eprintid: 10078
rev_number: 12
eprint_status: archive
userid: 1
dir: disk0/00/01/00/78
datestamp: 2009-11-25 15:06:52
lastmod: 2012-08-15 08:50:48
status_changed: 2012-08-15 08:50:48
type: conferenceObject
metadata_visibility: show
creators_name: Luo, Yi
creators_name: Wagner, Achim
creators_name: Zouaghi, Leila
creators_name: Badreddin, Essameddin
title: An Integrated Monitor-Diagnosis-Reconfiguration Scheme for (Semi-) Autonomous Systems
ispublished: pub
subjects: 004
divisions: 720000
keywords: dependability , autonomous mobile systems , monitoring, diagnosis , reconfiguration
abstract: 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.
abstract_translated_lang: eng
date: 2009
date_type: published
id_scheme: DOI
id_number: 10.11588/heidok.00010078
portal_cluster_id: p-ddcs09
portal_order: 08
ppn_swb: 1648526519
own_urn: urn:nbn:de:bsz:16-opus-100781
language: eng
bibsort: LUOYIANINTEGRAT2009
full_text_status: public
series: International Workshop on the Design of Dependable Critical Systems
volume: 8
citation:   Luo, Yi ; Wagner, Achim ; Zouaghi, Leila ; Badreddin, Essameddin  (2009) An Integrated Monitor-Diagnosis-Reconfiguration Scheme for (Semi-) Autonomous Systems.  [Conference Item]     
document_url: https://archiv.ub.uni-heidelberg.de/volltextserver/10078/1/An_Integrated_Monitor_Diagnosis_Reconfiguration_Scheme_for_Semi_Autonomous_Systems.pdf