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Layered Dynamic Fault Detection and Tolerance for Robots

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dc.contributor.author Visinsky, Monica L.
Walker, Ian D.
Cavallaro, Joseph R.
dc.date.accessioned 2012-05-25T18:51:45Z
dc.date.available 2012-05-25T18:51:45Z
dc.date.issued 1993-05-01
dc.identifier.other http://scholar.google.com/scholar?cluster=12885634911888814634&hl=en&as_sdt=0,44
dc.identifier.uri http://hdl.handle.net/1911/64181
dc.description.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.
dc.description.sponsorship National Science Foundation
dc.description.sponsorship Sandia National Laboratory
dc.description.sponsorship Mitre Corporation Graduate Fellowship
dc.description.sponsorship NSF Graduate Fellowship
dc.language.iso eng
dc.publisher IEEE Computer Society Press
dc.subject Fault Tolerance
Robotics
dc.title Layered Dynamic Fault Detection and Tolerance for Robots
dc.type Conference Paper
dc.contributor.center Center for Multimedia Communication
dc.citation.pageNumber 180-187
dc.citation.location Atlanta, GA
dc.citation.conferenceName IEEE international Conference on Robotics and Automation
dc.citation.conferenceDate 1993
dc.type.dcmi Text
dc.identifier.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.

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  • ECE Publications [1046 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