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Layered Dynamic Fault Detection and Tolerance for Robots

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Title: Layered Dynamic Fault Detection and Tolerance for Robots
Author: Visinsky, Monica L.; Walker, Ian D.; Cavallaro, Joseph R.
Type: Conference Paper
Publisher: IEEE Computer Society Press
Citation: M. L. Visinsky, I. D. Walker and J. R. Cavallaro,"Layered Dynamic Fault Detection and Tolerance for Robots," in IEEE international Conference on Robotics and Automation, 1993, pp. 180-187.
Abstract: Fault tolerance is increasingly important for space and hazardous environment robotics. Robots need to quickly detect and tolerate internal failures in order to continue performing their tasks without the need for immediate human intervention. Using analytical redundancy, this paper derives tests with which the robot can detect failures. The paper also develops a layered intelligent control framework containing these new sensor-based fault detection and tolerance schemes. the servo, interface, and supervisor layers form a hierarchy of fault tolerance which provide different levels of detection and tolerance capabilities for structurally diverse robots.
Date Published: 1993-05-01

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  • ECE Publications [1032 items]
    Publications by Rice University Electrical and Computer Engineering faculty and graduate students
  • CMC Publications [275 items]
    Publications by Rice Faculty and graduate students in multimedia communications