Reliability analysis of mobile robots

Carlson, Jennifer; Murphy, Robin R.

doi:10.1109/robot.2003.1241608

Cited by 86 publications

(52 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…By detecting faults, the robots can leverage their multiplicity and ensure continued operation by reassigning functional robots to the failed robots' task or by taking steps to have the failed robots repaired. In a recent paper [5], the reliability of seven mobile robots from three different manufacturers was tracked over a period of two years and the average mean time between failures was found to be 8 hours. The result suggests that faults in mobile robots are quite frequent.…”

Section: Introductionmentioning

confidence: 99%

From Fireflies to Fault-Tolerant Swarms of Robots

Christensen

O’Grady

Dorigo

2009

IEEE Trans. Evol. Computat.

141

View full text Add to dashboard Cite

Abstract. One of the essential benefits of multi-robot systems is redundancy. In case one robot breaks down, another robot can take steps to repair the failed robot or take over the failed robot's task. Although fault tolerance and robustness to individual failures have often been central arguments in favor of multi-robot systems, few studies have been dedicated to the subject. In this study, we take inspiration from the synchronized flashing behavior observed in some species of fireflies. We derive a completely distributed algorithm to detect non-operational individuals in a multi-robot system. Each robot flashes by lighting up its onboard LEDs and neighboring robots are driven to flash in synchrony. Since robots that are suffering catastrophic failures do not flash periodically, they can be detected by operational robots. We explore the performance of the proposed algorithm both on a real world multirobot system and in simulation. We show that failed robots are detected correctly and in a timely manner, and we show that a system composed of robots with simulated self-repair capabilities can survive relatively high failure rates.

show abstract

Section: Introductionmentioning

confidence: 99%

From Fireflies to Fault-Tolerant Swarms of Robots

Christensen

O’Grady

Dorigo

2009

IEEE Trans. Evol. Computat.

141

View full text Add to dashboard Cite

show abstract

“…The failure of mechanisms deployed in hazardous environments is discussed in literatures [36,124,125]. Design failure was recognised as a major factor.…”

Section: Durability In Harsh Environmentsmentioning

confidence: 99%

A review of friction models in interacting joints for durability design

2017

View full text Add to dashboard Cite

This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.

show abstract

“…The problem is often exacerbated if the fault is not detected in a timely manner. In a recent paper (Carlson and Murphy 2003), the reliability of seven mobile robots from three different manufacturers was tracked over a period of two years and the average mean time between failures was found to be 8 hours. The result suggests that faults in mobile robots are quite frequent.…”

Section: Introductionmentioning

confidence: 99%

Fault detection in autonomous robots based on fault injection and learning

et al. 2007

View full text Add to dashboard Cite

In this paper, we study a new approach to fault detection for autonomous robots. Our hypothesis is that hardware faults change the flow of sensory data and the actions performed by the control program. By detecting these changes, the presence of faults can be inferred. In order to test our hypothesis, we collect data from three different tasks performed by real robots. During a number of training runs, we record sensory data from the robots while they are operating normally and after a fault has been injected. We use back-propagation neural networks to synthesize fault detection components based on the data collected in the training runs. We evaluate the performance of the trained fault detectors in terms of number of false positives and time it takes to detect a fault. The results show that good fault detectors can be obtained. We extend the set of possible faults and go on to show that a single fault detector can be trained to detect several faults in both a robot's sensors and actuators. We show that fault detectors can be synthesized that are robust to variations in the task, and we show how a fault detector can be trained to allow one robot to detect faults that occur in another robot.

show abstract

Reliability analysis of mobile robots

Cited by 86 publications

References 14 publications

From Fireflies to Fault-Tolerant Swarms of Robots

From Fireflies to Fault-Tolerant Swarms of Robots

A review of friction models in interacting joints for durability design

Fault detection in autonomous robots based on fault injection and learning

Contact Info

Product

Resources

About