A DISTRIBUTED FAULT TOLERANT POSITION CONTROL SYSTEM FOR A BOAT-LIKE INSPECTION ROBOT

Christoph Walter; Tino Krueger; Norbert Elkmann

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Paper

A DISTRIBUTED FAULT TOLERANT POSITION CONTROL SYSTEM FOR A BOAT-LIKE INSPECTION ROBOT

Topics: Distributed Control Systems; Intelligent Fault Detection and Identification

In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 28-34, 2008 , Funchal - Madeira, Portugal

Authors: Christoph Walter ; Tino Krueger and Norbert Elkmann

Affiliation: Fraunhofer Institute for Factory Operation and Automation, Germany

Keyword(s): Distributed control system, fault tolerance, self-tuning controller.

Related Ontology Subjects/Areas/Topics: Distributed Control Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Intelligent Fault Detection and Identification

Abstract: Here we present the position control system of a swimming inspection robot for large under-ground concrete pipes that are partially filled with wastewater. The system consists of a laser-based measurement sub-system for position determination and a mechanical rudder to move the robot laterally within the pipe. The required software components are implemented as services following a CORBA-based architecture. To automatically adapt the position control system to different environment conditions, a self-tuning controller is used. The controller has hybrid requirements regarding latency and interarrival times of computed position values. In this contribution, we describe the architectural support for this application as well as how the system deals with excessive latencies due to transient overload.

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Paper citation in several formats:

Walter, C.; Krueger, T. and Elkmann, N. (2008). A DISTRIBUTED FAULT TOLERANT POSITION CONTROL SYSTEM FOR A BOAT-LIKE INSPECTION ROBOT. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8111-30-2; ISSN 2184-2809, SciTePress, pages 28-34. DOI: 10.5220/0001489100280034

@conference{icinco08,
author={Christoph Walter. and Tino Krueger. and Norbert Elkmann.},
title={A DISTRIBUTED FAULT TOLERANT POSITION CONTROL SYSTEM FOR A BOAT-LIKE INSPECTION ROBOT},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2008},
pages={28-34},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001489100280034},
isbn={978-989-8111-30-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A DISTRIBUTED FAULT TOLERANT POSITION CONTROL SYSTEM FOR A BOAT-LIKE INSPECTION ROBOT
SN - 978-989-8111-30-2
IS - 2184-2809
AU - Walter, C.
AU - Krueger, T.
AU - Elkmann, N.
PY - 2008
SP - 28
EP - 34
DO - 10.5220/0001489100280034
PB - SciTePress