title: An Integrated Monitor-Diagnosis-Reconfiguration Scheme for (Semi-) Autonomous Systems
creator: Luo, Yi
creator: Wagner, Achim
creator: Zouaghi, Leila
creator: Badreddin, Essameddin
subject: 004
subject: 004 Data processing Computer science
description: A nested monitoring, diagnosis and reconfiguration (MDR) scheme is proposed for a Recursive Nested Behavior based Control structure (RNBC)constituting a generic system architecture for (semi-) autonomous mobile systems. Each behavior layer within the RNBC structure is associated with a MDR schema, which is responsible to ensure the dependability of every single layer. An online dependability measurement and diagnosis procedure is integrated into monitor and diagnosis blocks under consideration of performance and safety acceptability factors. The reconfiguration blocks within the MDR-scheme switch from components with unacceptable behavior to redundant components, which may have degraded performance but more robust and safe behavior. The MDR blocks at each layer are nested through unified interfaces in order to utilize the distributed modeling of system behavior and to facilitate the system design and implementation process. In a small case study the MDR scheme is demonstrated for an assistant wheelchair on the body velocity control and axis velocity control levels. Simulation results show the feasibility and effectiveness of the approach.
date: 2009
type: Conference Item
type: info:eu-repo/semantics/conferenceObject
type: NonPeerReviewed
format: application/pdf
identifier: https://archiv.ub.uni-heidelberg.de/volltextserverhttps://archiv.ub.uni-heidelberg.de/volltextserver/10078/1/An_Integrated_Monitor_Diagnosis_Reconfiguration_Scheme_for_Semi_Autonomous_Systems.pdf
identifier: DOI:10.11588/heidok.00010078
identifier: urn:nbn:de:bsz:16-opus-100781
identifier:   Luo, Yi ; Wagner, Achim ; Zouaghi, Leila ; Badreddin, Essameddin  (2009) An Integrated Monitor-Diagnosis-Reconfiguration Scheme for (Semi-) Autonomous Systems.  [Conference Item]     
relation: https://archiv.ub.uni-heidelberg.de/volltextserver/10078/
rights: info:eu-repo/semantics/openAccess
rights: http://archiv.ub.uni-heidelberg.de/volltextserver/help/license_urhg.html
language: eng