| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 88 === The fault-tolerant system that we design in this thesis is for the use of flight control. Thus, the high reliability and dependability hardware and real-time software system is needed by this kind of life-critical application. The TMR-based hybrid hardware redundancy technique is chosen to achieve the goal of high reliability. The system is composed of three redundant modules, one spare module, and a motherboard. The redundant module is a complete embedded system, which contains a CPU, a memory subsystem, several output ports and external interface, and a real time operating system. The motherboard contains a bus controller that controls the many system procedure including voting procedure, shared memory system procedure, the external interface procedure, and so on. The motherboard is made by the common bus structure for the communication of four modules, shared memory and external interface to achieve the high flexibility and low hardware cost.
We design a systematic design flow to implement our system. Along the design flow, we must consider about the need of software and provide resources for them. After the implement of the hardware-detailed component is completed, we must integrate this with software design and start to verify our system. The system software is also an important issue for the real-time control system. However, the discussion of the software system is beyond the scope of this thesis. The prototype system presented in this paper could be extended to more general fault-tolerant system or for further study.
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