A robot (e.g. mobile manipulator) that interacts with its environment to perform its tasks, often faces situations in which it is unable to achieve its goals despite perfect functioning of its sensors and actuators. These situations occur when the behavior of the object(s) manipulated by the robot deviates from its expected course because of unforeseeable ircumstances. These deviations are experienced by the robot as unknown external faults. In this work we present an approach that increases reliability of mobile manipulators against the unknown external faults. This approach focuses on the actions of manipulators which involve releasing of an object. The proposed approach, which is triggered after detection of a fault, is formulated as a three-step scheme that takes a definition of a planning operator and an example simulation as its inputs. The planning operator corresponds to the action that fails because of the fault occurrence, whereas the example simulation shows the desired/expected behavior of the objects for the same action. In its first step, the scheme finds a description of the expected behavior of the objects in terms of logical atoms (i.e. description vocabulary). The description of the simulation is used by the second step to find limits of the parameters of the manipulated object. These parameters are the variables that define the releasing state of the object. Using randomly chosen values of the parameters within these limits, this step creates different examples of the releasing state of the object. Each one of these examples is labelled as desired or undesired according to the behavior exhibited by the object (in the simulation), when the object is released in the state corresponded by the example. The description vocabulary is also used in labeling the examples autonomously. In the third step, an algorithm (i.e. N-Bins) uses the labelled examples to suggest the state for the object in which releasing it avoids the occurrence of unknown external faults. The proposed N-Bins algorithm can also ...


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    Titel :

    Improving reliability of mobile manipulators against unknown external faults


    Beteiligte:
    Akhtar, Naveed (Autor:in)

    Erscheinungsdatum :

    2012-03-07


    Anmerkungen:

    Technical Report / Hochschule Bonn-Rhein-Sieg University of Applied Sciences. Department of Computer Science, 03-2012 ; ISSN 1869-5272 ; Masterarbeit, Hochschule Bonn-Rhein-Sieg, 2012



    Medientyp :

    Paper


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :

    DDC:    004 / 629