A reusability-based hierarchical fault-detection architecture for robot middleware and its implementation in an autonomous mobile robot system

Tao Asato, Yuki Suga, Tetsuya Ogata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this study, we proposed a fault-detection architecture for robot middleware systems and implemented it in an autonomous mobile robot system. Although robot middleware has been employed in robot development, the design methodology for fault-tolerant systems remains underdeveloped. Moreover, conventional approaches have two drawbacks. First, previous fault-detection approaches were difficult to apply to robot systems in general, because they were designed for a specific robot or task. Second, although many fault-detection approaches have been domain-independent, the fault information made available was very basic to allow debugging or fault recovery. Our goal is to develop a domain-independent framework that could deliver domain-specific information. The return value of Remote Procedure Call (RPC) can notify detailed information; however, designers are reluctant to apply it as it degrades component reusability. To address this problem, we proposed a hierarchical fault-detection architecture that layers the system on the basis of the reusability of different components. RPC communication is then applied only between component with low reusability. This minimizes the negative effects of RPC, allowing it to be used for fault-detection in various robots and tasks. To demonstrate the practicality this approach, we developed a fault-detection architecture, adapted it for use with an autonomous mobile robot, and implemented it in RT-Middleware. We demonstrated that layering the system by the frequency of reuse of the different components successfully mitigated the tendency of RPC to degrade their reusability while making detailed fault information available.

Original languageEnglish
Title of host publicationSII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages150-155
Number of pages6
ISBN (Electronic)9781509033294
DOIs
Publication statusPublished - 2017 Feb 6
Event2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan
Duration: 2016 Dec 132016 Dec 15

Publication series

NameSII 2016 - 2016 IEEE/SICE International Symposium on System Integration

Other

Other2016 IEEE/SICE International Symposium on System Integration, SII 2016
CountryJapan
CitySapporo
Period16/12/1316/12/15

ASJC Scopus subject areas

  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Optimization

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