At present, programmable logic integrated circuits (FPGAs) are increasingly used in the development of robotic systems. A significant advantage of FPGAs is their versatility and the ability to quickly program to perform the functions of almost any digital device of a robotic system. FPGA is a semi-finished product, on the basis of which a developer with a personal computer has the ability to design a digital device in record time. This is provided by simple and relatively inexpensive software hardware and special software called computer-aided design (CAD). FPGA is an electronic component used to create digital integrated circuits. Unlike conventional digital chips, the logic of FPGA operation is set by programming using special tools: programmers and software. FPGA programming is performed using the description languages Verilog HDL and VHDL. At the upper level, these languages are very similar - the hardware model is described in the form of interacting blocks (modules) and for each of them is defined interface and implementation. Module interfaces describe the input, output, and two-way ports through which modules connect to each other for data exchange as well as control signals. The implementation sets the elements of the internal state and the order of calculating the values of the output interfaces based on this state and the values of the input ports, as well as the rules for updating the internal state. The article reveals the stages of designing digital devices of robotic systems using FPGA, considers the principles of construction and operation of the main nodes of combinational circuits, logical elements implemented one of the specified functions, which is subsequently programmed on FPGA using CAD Quartus Prime with built-in simulators Models.
The article proposes a methodical approach to restoring the proper functioning of specialized microprocessor control systems at the level of the programmable element base. This approach includes two stages. At the first stage, the main task of technical diagnostics is solved, namely the recognition of the state of a specialized microprocessor system, which includes: assessment of the technical state, forecasting, detection and localization of malfunctions. This task is solved by detecting errors in the operation of a specialized microprocessor control system, which are caused by the failure and failure of digital devices, errors in software, or other reasons, using existing control methods, as well as localization of malfunctions of a specialized microprocessor control system, using methods of test and functional diagnostics digital devices that are part of the system under consideration. At the second stage, the correct functioning of the specialized microprocessor control system is restored by reconfiguring its internal structure at the level of logical elements. At the same time, the reconfiguration of the internal structure is based on the position of the prescriptive theory, which considers the issue of purposeful management of objects of various nature, which are in a state of "conflict" with other objects. The implementation of the proposed approach in the future can be the basis for the design of active fault-tolerant systems that will be able to counteract failures a hardware and software nature as a result of internal or external adverse actions.
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