Minimalist recovery techniques for single event effects in spaceborne microcontrollers

Caldwell, D.W.; Rennels, D. A.

doi:10.1109/dcfts.1999.814289

Cited by 4 publications

(3 citation statements)

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“…4. 23 Since loss of serial cables is less than parallel ones, they can be used for longer distances compared to parallel cables and that is why they are preferred in this project. The embedded microcontrollers offer great potential for reducing the cost and increasing the performance.…”

Section: Software Setupmentioning

confidence: 99%

“…The subsystem-embedded microcontroller often has a lower permanent failure rate than its host subsystem for they are very highly integrated. 23 Since loss of serial cables is less than parallel ones, they can be used for longer distances compared to parallel cables and that is why they are preferred in this project. Flowchart of the software process of the manufactured cable robot of IUST can be seen in Fig.…”

Section: Software Setupmentioning

confidence: 99%

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Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

et al. 2013

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2013). Experimental results for the exible joint cable-suspended manipulator of ICaSbot. Robotica, 31, pp 887-904 SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an underconstrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.

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Section: Software Setupmentioning

confidence: 99%

Section: Software Setupmentioning

confidence: 99%

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

et al. 2013

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“…to add special hardware and custom designs for fault-tolerance at the microcontroller level. These embedded computers consume little power, and previous fault-tolerant designs exist as a starting point [3]. We hope that by adding strong fault-tolerance in subsystems, they can serve as a dependable core that also assists in protecting the general purpose parallel processors.…”

Section: Introductionmentioning

confidence: 99%

Recovery in fault-tolerant distributed microcontrollers

Rennels¹,

Hwang

Proceedings International Conference on Dependable Systems and Networks

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This paper describes the use of fault-tolerance in a microcontroller node to be used in a network of embedded processors. It is primarily motivated by longlife space applications where radiation-induced transient errors will be a frequent occurrence, and a few chip failures may be expected before a mission is completed. A testbed has been constructed, and a real-time executive has been developed and tested in it. Preliminary faultinsertion teSting has been started.Due to interconnection constraints for latchup circumvention and other reasons, we have chosen a design that is not Byzantine resilient. Even though inconsistent signaling may occur occasionally, multiple recovery actions must converge to a successfil testirig and restart of the system to regain correct functionality.

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