• 제어로봇시스템학회논문지
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• 제17권1호
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• pp.72-77
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• 2011

The checkpointing scheme is a well-known technique to cope with transient faults in digital systems. This paper proposes an adaptive checkpointing scheme for the reliability improvement of real-time control systems with concurrent fault detection capability. With concurrent fault detection capability the effect of transient faults are assumed to be detected with no latency. The proposed adaptive checkpointing scheme is based on the reliability analysis of an equidistant checkpointing scheme. Numerical data show the proposed adaptive scheme outperforms the equidistant scheme from a reliability point of view.

• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 1997년도 추계학술대회 발표논문집:21세기를 향한 정보통신 기술의 전망
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• pp.417-433
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• 1997

A real-time operating system has focused primary on techniques to minimize processing time, with a secondary emphasis on system reliability issues. Conversely, fault-tolerant system has concentrated on using recourse and information redundancy to maximize the availability and reliability of the system, with a lesser emphasis on performance. We have developed a fault-tolerant and real-time operations system which support a powerful concurrent runtime environment under the above requirements. In this paper, we present an overview of real-time systems, design and implementation of a duplex architecture using advanced concepts and technologies such as fast " fault detection", "fault isolation" and "fault recovery" Because the duplex architecture has two dentical hardware elements and has several recovery steps and hierarchy to facilitate a fast recovery which must be proceeded by a prompt fault detection and isolation. Thus it makes possible to minimize the overhead of the systems including hardware and software and guarantee the service continuity of he systems.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.983-990
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• 2008

This paper presents the fault detection and diagnosis(FDD) algorithm to enhance reliability of a longitudinal controller for an autonomous All-Terrain Vehicle(ATV). The FDD is designed to monitor and identify faults which may occur in distributed hardware used for longitudinal control, e.g., DSPs, CAN, sensors, and actuators. The proposed FDD is an integrated approach of decentralized and centralized FDD. While the former is processed in a DSP and suitable to detect faults in a single hardware, it is sensitive to noise and disturbance. On the other hand, the latter is performed via communication and it detects and diagnoses faults through analyzing concurrent performances of multiple hardware modules, but it is limited to isolate faults specifically in terms of components in the single hardware. To compensate for disadvantages of each FDD approach, two layered structure including both decentralized and centralized FDD is proposed and it allows us to make more robust fault detection and more specific fault isolation. The effectiveness of the proposed method will be validated experimentally.

• 대한전자공학회논문지SD
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• 제42권12호
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• pp.91-102
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• 2005

최근의 저 전력 컴퓨터 시스템은 내장 프로세서의 성능 향상과 공정 기술의 발전을 통한 디바이스 크기 감소로 인해 전압 변동, 커플링 효과 등으로 인한 SEU(single event upset)로 모델링 되는 천이고장으로 인한 예기치 못한 동작 중 에러 발생가능성이 매우 높아지고 있다. 제안하는 방식은 프로세서가 처리하는 프로그램 분기 흐름상에서 에러를 검출하는 효과적인 watchdog 프로세서 구조로서, 기존 방식이 가지는 오버헤드를 줄이면서 프로그램 내부에서 빈번히 발생되는 루프를 매번 검사할 때, 동일한 동작을 watchdog 프로세서가 반복함으로써 생기는 비효율적인 메모리 접근, 버스 점유 경쟁등과 같은 추가적인 시스템 수준의 오버헤드를 줄이는 새로운 방법을 제안하였다. 본 논문은 기존의 실시간 분기 및 제어 흐름 연구에서는 다루지 않았던 루프 검출 및 예측 기능을 추가함으로써 실제 시스템 적용에 보다 적합한 비용 효율적인 구조를 제안하고 있다.