Layered Dynamic Fault Detection and Tolerance for Robots

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dc.citation.conferenceDate1993en_US
dc.citation.conferenceNameIEEE international Conference on Robotics and Automationen_US
dc.citation.firstpage180
dc.citation.lastpage187
dc.citation.locationAtlanta, GAen_US
dc.contributor.authorVisinsky, Monica L.
dc.contributor.authorWalker, Ian D.
dc.contributor.authorCavallaro, Joseph R.
dc.contributor.orgCenter for Multimedia Communicationen_US
dc.date.accessioned2012-05-25T18:51:45Z
dc.date.available2012-05-25T18:51:45Z
dc.date.issued1993-05-01eng
dc.description.abstractFault tolerance is increasingly important for space and hazardous environment robotics. Robots need to quickly detect and tolerate internal failures in order to continue performing their tasks without the need for immediate human intervention. Using analytical redundancy, this paper derives tests with which the robot can detect failures. The paper also develops a layered intelligent control framework containing these new sensor-based fault detection and tolerance schemes. the servo, interface, and supervisor layers form a hierarchy of fault tolerance which provide different levels of detection and tolerance capabilities for structurally diverse robots.en_US
dc.description.sponsorshipNational Science Foundationen_US
dc.description.sponsorshipSandia National Laboratoryen_US
dc.description.sponsorshipMitre Corporation Graduate Fellowshipen_US
dc.description.sponsorshipNSF Graduate Fellowshipen_US
dc.identifier.citationM. L. Visinsky, I. D. Walker and J. R. Cavallaro, "Layered Dynamic Fault Detection and Tolerance for Robots," 1993.*
dc.identifier.doihttp://dx.doi.org/10.1109/ROBOT.1993.292144en_US
dc.identifier.otherhttp://scholar.google.com/scholar?cluster=12885634911888814634&hl=en&as_sdt=0,44
dc.identifier.urihttps://hdl.handle.net/1911/64181
dc.language.isoengen
dc.publisherIEEE Computer Society Pressen_US
dc.subjectFault Toleranceen_US
dc.subjectRoboticsen_US
dc.titleLayered Dynamic Fault Detection and Tolerance for Robotsen_US
dc.typeConference paperen_US
dc.type.dcmiTexten
dc.type.dcmiTexten_US
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