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 978-1-5386-2145-5.

Czech title

Analýza a zlepšení spolehlivosti řídicí jednotky robota založené na FPGA

Type

conference paper

Language

english

Authors

Podivínský Jakub, Ing., Ph.D. (DCSY FIT BUT)
Lojda Jakub, Ing., Ph.D. (DCSY FIT BUT)
Čekan Ondřej, Ing., Ph.D. (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

978-1-5386-2145-5

Publisher

IEEE Computer Society

Place

Vídeň, AT

DOI

10.1109/DSD.2017.15

UT WoS

000427097100047

EID Scopus

2-s2.0-85034428813

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 = "978-1-5386-2145-5",
   doi = "10.1109/DSD.2017.15",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/11425"
}