Cyber-Physical Systems (CPSs), such as Unmanned Aerial Vehicles (UAVs), use System-on-Chip (SoC) based computing platforms to perform multiple complex tasks in safety-critical applications that require a highly dependable operation. Due to continuous technological manufacturing miniaturization SoCs face a wide spectrum of chip-level reliability issues such as aging, soft and hard errors during the operational lifetime of a UAV. In addition, external (off-chip) faults in the sensors, actuators, and motors are another cause of UAV failures. While existing works examine either on-chip faults (internal) or sensors/actuators faults (external) separately, this research proposes a UAV health monitoring infrastructure considering both external and internal faults holistically. The proposed method relies on the IEEE 1687 standard (IJTAG) and employs on-chip embedded instruments as health monitors to instantly access external and internal sensor data. Experimental results for functional simulation of a real-life case-study design demonstrate both types of fault detection by serving only three clock cycles and the localization process using 16 and 30 clock cycles for the case of single and double faults, respectively.

翻译：网络物理系统（CPS），例如无人飞行器（UAV），采用基于系统级芯片（SoC）的计算平台在安全关键型应用中执行多项复杂任务，这要求极高的运行可靠性。由于持续的技术制造微型化，SoC在UAV运行寿命期间面临芯片级可靠性问题，如老化、软硬错误等。此外，传感器、执行器和电机中的外部（片外）故障是UAV故障的另一成因。现有研究分别探讨了片上故障（内部）或传感器/执行器故障（外部），而本研究提出了一种综合考虑内外故障的UAV健康监测基础设施。该方法基于IEEE 1687标准（IJTAG），利用片上嵌入式仪器作为健康监测器，实时获取内外传感器数据。针对实际案例设计的功能仿真实验结果表明，该方法仅需三个时钟周期即可检测两种类型故障，对于单故障和双故障情况，定位过程分别需要16和30个时钟周期。