Failure Recognition and Fault Tolerance of an Autonomous Robot
| Autor: | Cynthia Ferrell |
|---|---|
| Rok vydání: | 1994 |
| Předmět: |
business.industry
Computer science Concurrency 05 social sciences Real-time computing Experimental and Cognitive Psychology Fault tolerance Autonomous robot 050105 experimental psychology Variety (cybernetics) 03 medical and health sciences Behavioral Neuroscience 0302 clinical medicine Component (UML) Embedded system Robot 0501 psychology and cognitive sciences Actuator business Set (psychology) 030217 neurology & neurosurgery |
| Zdroj: | Adaptive Behavior. 2:375-398 |
| ISSN: | 1741-2633 1059-7123 |
| Popis: | The purpose of this article is twofold The first goal is to present important issues in designing fault-tolerant systems for autonomous robots. The second is to present the fault-tolerance capabilities we implemented on our autonomous robot. Our approach is characterized by a distributed network of concurrently running processes. To tolerate hardware failures, a set of fault-tolerance processes is written for each component. These processes are responsible for detecting faults in their respective component and for minimizing the impact of the failure on the robot's performance. By exploiting concurrency and distributedness, the system monitors, detects, and compensates for component failures simultaneously. The capabilities of this system have been tested by physically disabling and enabling the robot's sensors and actuators. The system quickly recognizes and compensates for both minor and severe sensor and actuator failures. lt tolerates a variety of sensor failures such as decalibration, erroneous readings, and permanent failures. lt also tolerates various combinations of failures such as individual failures, concurrent failures, and accumulative failures. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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