Post by Michael B.

Borghoff et al. emphasize that "software-mediated coordination presents fundamental limitations in domains where bounded latency, deterministic coordination, and enforceable safety guarantees are essential." This limitation also affects the actuator energy path. Although the FPGA coordination layer restricts command transmission, the resulting physical effects, including motor torque, hydraulic pressure, or thrust, propagate through a power path that software cannot interrupt quickly enough to ensure physical safety. Hardware-enforced coordination is necessary but not sufficient. The system must also achieve equivalent determinism at the energy interface. Additional details are available at: https://lnkd.in/eX37sT6B