Deirdre L. Hamilton

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The incorporation of fault tolerance techniques into robot systems improves the reliability but also increases the hardware and computational requirements in the overall system It is not always clear how to evaluate the merit or e ectiveness of di erent fault tolerance approaches for a given application In this paper we present a new set of performance(More)
Most robot controllers today employ a single processor architecture As robot control requirements become more complex these serial controllers have di culty providing the desired response time Additionally with robots being used in environments that are hazardous or inaccessible to humans fault tolerant robotic systems are particularly desirable A(More)
As robot tasks in space, nuclear, and medical environments become more widespread, the issues of reliability and safety for robots are becoming more critical. Attempts to address these issues have resulted in a recent surge of activity in robot fault tolerance. We concentrate on fault tolerance in the robot controller, and highlight the importance and(More)
Parallel solutions to the robot control problem are an attractive alternative to single processor systems as the need for ne motion robot control increases Since multiple processors provide inherent redundancy par allel solutions to the robot control problem also a ord the opportunity to provide a degree of tolerance to both mechanical and control failure(More)
Over time numerous e orts have been made to overcome the limitations of the computation ally intensive dynamics calculations Due to the coupling in the dynamics equations coarse grain parallelism of robot control algorithms is particularly di cult We have developed a new algorithm based on the Newton Euler dynamics formulation that overcomes the serial(More)
As robot tasks in space, nuclear, and medical environments become more widespread, the issues of reliability and safety for robots are becoming more critical. Attempts to address these issues have resulted in Q recent surge of activity in robot fault tolerance. W e conwirimte on fault tolerance in the robot controller, and highlight the importance and(More)
This paper describes a novel method for analyzzng, within one framework, several iinpurlaril types of risk associated with robotics and manufacturing applacalions. We will build on the established technaque of Fault Tree Analysis to analyze the rzsk/henej%s of the physical process, and extend the concept 2 0 budd a dual structure for environmental(More)
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