Faculty of Information Technology, BUT

Publication Details

Reliability Analysis and Improvement of FPGA-based Robot Controller

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.
Czech title
Analýza a zlepšení spolehlivosti řídicí jednotky robota založené na FPGA
Type
conference paper
Language
english
Authors
Podivínský Jakub, Ing. (DCSY FIT BUT)
Lojda Jakub, Ing. (DCSY FIT BUT)
Čekan Ondřej, Ing. (DCSY FIT BUT)
Pánek Richard, Ing. (DCSY FIT BUT)
Kotásek Zdeněk, doc. Ing., CSc. (DCSY FIT BUT)
Keywords
Reliability Analysis
TMR
FPGA
Fault Tolerance
Robot Controller
Reconfiguration
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.
Published
2017
Pages
337-344
Proceedings
Proceedings of the 2017 20th Euromicro Conference on Digital System Design
Conference
20th Euromicro Conference on Digital Systems Design, Vídeň, AT
ISBN
978-1-5386-2146-2
Publisher
IEEE Computer Society
Place
Vídeň, AT
DOI
BibTeX
@INPROCEEDINGS{FITPUB11425,
   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",
   doi = "10.1109/DSD.2017.15",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/11425"
}
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