Fault tolerant control architecture design for mobile manipulation in scientific facilities

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Fault tolerant control architecture design for mobile manipulation in scientific facilities. / M. Aref, Mohammad; Oftadeh, Reza; Ghabcheloo, Reza ; Mattila, Jouni.

In: international Journal of Advanced Robotic Systems, Vol. 12, No. 4, 29.01.2015.

Research output: Contribution to journal › Article › Scientific › peer-review

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@article{32c7a133aa4246d89e333956fe0b123f,

title = "Fault tolerant control architecture design for mobile manipulation in scientific facilities",

abstract = "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.",

keywords = "Architecture design, Autonomous vehicle drive, Cognition, Mobile robot, Remote handling",

author = "{M. Aref}, Mohammad and Reza Oftadeh and Reza Ghabcheloo and Jouni Mattila",

year = "2015",

month = "1",

day = "29",

doi = "10.5772/60038",

language = "English",

volume = "12",

journal = "international Journal of Advanced Robotic Systems",

issn = "1729-8806",

publisher = "InTech",

number = "4",

}

RIS (suitable for import to EndNote) - Download

TY - JOUR

T1 - Fault tolerant control architecture design for mobile manipulation in scientific facilities

AU - M. Aref, Mohammad

AU - Oftadeh, Reza

AU - Ghabcheloo, Reza

AU - Mattila, Jouni

PY - 2015/1/29

Y1 - 2015/1/29

N2 - 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.

AB - 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.

KW - Architecture design

KW - Autonomous vehicle drive

KW - Cognition

KW - Mobile robot

KW - Remote handling

UR - http://www.scopus.com/inward/record.url?scp=84923377541&partnerID=8YFLogxK

U2 - 10.5772/60038

DO - 10.5772/60038

M3 - Article

VL - 12

JO - international Journal of Advanced Robotic Systems

JF - international Journal of Advanced Robotic Systems

SN - 1729-8806

IS - 4

ER -

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