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J. Cestero, J. Rogan, Tao Cui and Franz Franchetti (Proc. High Performance Extreme Computing (HPEC), 2026)
High Performance High-Assurance Interval Arithmetic Based Safety Monitoring for Robot Arms on Industrial Multi-Core PLCs
Comment: Extended abstract with poster
Preprint (343 KB)
Bibtex

The certified runtime of an industrial Pro- grammable Logic Controller (PLC) excels at IEC 61131-3 control logic but is computationally constrained for floating- point-intensive safety checks. We present a proof of concept that offloads safety computation to the Linux partition of a hypervisor-based PLC, using robot-arm boundary checking as the demonstration case. Using a high performance interval arithmetic library, we perform polytope-based boundary checks on the Linux partition, exchanging data with the PLC runtime partition through a shared-memory inter-partition framework. Our implementation achieves sub-millisecond latency while pro- viding formally sound floating-point guarantees.

Keywords:
Interval arithmetic, Robotic safety systems, Real-time boundary checking, Programmable Logic Controller (PLC)