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[Keyword] safety-critical systems(2hit)

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  • Fault-Resilient Robot Operating System Supporting Rapid Fault Recovery with Node Replication

    Jonghyeok YOU  Heesoo KIM  Kilho LEE  

     
    LETTER-Software System

      Pubricized:
    2023/07/07
      Vol:
    E106-D No:10
      Page(s):
    1742-1746

    This paper proposes a fault-resilient ROS platform supporting rapid fault detection and recovery. The platform employs heartbeat-based fault detection and node replication-based recovery. Our prototype implementation on top of the ROS Melodic shows a great performance in evaluations with a Nvidia development board and an inverted pendulum device.

  • Analyzing the Impact of Data Errors in Safety-Critical Control Systems

    Orjan ASKERDAL  Magnus GAFVERT  Martin HILLER  Neeraj SURI  

     
    PAPER-Verification and Dependability Analysis

      Vol:
    E86-D No:12
      Page(s):
    2623-2633

    Computers are increasingly used for implementing control algorithms in safety-critical embedded applications, such as engine control, braking control and flight surface control. Consequently, computer errors can have severe impact on the safety of such systems. Addressing the coupling of control performance with computer related errors, this paper develops a methodology for analyzing the impacts data errors have on control system dependability. The impact of a data error is measured as the resulting control error. We use maximum bounds on this measure as the criterion for control system failure (i.e., if the control error exceeds a certain threshold, the system has failed). In this paper we a) develop suitable models of computer faults for analysis of control level effects and related analysis methods, and b) apply traditional control theory analysis methods for understanding the impacts of data errors on system dependability. An automobile slip-control brake-system is used as an example showing the viability of our approach.