Title :
A Multimicroprocessor System for Fault Tolerant Control of an Articulated Mechanism
Author :
Ozguner, Fusun ; Kao, Ming-Lai
Author_Institution :
The Department of Electrical Engineering, Ohio State University, Columbus, OH 43210.
fDate :
5/1/1984 12:00:00 AM
Abstract :
A multiprocessor system consisting of three processors built for reliable control of an electrically powered leg (the OSU Monopod) is described. All computations are done in a redundant fashion by two processors. Results are then compared by a different pair of processors, and all three processors participate in the identification of the faulty processor in case of a disagreement of the two sets of results. The system is reconfigured when one of the computers fails. Comparison and fault diagnosis are done by software.
Keywords :
Actuators; Computer architecture; Control systems; Fault detection; Fault diagnosis; Fault tolerant systems; Leg; Power system reliability; Testing; Vehicle safety;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.1984.350056
