SGER: Dynamic Fault Tolerance Methods for Robotics

这项研究，在探索性研究模式的小赠款，调查机器人容错领域。这项活动产生了一系列具有潜在价值的个人方法。 该项目的目标是为机器人容错的严格方法奠定基础。 该研究涉及合成的保护操作系统外壳环境的机器人，并将此环境纳入一个新的方法，可证明容错机器人系统。操作系统外壳的设计是为了保护机器人从低层次的机械手系统和更高层次的计划错误的影响。 这个外壳是由一些容错任务在一个离散的决策水平。这些 在探索工作的一年中，将确定并概述三连杆平面机器人的任务。该机器人将在每个关节上增加两个传感器，并将在平面定位任务中具有运动学冗余。这种硬件冗余水平将为机器人提供容错能力。一个正式的模型将开发这个简单的例子机器人，并用于展示研究方法的潜在好处。这项工作将提供正式的方法来验证容错机器人系统的较低和较高级别的子系统。 关键的总体目标是将联合收割机不同的机器人容错技术结合到一个可证明正确的方法中。 该方法的正式工具的开发对于证明机器人容错的严格结果非常重要。在为期一年的SGER项目中，一系列基本示例将展示上述方法如何对这一新兴研究领域产生重大影响。

This research, in the Small Grants for Exploratory Research mode, investigates the area of fault tolerance for robotics. This activity has produced a series of potentially valuable individual ethods. The goal of this project is to develop the foundations for a rigorous approach to robotic fault tolerance. The research involves synthesis of a protective operating system shell environment for robots, and incorporation of this environment into a new approach for provably fault tolerant robotic systems. The operating system shell is designed to protect the robot from the effects of errors in the lower level manipulator system and the higher level plan. This shell is composed of a number of fault tolerance tasks at a discrete decision making level. These tasks will be identified and outlined for a three link planar robot during the year of exploratory work. The robot will be enhanced with two sensors per joint and will be kinematically redundant for positioning tasks in the plane. This level of hardware redundancy will provide fault tolerance capabilities to the robot. A formal model will be developed for this simple example robot and used to demonstrate the potential benefits of the research approach. This work will provide formal methods to verify fault tolerance for lower and higher level subsystems of a robot system. The key overall goal is to combine diverse techniques for robotic fault tolerance into a provably correct methodology. The development of formal tools for the approach will be important in proving rigorous results about robot fault tolerance. In the one year of the SGER project, a series of fundamental examples will demonstrate how the above approach can significantly impact this emerging research area.