Open AccessFault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities
Author(s) -
Mohammad M. Aref,
Reza Oftadeh,
Reza Ghabcheloo,
Jouni Mattila
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/60038
Subject(s) - computer science , redundancy (engineering) , architecture , mobile robot , fault tolerance , consistency (knowledge bases) , robot , embedded system , single point of failure , fault management , distributed computing , reliability engineering , artificial intelligence , operating system , art , structural engineering , node (physics) , engineering , visual arts
This paper describes one of the challenging issues implied by scientific infrastructures on a mobile robot cognition architecture. For a generally applicable cognition architecture, we study the dependencies and logical relations between several tasks and subsystems. The overall view of the software modules is described, including their relationship with a fault management module that monitors the consistency of the data flow among the modules. The fault management module is the solution of the deliberative architecture for the single point failures, and the safety anchor is the reactive solution for the faults by redundant equipment. In addition, a hardware architecture is proposed to ensure safe robot movement as a redundancy for the cognition of the robot. The method is designed for a four-wheel steerable (4WS) mobile manipulator (iMoro) as a case study
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