Java software platform for the development of advanced robotic virtual laboratories

This article presents an interactive Java software platform which enables any user to easily create advanced virtual laboratories (VLs) for Robotics. This novel tool provides both support for developing applications with full 3D interactive graphical interface and a complete functional framework for modelling and simulation of arbitrary serial-link manipulators. In addition, its software architecture contains a high number of functionalities included as high-level tools, with the advantage of allowing any user to easily develop complex interactive robotic simulations with a minimum of programming. In order to show the features of the platform, the article describes, step-by-step, the implementation methodology of a complete VL for Robotics education using the presented approach. Finally, some educational results about the experience of implementing this approach are reported.

Application-Based Analysis of Register File Criticality for Reliability Assessment in Embedded Microprocessors

There is an increasing concern to reduce the cost and overheads during the development of reliable systems. Selective protection of most critical parts of the systems represents a viable solution to obtain a high level of reliability at a fraction of the cost. In particular to design a selective fault mitigation strategy for processor-based systems, it is mandatory to identify and prioritize the most vulnerable registers in the register file as best candidates to be protected (hardened). This paper presents an application-based metric to estimate the criticality of each register from the microprocessor register file in microprocessor-based systems. The proposed metric relies on the combination of three different criteria based on common features of executed applications. The applicability and accuracy of our proposal have been evaluated in a set of applications running in different microprocessors. Results show a significant improvement in accuracy compared to previous approaches and regardless of the underlying architecture.