A taxonomy for software voting algorithms used in safety-critical systems

IEEE Transactions on Reliability

Volumn 53, Issue 3, 2004, Pages 319-328

  Latif Shabgahi, G ^a   Bass, Julian M ^b   Bennett, Stuart ^c  

^a OPEN UNIVERSITY   (United Kingdom)

^b Business Agility Ltd   (United Kingdom)

^c UNIVERSITY OF SHEFFIELD   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER HARDWARE; COMPUTER PROGRAMMING; COMPUTER SOFTWARE; PROBABILITY; REDUNDANCY; SYSTEMS ANALYSIS;

RESULT AMALGAMATION; RESULT SELECTION; SAFETY CRITICAL SYSTEM; TAXONOMY; TRIPLE MODULAR REDUNDANCY; VOTING ALGORITHMS;

RELIABILITY;

EID: 2442465295     PISSN: 00189529     EISSN: None     Source Type: Journal    
DOI: 10.1109/TR.2004.832819     Document Type: Article

References (77)

1. J.-C. Laprie, "Dependable computing and fault-tolerance: concepts and terminology," in Digest of Papers FTCS'15: IEEE 15th Annu. Int. Symp. Fault-Tolerant Computing Systems, Ann. Arbor, MI, June 1985, pp. 2-11.
2. B. W. Johnson, Design and Analysis of Fault-Tolerant Digital Systems. New York: Addison-Wesley, 1989.
3. L. Chen and A. Avizienis, "N-Version Programming: a fault-tolerance approach to reliability of software operation," in Digest of Papers FTCS'8: IEEE 8th Annu. Int. Symp. Fault-Tolerant Computing Systems, Toulouse, France, June 1978, pp. 3-9.
4. D.R.K. Brownrigg, "The weighted median filter," Commun. ACM, vol. 27, no. 8, pp. 807-818, Aug. 1984.
5. H. Sterol and H. Uebel, "Das sichere mikrocomputer system SIMIS," Signal and Draht, vol. 70, no. 4, 1978.
6. A. E. Cooper and W. T. Chow, "Development of on-board space computer systems," IBM J. Res. Dev., vol. 20, no. 1, pp. 5-19, 1976.
7. M. J. Colley, J. Standeven, and N. Chandhakant, "The RaFt simulation environment," in Transputer Research and Application 5 (NATUG 5): IOS Press, 1992, pp. 49-56.
8. J. H. Wensley, L. Lamport, J. Goldberg, M. W. Green, K. N. Levitt, P. M. Miller-Smith, R. E. Shostak, and C. B. Weinstiock, "SIFT: design and analysis of a fault-tolerant computer for aircraft control," Proc. IEEE, vol. 66, no. 10, pp. 1240-1255, Oct. 1978.
9. H. Theuretzbacher, "VOTRICS: voting triple modular computing system," in Digest of Papers, FTCS'16: IEEE 16th Annu. Int. Symp. Fault Tolerant Computing Systems, Vienna, Austria, July 1986, pp. 144-150.
10. V. D. Florio, G. Deconinck, and R. Lauwereins, "The EFTOS voting farm: a software tool for fault-masking in message passing parallel environments," in Proc. 24th Euromicro Conf. Dependable Computing Systems, IEEE Computer Society, Vasteras, Sweden, Aug. 1998, pp. 379-386.
11. A. L. Hopkins, T. B. Smith, and J. H. Lala, "FTMP - a highly reliable fault-tolerant multiprocessor for aircraft," Proc. IEEE, vol. 66, pp. 1221-1239, 1978.
12. D. Jewett, "A fault-tolerant unix platform," in Digest of Papers FTCS'21: IEEE 21st Annu. Int. Symp. Fault-Tolerant Computing Systems, Montreal, Canada, June 1991, pp. 512-519.
13. K. Marzullo, "Tolerating failures of continuous-valued sensors," ACM Trans. Computer Systems, vol. 8, pp. 284-304, 1990.
14. S.-Y. Yu, N. Saxena, and E. J. McCluskey, "ACS implementation of a robotic control algorithm with fault tolerant capabilities," in IEEE Symp. Field-Programmable Custom Computing Machines, Napa Valley, California, Apr. 16-19, 2000, pp. 175-184.
15. G. Toye, "Management of Non-Homogeneous Functional Modular Redundancy for Fault Tolerant Programmable Electro-Mechanical Systems," Ph.D. Thesis, Stanford University, 1990.
16. S. Tosunoglu, "Fault tolerance for modular robots," in Proc. IECON, vol. 3, 1993, pp. 1910-1914.
17. A. Davies and J. F. Walkerly, "Synchronization and matching in redundant systems," IEEE Trans. Comp., vol. 27, no. 6, pp. 531-539, 1978.
18. B. J. Flehinger, "Reliability improvement through redundancy at various system levels," IBM J. Res. Dev., vol. 2, pp. 148-158, 1958.
19. R. E. Lyons and W. Vanderkulk, "The use of triple modular redundancy to improve computer reliability," IBM J. Res. Dev., vol. 6, pp. 200-209, Apr. 1962.
20. J. F. Wakerly, "Microcomputer reliability improvement using triple modular redundancy," Proc. IEEE, vol. 64, no. 6, pp. 889-895, June 1976.
21. F. Wang, K. Ramamritham, and J. Stankovic, "Determining redundancy level for fault-tolerant real-time systems," IEEE Trans. Comp., vol. 44, no. 2, pp. 292-301, Feb. 1995.
22. J. Y. Lee, H. Y. Youn, and A. D. Sing, "Adaptive voting for faulty (VFF) node scheme for distributed self-diagnosis," in Digest of Papers FTCS'23: IEEE 23rd Annu. Int. Symp. Fault-Tolerant Computing Systems, Toulouse, France, June 1993, pp. 480-489.
23. B. Parhami, "A taxonomy of voting schemes for data fusion and dependable computing," Reliab. Eng. Syst. Saf., vol. 52, pp. 139-151, 1996.
24. M. Ahmmad and M. H. Ammar, "Performance characterization of quorum-consensus algorithm for replicated data," in Proc. 7th Symp. Reliability in Distributed Software and Database Systems, 1987, pp. 161-167.
25. Z. Tong and R. Y. Kain, "Vote assignments in weighted voting mechanisms," IEEE Trans. Comp., vol. 40, no. 5, pp. 664-667, 1991.
26. I. R. Chen and I. R. Wang, "Analysing dynamic voting using Petri nets," in Proc. IEEE 15th Int. Symp. Reliable Distributed Systems, Niagara-on-the-Lake, Ontario, Canada, Oct. 1996, pp. 44-53.
27. L. Xu and J. Bruck, "Deterministic voting in distributed systems using error-correcting codes," IEEE Trans. Parallel and Distributed Systems, rol. 9, no. 8, pp. 813-824, 1998.
28. G. Levitin, "Analysis and optimization of weighted voting systems consisting of voting units with limited availability," Reliab. Eng. Syst. Saf., vol. 73, no. 1, pp. 91-100, July 2001.
29. G. Levitin and A. Lisnianski, "Reliability optimization for weighted voting system," Reliab. Eng. Syst. Saf., vol. 71, no. 2, pp. 131-138, Feb. 2001.
30. L. Nordmann and H. Pham, "Weighted voting systems," IEEE Trans. Rel., vol. 48, no. 1, pp. 42-49, March 1999.
31. D. Dolev, L. Lamport, M. Pease, and R. Shostak, "The Byzantine generals," in Concurrency Control and Reliability in Distributed Systems, B. K. Bhargava, Ed. NY: Van Ostrand Reinhold, 1987, pp. 348-369.
32. H. Kopetz and W. Ochsenreiter, "Clock synchronization in distributed real-time systems," IEEE Trans. Computers, vol. 36, no. 8, pp. 933-940, Aug. 1987.
33. D.K. Gifford, "Weighted voting for replicated data," in Proc. 7th ACM SIGOPS Symp. Operating Systems Principles, 1979, pp. 150-159.
34. H. Garcia-Molina and D. Barbara, "How to assign votes in a distributed system," J. ACM, vol. 32, pp. 841-860, 1985.
35. J. F. Paris, "Voting with witnesses: a consistency scheme for replicated files," in Proc. 6th IEEE Int. Conf. Distributed Computing Systems, 1986, pp. 606-612.
36. D. Barbara and H. Garcia-Molina, "The reliability of voting mechanisms," IEEE Trans. Comp., vol. 36, pp. 1197-1208, 1987.
37. O. Babaoglu, "On the reliability of consensus-based fault-tolerant distributed computing systems," ACM Trans. Computer Systems, vol. 5, pp. 394-416, 1987.
38. S. Jajodia and D. Mutchler, "Dynamic voting," in Proc. 1987 ACM SIGMOD Conf, San Francisco, California, May 1987, pp. 227-232.
39. R. V. Renesse and A. S. Tanenbanm, "Voting with ghosts," in Proc. 8th IEEE Int. Conf Distributed Computing Systems, 1988, pp. 456-462.
40. S. Jajodia and D. Mutchler, "A pessimistic consistency control algorithm for replicated files which achieves high availability," IEEE Trans. Software Eng., vol. 15, no. 1, pp. 39-46, 1989.
41. S. Jajodia and D. Mutchler, "Dynamic voting algorithms for maintaining the consistency of a replicated database," ACM Trans. Database Systems, vol. 15, no. 2, pp. 230-280, June 1990.
42. N. R. Adam, "A new dynamic voting algorithm for distributed database systems," IEEE Trans. Knowledge and Data Engineering, vol. 6, no. 3, pp. 470-478, 1994.
43. B. Parhami, "Voting algorithms," IEEE Trans. Rel., vol. 43, no. 4, pp. 617-629, 1994.
44. J. H. Lala and R. E. Harper, "Architectural principles for safety critical real-time applications," Proc. IEEE, vol. 82, no. 1, pp. 25-39, Jan. 1994.
45. J. Rushby, "Formal Methods and the Certification of Critical Systems," Computer Science Laboratory, SRI International, Tech. Rep. CSL-93-7, 1993.
46. D.W. Caldwell and D. A. Rennels, "Minimalist Fault Masking, Detection and Recovery Techniques for Mitigating Single Event Effects in Spaceborne Microcontrollers," UCLA Computer Science Department, Tech. Rep. TR 980025, 1998.
47. D. Powell, J. Arlat, L. Beus-Dukic, A. Bondavalli, P. Coppola, A. Fantechi, E. Jenn, C. Rabejac, and A. Wellings, "GUARDS: a Generic Upgradable Architecture for Real-Time Dependable Systems," IEEE Trans. Parallel and Distributed Systems, vol. 10, no. 6, pp. 580-599, June 1999.
48. G. J. Davis, "An Analysis of Redundancy Management Algorithms for Asynchronous Fault Tolerant Control Systems," NASA Ames Research Centre, USA, NASA Tech. Rep. TM-100 007, 1987.
49. D. M. Blough and G. F. Sullivan, "A comparison of voting strategies for fault-tolerant distributed systems," in Proc. IEEE 9th Symp. Reliable Distributed Systems, Huntsville, Alabama, Oct. 1990, pp. 136-145.
50. D. F. McAllister, C. Sun, and M. A. Vouk, "Reliability of voting in fault-tolerant software systems for small output space," IEEE Trans. Rel., vol. 39, no. 5; pp. 524-533, 1990.
51. R. K. Scott, J. W. Gault, and D. F. McAllister, "Fault-tolerant reliability modeling," IEEE Trans. Software Eng., vol. 13, no. 5, pp. 582-592, 1987.
52. J. C. Knight, N. G. Leveson, and L. D. St. Jean, "A large scale experiment in N-Version Programming," in Digest of Papers FTCS'15: IEEE 15th Annu. Int. Symp. Fault-Tolerant Computing Systems, Ann Arbour, June 1985, pp. 135-139.
53. M. A. Vouk, D. F. McAllister, and K. C. Tai, "An experimental evaluation of the effectiveness of random testing of fault-tolerant software," in Proc. IEEE Workshop on Software Testing, July 1986, pp. 74-81.
54. J. L. Gersting, R. L. Nist, D. B. Roberts, and R. L. Van Valkenburg, "A comparison of voting algorithms for N-Version Programming," in IEEE 24th Annu. Hawaii Int. Conf. Systems Sciences, vol. 2, 1991, pp. 253-262.
55. J. Potter and M. C. Suman, "Extension of the mid-value selection technique for redundancy management of inertial sensors," Journal of Guidance, Control and Dynamics, vol. 9, no. 1, pp. 37-44, 1986.
56. P. R. Lorczak, A. K. Caglayan, and D. E. Eckhardt, "A theoretical investigation of generalized voters," in Digest of Papers FTCS'19: IEEE 19th Annu. Int. Symp. Fault- Tolerant Computing Systems, Chicago, June 1989, pp. 444-451.
57. Z. Tong and R. Kain, "Vote assignments in weighted voting mechanisms," in Proc. 7th Symp. Reliable Distributed Systems, 1988, pp. 138-143.
58. R. B. Broen, "New voters for redundant systems," ASME J. Dynamic Systems, Measurement and Control, pp. 41-45, March 1975.
59. Y. W. Leung, "Maximum likelihood voting for fault-tolerant software with finite output-space," IEEE Trans. Rel., vol. 44, no. 3, pp. 419-427,
60. J. Lala and L. Alger, "Hardware and software fault tolerance: a unified architectural approach," in Digest of Papers FTCS'18: IEEE 18th Annu. Int. Symp. Fault-Tolerant Computing Systems, Tokyo, Japan, June 1988, pp. 135-139.
61. F. D. Giandomenico and L. Strigini, "Adjudicators for diverse redundant components," in Proc. 9th Symp. Reliable Distributed Systems, 1990, pp. 114-123.
62. D. M. Blough and G. F. Sullivan, "Voting using predispositions," IEEE Trans. Rel., vol. 43, no. 4, pp. 604-616, Dec. 1994.
63. K. Kim, M. A. Vouk, and D. F. McAllister, "A Pracrical Implementation of Maximum Likelihood Voting,", Research report, NASA NAG-1-983, 1997.
64. B. Parhami, "Optimal algorithms for exact, inexact, and approval voting," in Digest of Papers, FTCS'22: IEEE 22nd Annu. Int. Symp. Fault Tolerant Computing Systems, Boston, July 1992, pp. 444-451.
65. B. Parhami, "Threshold voting is fundamentally simpler than plurality voting," Int. J. Reliab., Qual., Saf. Eng., vol. 1, no. 1, pp. 95-102, 1994.
66. J. M. Bass, "Voting in Real-Time Distributed Computer Control Systems," Ph.D. Thesis, Automatic Control and Systems Engineering Department, The University of Sheffield, Sheffield, UK, 1995.
67. F. S. Acton, Numerical Methods That Work: Harper and Row Publishing Company, 1970.
68. G. Larif-Shabgahi, S. Bennett, and J. M. Bass, "Voting algorithms in multiple error scenarios for real-time control applications," in 15th World Congress of Int. Federation of Automatic Control (IFAC b'02), Barcelona, Spain, July 21-26, 2001.
69. G. Latif-Shabgahi, J. M. Bass, and S. Bennett, "Complete disagreement in redundant real-time control applications," in 5th IFAC Workshop on Algorithms and Architectures for Real-Time Control, AARTC'98, Cancun, Mexico, April 1998, pp. 259-264.
70. H. Benitez-Perez, G. Latif-Shabgahi, J. M. Bass, H. A. Thompson, S. Bennett, and P. J. Fleming, "Integration and comparison of FDI and fault masking features in embedded control systems," in Proc. 14th World Congress of Int. Federation of Automatic Control, vol. P, Beijing, China, July 1999, pp. 31-36.
71. G. Larif-Shabgahi, J. M. Bass, and S. Bennett, "Integrating selected fault masking and self-diagnosis mechanisms," in Proc. PDP99: 7th Euromicro Workshop on Parallel and Distributed Processing, Funchal, Portugal, February 1999, pp. 97-104.
72. J. R. Sklaroff, "Redundancy management technique for space shuttle computers," IBM J. Res. Dev., vol. 20, no. 1, pp. 20-28, 1976.
73. K. Kanekawa, H. Maejima, H. Kato, and H. Ihara, "Dependable on-board computer systems with a new method: stepwise negotiated voting," in FTCS'19: IEEE 19th Annu. Int. Symp. Fault-Tolerant Computing Systems, Chicago, June 1989, pp. 13-19.
74. M. A. Vouk, A. M. Paradkar, and D. F. McAllister, "Modeling execution time of multi-stage N-version fault-tolerant software," in Proc. IEEE Computer Software and Application Conf., 1990, pp. 505-511.
75. D. Cummings and L. Alkalaj, "Checkpoint/Rollback in a Distributed System Using Coarse-Grained Data Flow," Jet Propulsion Laboratory, California Institute of Technology, USA, 1994.
76. S. Bennett and G. Latif-Shabgahi, "Evaluation the performance of voting algorithms used in fault tolerant control systems," in Proc. 14th World Congress of Int. Federation of Automatic Control, vol. Q, Beijing, China, July 5-9, 1999, pp. 525-530.
77. G. Latif-Shabgahi, "Performance Analysis of Software Implemented In-exact Voting Algorithms," Ph.D. thesis, Department of Automaric Control and Systems Engineering, The University of Sheffield, Sheffield, UK, 1999.