Publication Details
Evaluation Platform for Testing Fault Tolerance Properties: Soft-core Processor-based Experimental Robot Controller
Lojda Jakub, Ing., Ph.D. (DCSY)
Čekan Ondřej, Ing., Ph.D. (UFYZ)
Kotásek Zdeněk, doc. Ing., CSc.
Soft-core Processor, NEO430, TMR, FPGA, Fault
Tolerance, Robot Controller, Reconfiguration.
Various electronic systems play an important role in our everyday lives. Some of
them serve for fun or to make our lives easier. These systems are useful but not
necessary; when they malfunction, the consequences are not critical. On the other
hand, there are systems which are more or less critical, and their failure can
cause undesirable consequences. For example, a failure in medicine, aviation, the
army or automotive systems can cause high economic losses and/or endanger human
health. These systems must be protected against the impact of faults, and
flawless operation must be ensured. Fault tolerance is one of the techniques that
will ensure this. There are many fault-tolerance methodologies targeted towards
various systems and technologies, and new methodologies are being investigated.
It is also important to verify these techniques; this is the main topic of this
paper. An evaluation platform for testing fault-tolerance methodologies targeted
towards SRAM-based FPGAs (Field Programmable Gate Arrays) is presented and
demonstrated. A robot for seeking a path through a maze and the processor-based
robot controller serve as an experimental system case study. Experimental results
with the unhardened and hardened versions of the processor-based robot controller
are presented and discussed.
@inproceedings{BUT155030,
author="Jakub {Podivínský} and Jakub {Lojda} and Ondřej {Čekan} and Zdeněk {Kotásek}",
title="Evaluation Platform for Testing Fault Tolerance Properties: Soft-core Processor-based Experimental Robot Controller",
booktitle="Proceedings of the 2018 21st Euromicro Conference on Digital System Design",
year="2018",
pages="229--236",
publisher="IEEE Computer Society",
address="Praha",
doi="10.1109/DSD.2018.00051",
isbn="978-1-5386-7376-8",
url="https://www.fit.vut.cz/research/publication/11705/"
}