Conference paper

PODIVÍNSKÝ Jakub, LOJDA Jakub, ČEKAN Ondřej, PÁNEK Richard and KOTÁSEK Zdeněk. Reliability Analysis and Improvement of FPGA-based Robot Controller. In: Proceedings of the 2017 20th Euromicro Conference on Digital System Design. Vídeň: IEEE Computer Society, 2017, pp. 337-344. ISBN 978-1-5386-2146-2.
Publication language:english
Original title:Reliability Analysis and Improvement of FPGA-based Robot Controller
Title (cs):Analýza a zlepšení spolehlivosti řídicí jednotky robota založené na FPGA
Pages:337-344
Proceedings:Proceedings of the 2017 20th Euromicro Conference on Digital System Design
Conference:20th Euromicro Conference on Digital Systems Design
Place:Vídeň, AT
Year:2017
ISBN:978-1-5386-2146-2
Publisher:IEEE Computer Society
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Keywords
Reliability Analysis
TMR
FPGA
Fault Tolerance
Robot Controller
Reconfiguration
Annotation
Faults occurring in the safety-critical systems can lead to the failure of the whole system and can cause high economical losses or endanger human health. As an example space, aerospace or medical systems can serve which are working in the environment with increased occurrence of faults. Fault avoidance and fault tolerance are the main techniques the goal of which is to avoid such situations. This paper is the continuation of the previously published work and presents an approach to evaluation of the fault tolerance techniques by monitoring the impact of faults in the experimental electro-mechanical system which consists of the robot in maze and its robot controller. The experiments with the robot controller hardened against faults are combined with the reliability analysis on theoretical level in this paper. The impact of faults artificially injected into the robot controller, in which Triple Modular Redundancy is applied, is monitored and used for the statistic reliability analysis.
BibTeX:
@INPROCEEDINGS{
   author = {Jakub Podiv{\'{i}}nsk{\'{y}} and Jakub Lojda and
	Ond{\v{r}}ej {\v{C}}ekan and Richard P{\'{a}}nek and
	Zden{\v{e}}k Kot{\'{a}}sek},
   title = {Reliability Analysis and Improvement of FPGA-based Robot
	Controller},
   pages = {337--344},
   booktitle = {Proceedings of the 2017 20th Euromicro Conference on Digital
	System Design},
   year = {2017},
   location = {V{\'{i}}de{\v{n}}, AT},
   publisher = {IEEE Computer Society},
   ISBN = {978-1-5386-2146-2},
   language = {english},
   url = {http://www.fit.vutbr.cz/research/view_pub.php?id=11425}
}

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