 1304, 1306 include primarily negative nonlinearity values (other than a first y-position and a last average measured y-position which are assumed to be linear and therefore have nonlinearity values of zero). Accordingly, in one approach, the measured y-positions corresponding to the current testing sample of graph 1300 is lower in a servo band (in a direction perpendicular to a tape travel direction thereacross) than the y-positions would otherwise be if written on the magnetic tape without nonlinearities.
For reference, from graph 1300 it can be observed that the greatest degree of nonlinearity exists in the middle of the sampled TBS patterns, e.g., having about a −160 nm characterized pattern nonlinearity. According to various approaches, these characterizations of nonlinearities are stored and thereby available for future reference, such as to be used in compensating for such nonlinearities, e.g., as will be described in greater detail elsewhere herein (see method 1600).
Referring first to
As discussed above, data is recorded in the regions of tape located between pairs of servo bands. In read/write heads of state-of-the-art tape drives, two servo readers are normally available per head module. Servo reader 1 then reads the servo band above the data band, while servo reader 2 simultaneously reads the servo band below the data band. Assume for purposes of an example that ypos1 and ypos2 are defined as the y-positions measured from servo reader 1 and servo reader 2, respectively. Then the delta y-position may be defined as (ypos1−ypos2), i.e. the difference between the measured y-position of two servo readers which read two servo bands that border a common data band. Referring first to
Referring first to
The present invention may be a system, a method, and/or a computer program product. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention.
The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable CD-ROM, a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.
Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device.
Computer readable program instructions for carrying out operations of the present invention may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.
Moreover, a system according to various embodiments may include a processor and logic integrated with and/or executable by the processor, the logic being configured to perform one or more of the process steps recited herein. By integrated with, what is meant is that the processor has logic embedded therewith as hardware logic, such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), etc. By executable by the processor, what is meant is that the logic is hardware logic; software logic such as firmware, part of an operating system, part of an application program; etc., or some combination of hardware and software logic that is accessible by the processor and configured to cause the processor to perform some functionality upon execution by the processor. Software logic may be stored on local and/or remote memory of any memory type, as known in the art. Any processor known in the art may be used, such as a software processor module and/or a hardware processor such as an ASIC, a FPGA, a central processing unit (CPU), an integrated circuit (IC), etc.
It will be clear that the various features of the foregoing systems and/or methodologies may be combined in any way, creating a plurality of combinations from the descriptions presented above.
It will be further appreciated that embodiments of the present invention may be provided in the form of a service deployed on behalf of a customer.
The inventive concepts disclosed herein have been presented by way of example to illustrate the myriad features thereof in a plurality of illustrative scenarios, embodiments, and/or implementations. It should be appreciated that the concepts generally disclosed are to be considered as modular, and may be implemented in any combination, permutation, or synthesis thereof. In addition, any modification, alteration, or equivalent of the presently disclosed features, functions, and concepts that would be appreciated by a person having ordinary skill in the art upon reading the instant descriptions should also be considered within the scope of this disclosure.
While various embodiments have been described above, it should be understood that they have been presented by way of example only, and not limitation. Thus, the breadth and scope of an embodiment of the present invention should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
| Number | Date | Country | |
|---|---|---|---|
| Parent | 16044396 | Jul 2018 | US |
| Child | 16398030 | US |
