Publication detail

Reliability Analysis and Improvement of FPGA-based Robot Controller

PODIVÍNSKÝ, J. LOJDA, J. ČEKAN, O. PÁNEK, R. KOTÁSEK, Z.

Original Title

Reliability Analysis and Improvement of FPGA-based Robot Controller

Type

conference paper

Language

English

Original Abstract

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.

Keywords

Reliability Analysis TMR FPGA Fault Tolerance Robot Controller Reconfiguration

Authors

PODIVÍNSKÝ, J.; LOJDA, J.; ČEKAN, O.; PÁNEK, R.; KOTÁSEK, Z.

Released

30. 8. 2017

Publisher

IEEE Computer Society

Location

Vídeň

ISBN

978-1-5386-2145-5

Book

Proceedings of the 2017 20th Euromicro Conference on Digital System Design

Pages from

337

Pages to

344

Pages count

8

URL

https://www.fit.vut.cz/research/publication/11425/

BibTex

@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/"
}

Documents

dsd_podivinsky_sbornik.pdf