The results reduced by analysis and experiments show that the schemes can improve the reliability of data output channel and is easy to be implemented.

分析和实验表明，该故障检测方法能显著改善开关量输出通道的可靠性，且易于工程实现。

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Hardware design is based on the main control DSP core, including designs of sensor signals collection, data output channel and CAN communication module.

硬件设计主要围绕控制核心DSP展开，包括传感器信号的接入，数据输出通道设计以及CAN通信模块设计。

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That is, a channel guard is ready if and only if the process at the other end of the channel has output to it and this data has not yet been input by this process.

也就是说，只有在通道另一端的进程已经输出数据，而该数据还没有被进程输入的时候，警卫才就绪。

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