TAMUCC Robotics Lab

Texas A&M University - Corpus Christi

Text Box: Research Detail
Research title

ROBOTICS

Massive sensor array fault tolerance

Research title

NASA project

As today’s machines become ever complex for intricate tasks, the number of sensors grows for intelligent operations. Taking the large number of sensors into account, it is not trivial to detect, isolate and then control faulty sensors. In this paper, we propose fault tolerance architecture suitable for a massive sensor array often found in highly advanced systems such as autonomous robots. One example is the sensitive skin, a type of massive sensor array developed at the University of Wisconsin-Madison and now at NASA for autonomous guidance of machines in unknown environments. The entirety of such system needs to be able to work remotely without human attendance for an extended period of time. To that end, we propose a fault tolerant architecture for fault detection, isolation, and control (FDIC) to effectively tolerate failures in a massive array type sensor or sensor system. In addition, we discuss the evaluation results of the proposed FDIC system by means of fault injection and validation analysis as a measure of system reliability and performance.

U. of Wisconsin, Madison

Dugan Um, “Massive Sensor Array Fault Tolerance: Tolerance Mechanism and Fault Injection for Validation”, Journal of Robotics, vol. 2010, pp. 1-8, Aug, 2010 

 

D. Um, V. Lumelsky, "Fault Tolerance via Component Redundancy for a Modularized sensitive Skin" to appear in ICRA (IEEE International Conference on robotics and Automation), 1999, Detroit

 

To contact us:

Phone: 361-825-3381

Fax: 361-825-3056

E-mail: dugan.um@tamucc.edu