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Coordinated atomic (CA) action is a widely used approach to structuring concurrent activities in distributed embedded applications. Recovery from failures is one of its major concerns. Despite the intuitive simplicity, reasoning about failure recovery in CA actions is rather complex because of the interaction between various system components. This paper proposes an approach based on timed CSP for...
In this paper, a pyramid control hierarchy is proposed. It is based on the presence of a supervisor controller on top of separate controller nodes. A simulation study is conducted to test the functionality of the system. The proposed model is an enhancement of machine modeled in form of networked control systems (NCS). Two models are tested: one supervisor/two sub-controllers, one supervisor/three...
Industrial control systems architectures have been evolving to the decentralization of control tasks. This evolution associated with the time-critical nature of these tasks, increases the dependability requirements for one of their most critical components: the communication system. Therefore, this is an important aspect on the control system design which must be properly evaluated. In this paper...
Autonomous mobile robots typically interact with unknown environments and are subject to many kinds of faults. Adaptive fault tolerance is the dynamic adjustment of behavior of a system, as a consequence of variation of external or internal conditions or changes in immediate goals. This work presents a methodology for the design of robot control including adaptive fault tolerance. We use the hybrid...
This work-in-progress (WIP) paper presents server-CAN and highlights its operation and possible vulnerabilities from a fault tolerance point of view. The paper extends earlier work on server-CAN by investigating the behaviour of server-CAN in faulty conditions. Different types of faults are described, and their impact on sever-CAN is discussed, which is the subject of on-going research
The paper is concerned with the key issue of protecting FlexCAN networks against the babbling-idiot faults, e.g., node faults that busy the bus unduly. A full solution of the problem would enhance the dependability of these networks greatly, making them attractive for safety-critical applications. After analyzing the various modes by which a babbling-idiot fault affects the network operation, a classification...
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