A Fault-Tolerant Multiprocessor for Real-Time Control Applications

Abstract

This paper presents the design, analysis, and experimental evaluation of a fault-tolerant multiprocessor for use in systems requiring real-time, microprocessor-based control. Example applications of the fault-tolerant system are found in robotics, process control, manufacturing, and factory automation. The architecture for the multiprocessor is presented and analyzed for reliability, availability, and safety. A prototype of the fault-tolerant multiprocessor has been constructed, using Intel 8088 processors, and experimentally evaluated in the laboratory. Both hardware and software descriptions of the system are provided, and an example application to the control of an electric wheelchair is presented.