Hardware Voters are bit voters computing a majority of n input bits. An m-out-of-nhardware bit voter is a circuit with n bit inputs, and I bitoutput y, such that y=l i f at least m-out-of-n inputs bits have the value I . A hardware voter can be constructed as two level AND-OR (equivalently OR-AND and other structures) using CMOS VLSI technology. The goal of the paper is to present Reliability Estimations, Failure Modes and Effects, Criticality Analysis (FMECA) of voting networks at the transistor level, in CMOS VLSI implementation.FMECA is performed using the functional tree of the system, representing the dataflow from the lowest level functional block up to the higher level functional blocks.The main idea of this research is to identifji the best designs of voting circuits in terms of reliability parameters and to identih their critical failures and effects.
This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effector and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.Keywords-walking robot control; robot hybrid control; virtual projection method; stability of walking robots; versatile, intelligent, portable robot control.
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