CONTROL OF COMPUTING AND DIAGNOSTICS OF SOFTWARE FOR ON-BOARD COMPUTERS OF ROBOTIC COMPLEXES

Abstract

The aim of the study is to improve the efficiency of high-level design of robotic systems in terms of management of computing and diagnostics of on-board computer software. Three problems are considered: assignment, scheduling and diagnostics. The first problem, the assignment task, is to determine the necessary resources and build the distribution of program modules among the onboard computer processors in accordance with a given criterion. The article presents a mathematical formulation of the problem, algorithms are given, and the presence of areas of effective dominance of algorithms depending on the selected criterion is shown. The second problem, the scheduling problem, is to determine the sequence of tasks in multi-channel systems in accordance with a given criterion. A mathematical formulation of the problem is given, algorithms and the results of their study are given. A feature of the scheduling algorithms under consideration is the use of a unified approach, namely the concept of the dominance relation between processors and the construction of solvable classes of systems. The third problem is software diagnostics. The complexity of the task of diagnosing computer systems is determined not only by their high dimensionality, but also by the multiplicity of causes of violations. The source of violations of the computing process can be both hardware failures and errors in the organization of calculations made by developers. The article uses a hierarchical approach, in this case, the components of the system, connected by an inclusion relation, are arranged in accordance with the level of complexity in such a way that the model of higherlevel components is represented by a composition of lower-level models. For each level, own diagnostic tools are synthesized, focused on failures of information links between the components of the previous level. The article proposes an approach to test diagnostics using a network dynamic model, which involves the introduction of redundancy in order to simplify the diagnostic experiment and reduce the complexity of its preparation. This approach allows you to automatically synthesize diagnostic tools and detect violations in the addressing of information exchanges when the software of robotic systems works as intended. Approbation of the algorithms under consideration was carried out using software developed by the author at the stage of designing on-board systems at JSC «Concern «Central Research Institute «Elektropribor».