Dokument öffnen
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Allgemeine Angaben |
| Autor |
Ahn, Heejune; Loh, Woong-Kee; Yeo, Woon-Young |
| Erschienen |
InTech Open Access Publisher, 2012
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| Kurzbeschreibung |
Recently the component‐based approach has
become a major trend in intelligent service robot
development due to its reusability and productivity. The
framework in a component‐based system should provide
essential services for application components. However,
to our knowledge the existing robot frameworks do not
yet support fault tolerance service. Moreover, it is often
believed that faults can be handled only at the application
level. In this paper, by extending the robot framework
with the fault tolerance function, we argue that the
framework‐based fault tolerance approach is feasible and
even has many benefits, including that : 1) the system
integrators can build fault tolerance applications from
non‐fault‐aware components; 2) the constraints of the
components and the operating environment can be
considered at the time of integration, which ‐ cannot be
anticipated eaily at the time of component development;
3) consistency in system reliability can be obtained even
in spite of diverse application component sources. In the
proposed construction, we build XML rule files defining
the rules for probing and determining the fault conditions
of each component, contamination cases from a faulty
component, and the possible recovery and safety
methods. The rule files are established by a system
integrator and the fault manager in the framework controls
the fault tolerance process according to the rules. We
demonstrate that the fault‐tolerant framework can
incorporate widely accepted fault tolerance techniques.
The effectiveness and real‐time performance of the
framework‐based approach and its techniques are
examined by testing an autonomous mobile robot in
typical fault scenarios. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
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