A Framework-Based Approach for Fault-Tolerant Service Robots
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 framew...
Main Authors: | , , |
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Format: | Article |
Language: | English |
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SAGE Publishing
2012-11-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/54023 |
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author | Heejune Ahn Woong-Kee Loh Woon-Young Yeo |
author_facet | Heejune Ahn Woong-Kee Loh Woon-Young Yeo |
author_sort | Heejune Ahn |
collection | DOAJ |
description | 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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format | Article |
id | doaj.art-13a8ea983a5f406b8f81c86f382bc919 |
institution | Directory Open Access Journal |
issn | 1729-8814 |
language | English |
last_indexed | 2024-12-20T12:50:10Z |
publishDate | 2012-11-01 |
publisher | SAGE Publishing |
record_format | Article |
series | International Journal of Advanced Robotic Systems |
spelling | doaj.art-13a8ea983a5f406b8f81c86f382bc9192022-12-21T19:40:10ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-11-01910.5772/5402310.5772_54023A Framework-Based Approach for Fault-Tolerant Service RobotsHeejune Ahn0Woong-Kee Loh1Woon-Young Yeo2 Department of Electrical Engineering and Information Technology, Seoul National University of Science and Technology (SeoulTech), Seoul, South Korea Department of Multimedia, Sungkyul University, Anyang-shi, Gyeonggi-do, South Korea Department of Information and Communication Engineering, Sejong University, Seoul, South KoreaRecently 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.https://doi.org/10.5772/54023 |
spellingShingle | Heejune Ahn Woong-Kee Loh Woon-Young Yeo A Framework-Based Approach for Fault-Tolerant Service Robots International Journal of Advanced Robotic Systems |
title | A Framework-Based Approach for Fault-Tolerant Service Robots |
title_full | A Framework-Based Approach for Fault-Tolerant Service Robots |
title_fullStr | A Framework-Based Approach for Fault-Tolerant Service Robots |
title_full_unstemmed | A Framework-Based Approach for Fault-Tolerant Service Robots |
title_short | A Framework-Based Approach for Fault-Tolerant Service Robots |
title_sort | framework based approach for fault tolerant service robots |
url | https://doi.org/10.5772/54023 |
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