By Topic

A dynamic fault tolerance framework for remote robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
M. L. Visinsky ; Dowell Schlumberger Corp., Tulsa, OK, USA ; J. R. Cavallaro ; I. D. Walker

This paper presents a layered fault tolerance framework containing new fault detection and tolerance schemes. The framework is divided into servo, interface, and supervisor layers. The servo layer is the continuous robot system and its normal controller. The interface layer monitors the servo layer for sensor or motor failures using analytical redundancy based fault detection tests. A newly developed algorithm generates the dynamic thresholds necessary to adapt the detection tests to the modeling inaccuracies present in robotic control. Depending on the initial conditions, the interface layer can provide some sensor fault tolerance automatically without direction from the supervisor. If the interface runs out of alternatives, the discrete event supervisor searches for remaining tolerance options and initiates the appropriate action based on the current robot structure indicated by the fault tree database. The layers form a hierarchy of fault tolerance which provide different levels of detection and tolerance capabilities for structurally diverse robots

Published in:

IEEE Transactions on Robotics and Automation  (Volume:11 ,  Issue: 4 )