Publication Details
Reliability Analysis and Improvement of FPGA-based Robot Controller
Lojda Jakub, Ing., Ph.D. (DCSY)
Čekan Ondřej, Ing., Ph.D. (UFYZ)
Pánek Richard, Ing., Ph.D. (DCSY)
Kotásek Zdeněk, doc. Ing., CSc.
Reliability Analysis
TMR
FPGA
Fault Tolerance
Robot Controller
Reconfiguration
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.
@inproceedings{BUT144431,
author="Jakub {Podivínský} and Jakub {Lojda} and Ondřej {Čekan} and Richard {Pánek} and Zdeněk {Kotásek}",
title="Reliability Analysis and Improvement of FPGA-based Robot Controller",
booktitle="Proceedings of the 2017 20th Euromicro Conference on Digital System Design",
year="2017",
pages="337--344",
publisher="IEEE Computer Society",
address="Vídeň",
doi="10.1109/DSD.2017.15",
isbn="978-1-5386-2145-5",
url="https://www.fit.vut.cz/research/publication/11425/"
}