Radiation-Resistant FPGA-Based Heterogeneous Architecture with Dynamic Scheduling for Real-Time Nuclear Robot Control

Yubo Fu, Lei Liu, Bing Li, Guodong Chen, Shaonan Chen, Guofeng Zhou

Abstract


A novel FPGA-based heterogeneous computing architecture is proposed, which is used to control nuclear robots in real time, and an adaptive task scheduling algorithm (DA-TSA) is proposed. It features multi-core computing layer, radiation-hardened storage with LDPC error correction, and high-speed serial/on-chip network communication layer. The DA-TSA uses the 3D weighted model to compute dynamic priorities and resource allocation. Compared with traditional algorithms (FPS, EDF, RMS), DA-TSA reduces the average task completion time by 21.9% – 31.1%, and the resource utilization rate is 26.7%. Compared with traditional systems, the real-time control system achieves 57.1% reduction in environment perception delay, 43.8% faster path planning and only 36.6% failure rates compared with traditional systems validated under simulated high radiation environment (SEU injection rate: 10 Hz/cm ²/s).


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DOI: https://doi.org/10.31449/inf.v49i31.9326

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