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OF THE THESIS INTEGRATION OF FAULT TOLERANCE AND HARDWARE REDUNDANCY TECHNIQUES INTO THE DESIGN OF MOBILE PLATFORMS by Miguel Angel Espina Florida International University, 1999 Miami, Florida Professor Sabri Tosunoglu, Major Professor This work addresses the development of a fault-tolerant mobile platform. Fault-tolerant mechanical system design is an emerging technology that attempts to build highly reliable systems by incorporating hardware and software architectures. For this purpose, previous work in fault-tolerant were reviewed. Alternate architectures were evaluated to maximize the fault tolerance capabilities of the driving and steering systems of a mobile platform. The literature review showed that most of the research work on fault tolerance has been done in the area of kinematics and control systems of robotic arms. Therefore, hardware redundancy and fault tolerance in mobile robots is an area to be researched. The prototype constructed as part of this work demonstrated basic principles and uses of a fault-tolerant mechanism, and is believed to be the first such system in its class. It is recommended that different driving and steering architectures, and the fault-tolerant controllers' performance be tested on this prototype.

Integration of fault tolerance and hardware redundancy techniques into the design of mobile platforms