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dc.contributor.authorVisinsky, Monica L.
Walker, Ian D.
Cavallaro, Joseph R. 2012-05-25T18:51:45Z 2012-05-25T18:51:45Z 1993-05-01
dc.identifier.citation M. L. Visinsky, I. D. Walker and J. R. Cavallaro, "Layered Dynamic Fault Detection and Tolerance for Robots," 1993.
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.subjectFault Tolerance
dc.title Layered Dynamic Fault Detection and Tolerance for Robots
dc.type Conference paper Center for Multimedia Communication
dc.citation.location Atlanta, GA
dc.citation.conferenceName IEEE international Conference on Robotics and Automation
dc.citation.conferenceDate 1993
dc.type.dcmi Text
dc.type.dcmi Text
dc.citation.firstpage 180
dc.citation.lastpage 187

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  • CMC Publications [268]
    Publications by Rice Faculty and graduate students in multimedia communications
  • ECE Publications [1289]
    Publications by Rice University Electrical and Computer Engineering faculty and graduate students

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