Mechatronic systems, like mobile robots, are fairly complex. They are composed of electromechanical actuation components and sensing elements supervised by microcontrollers running complex embedded software. This paper proposes a novel approach to aid mobile robotics developers in adopting a rigorous development process to design and verify the robot's detection and mitigation capabilities against random hardware failures affecting its sensors or actuators. Unfortunately, assessing the interactions between the various safety/mission-critical subsystem is quite complex. The failure mode effect analysis (FMEA) alongside an analysis of the failure detection capabilities (FMEDA) are the state-of-the-art methodologies for performing such an analysis. Various guidelines are available, and the authors decided to follow the one released by AIAG&VDA in June 2019. Since the robot's behavior is based on embedded software, the FMEA has been integrated with the hardware/software interaction analysis described in the ECSS-Q-ST-30-02C manual. The core of this proposal is to show how a simulation-based approach, where the mechanical and electrical/electronic components are simulated alongside the embedded software, can effectively support FMEA. As a benchmark application, we considered the mobility system of a proof-of-concept assistance rover for Mars exploration designed by the D.I.A.N.A. student team at Politecnico di Torino. Thanks to the adopted approach, we described how to develop the detection and mitigation strategies and how to determine their effectiveness, with a particular focus on those affecting the sensors.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A Simulation-Based Approach to Aid Development of Software-Based Hardware Failure Detection and Mitigation Algorithms of a Mobile Robot System



    Erscheinungsdatum :

    2022-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Hardware and software architecture for Plexil-based, simulation supported, robot automation

    Rengifo, Hector Fabio Cadavid / Preciado, Javier Alberto Chaparro | IEEE | 2016


    Proposal of a low cost educational mobile robot experiment: an approach based on hardware and simulation

    Gonçalves, José / Silva, Manuel / Costa, Paulo Gomes da et al. | BASE | 2015

    Freier Zugriff

    Proposal of a low cost educational mobile robot experiment: an approach based on hardware and simulation

    Gonçalves, José / Silva, Manuel / Costa, Paulo Gomes da et al. | BASE | 2015

    Freier Zugriff