A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots
This work shows a plan for error state determination, diagnosis, and mitigation using autonomic computing tools and tecniques on the Hubo robot. An n-dimensional geometric enclosure is constructed from periodic measurements of the robot's normal operating state. Similar hulls will be constructe...
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| creator | Lynch, K. Lofaro, D. M. Oh, P. |
| description | This work shows a plan for error state determination, diagnosis, and mitigation using autonomic computing tools and tecniques on the Hubo robot. An n-dimensional geometric enclosure is constructed from periodic measurements of the robot's normal operating state. Similar hulls will be constructed for unique faults encountered during runtime. A mapping of these faults to applicable mitigations will be dynamically constructed and will aid in mitigation selection. The successful application of the mitigation will bring the robot back to a safe operating state. |
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M. ; Oh, P.</creator><creatorcontrib>Lynch, K. ; Lofaro, D. M. ; Oh, P.</creatorcontrib><description>This work shows a plan for error state determination, diagnosis, and mitigation using autonomic computing tools and tecniques on the Hubo robot. An n-dimensional geometric enclosure is constructed from periodic measurements of the robot's normal operating state. Similar hulls will be constructed for unique faults encountered during runtime. A mapping of these faults to applicable mitigations will be dynamically constructed and will aid in mitigation selection. The successful application of the mitigation will bring the robot back to a safe operating state.</description><identifier>ISBN: 9781467322478</identifier><identifier>ISBN: 1467322474</identifier><identifier>EISBN: 8993215049</identifier><identifier>EISBN: 9788993215045</identifier><language>eng</language><publisher>IEEE</publisher><subject>Actuators ; Biomedical monitoring ; Error Mitigation ; Fault Detection ; Humanoid Robotics ; Humanoid robots ; Monitoring ; n-dimensional Convex Hull ; Software</subject><ispartof>2012 12th International Conference on Control, Automation and Systems, 2012, p.790-797</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6393290$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2056,54918</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6393290$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Lynch, K.</creatorcontrib><creatorcontrib>Lofaro, D. M.</creatorcontrib><creatorcontrib>Oh, P.</creatorcontrib><title>A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots</title><title>2012 12th International Conference on Control, Automation and Systems</title><addtitle>ICCAS</addtitle><description>This work shows a plan for error state determination, diagnosis, and mitigation using autonomic computing tools and tecniques on the Hubo robot. An n-dimensional geometric enclosure is constructed from periodic measurements of the robot's normal operating state. Similar hulls will be constructed for unique faults encountered during runtime. A mapping of these faults to applicable mitigations will be dynamically constructed and will aid in mitigation selection. The successful application of the mitigation will bring the robot back to a safe operating state.</description><subject>Actuators</subject><subject>Biomedical monitoring</subject><subject>Error Mitigation</subject><subject>Fault Detection</subject><subject>Humanoid Robotics</subject><subject>Humanoid robots</subject><subject>Monitoring</subject><subject>n-dimensional Convex Hull</subject><subject>Software</subject><isbn>9781467322478</isbn><isbn>1467322474</isbn><isbn>8993215049</isbn><isbn>9788993215045</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkMtqwzAURFVKoW3qL-hGP2C4kmxLWobQFwSyyT7I0pWtYkvGdkrz91XbrIaBw4GZG_KotBac1VDpW1JoqVjVSMF5JdU9KZblEwAYg0aBeiCXLY2lCyPGJaRoBmpT_MJv2p-HgZppmpOxPfVppt6ch5U6XNGuGaUmOjqGNXTmr_4ifej6THQzIk2e-pwujXRObVqXrBxNTMFd-xO582ZYsLjmhhxfX46793J_ePvYbfdl0LCWquIa0XMJShlovc5j8jbLagXatbZi4IXk6C02FpSVXuvWuFobho1sndiQ539tQMTTNIfRzJdTI_JFGsQP3EtafA</recordid><startdate>201210</startdate><enddate>201210</enddate><creator>Lynch, K.</creator><creator>Lofaro, D. 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M. ; Oh, P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-8429eef27088a0bf9146215c15809dbc410f372efce6c08c7f99bad59a1e67bd3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Actuators</topic><topic>Biomedical monitoring</topic><topic>Error Mitigation</topic><topic>Fault Detection</topic><topic>Humanoid Robotics</topic><topic>Humanoid robots</topic><topic>Monitoring</topic><topic>n-dimensional Convex Hull</topic><topic>Software</topic><toplevel>online_resources</toplevel><creatorcontrib>Lynch, K.</creatorcontrib><creatorcontrib>Lofaro, D. M.</creatorcontrib><creatorcontrib>Oh, P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Lynch, K.</au><au>Lofaro, D. M.</au><au>Oh, P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots</atitle><btitle>2012 12th International Conference on Control, Automation and Systems</btitle><stitle>ICCAS</stitle><date>2012-10</date><risdate>2012</risdate><spage>790</spage><epage>797</epage><pages>790-797</pages><isbn>9781467322478</isbn><isbn>1467322474</isbn><eisbn>8993215049</eisbn><eisbn>9788993215045</eisbn><abstract>This work shows a plan for error state determination, diagnosis, and mitigation using autonomic computing tools and tecniques on the Hubo robot. An n-dimensional geometric enclosure is constructed from periodic measurements of the robot's normal operating state. Similar hulls will be constructed for unique faults encountered during runtime. A mapping of these faults to applicable mitigations will be dynamically constructed and will aid in mitigation selection. The successful application of the mitigation will bring the robot back to a safe operating state.</abstract><pub>IEEE</pub><tpages>8</tpages></addata></record> |
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| ispartof | 2012 12th International Conference on Control, Automation and Systems, 2012, p.790-797 |
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| subjects | Actuators Biomedical monitoring Error Mitigation Fault Detection Humanoid Robotics Humanoid robots Monitoring n-dimensional Convex Hull Software |
| title | A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots |
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