First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter ...First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.展开更多
On board processing(OBP) satellite systems have obtained more and more attentions in recent years because of their high efficiency and performance.However,the OBP transponders are very sensitive to the high energy par...On board processing(OBP) satellite systems have obtained more and more attentions in recent years because of their high efficiency and performance.However,the OBP transponders are very sensitive to the high energy particles in the space radiation environments.Single event upset(SEU)is one of the major radiation effects,which influences the satellite reliability greatly.Triple modular redundancy(TMR) is a classic and efficient method to mask SEUs.However,TMR uses three identical modules and a comparison logic,the circuit size becomes unacceptable,especially in the resource limited environments such as OBP systems.Considering that,a new SEU-tolerant method based on residue code and high-level synthesis(HLS) is proposed,and the new method is applied to FIR filters,which are typical structures in the OBP systems.The simulation results show that,for an applicable HLS scheduling scheme,area reduction can be reduced by 48.26%compared to TMR,while fault missing rate is 0.15%.展开更多
基金Supported by Beijing Municipal Natural Science Foundation Committee and the High Technology Research and Development Programme of China （No.2003AA404140）.
文摘First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.
基金Supported by the National S&T Major Project(No.2011ZX03003-003-01,2011ZX03004-004)the National Basic Research Program of China(No.2012CB316002)
文摘On board processing(OBP) satellite systems have obtained more and more attentions in recent years because of their high efficiency and performance.However,the OBP transponders are very sensitive to the high energy particles in the space radiation environments.Single event upset(SEU)is one of the major radiation effects,which influences the satellite reliability greatly.Triple modular redundancy(TMR) is a classic and efficient method to mask SEUs.However,TMR uses three identical modules and a comparison logic,the circuit size becomes unacceptable,especially in the resource limited environments such as OBP systems.Considering that,a new SEU-tolerant method based on residue code and high-level synthesis(HLS) is proposed,and the new method is applied to FIR filters,which are typical structures in the OBP systems.The simulation results show that,for an applicable HLS scheduling scheme,area reduction can be reduced by 48.26%compared to TMR,while fault missing rate is 0.15%.
