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Self-adaptive system development method for smart control systems in CPS

In-geol Chun, Jeong-min Park, Won-tae Kim
2014 16th International Conference on Advanced Communication Technology  
In this paper, to achieve user satisfaction and overcome abnormal situation, we propose a self-adaptive system development method that make home service robots dependable, secure, safe, and efficient,  ...  Home service robot is a robot used for household chores on behalf of human. We expect that every home will at least possess and use more than one home service robot in the near future.  ...  For that reason, we propose new systems development method based on the self-adaptation technologies.  ... 
doi:10.1109/icact.2014.6779039 fatcat:sneviulwkna6lb2oimtrsiutcq

Architecture-driven self-adaptation and self-management in robotics systems

George Edwards, Joshua Garcia, Hossein Tajalli, Daniel Popescu, Nenad Medvidovic, Gaurav Sukhatme, Brad Petrus
2009 2009 ICSE Workshop on Software Engineering for Adaptive and Self-Managing Systems  
We describe an architecture-centric design and implementation approach for building self-adapting and selfmanaging robotics systems.  ...  In this way, our approach flexibly supports adaptive layered architectures of arbitrary depth, the specification of arbitrary system adaptation policies, and the provision of intelligent facilities for  ...  The authors wish to express their gratitude to John Lewis for his contributions to the project.  ... 
doi:10.1109/seams.2009.5069083 dblp:conf/icse/EdwardsGTPMSP09 fatcat:67ztflnknfdexfflaibbvvulzy

RoSHA: A Multi-robot Self-healing Architecture [chapter]

Dominik Kirchner, Stefan Niemczyk, Kurt Geihs
2014 Lecture Notes in Computer Science  
This paper presents RoSHA, a self-healing architecture for multi-robot systems.  ...  RoSHA is based on the established robot middleware ROS and provides components for application independent analysis and repair.  ...  LeaF (learning-based fault diagnosis) [12] from Parker and Kannen is based on an adaptive causal model for fault diagnosis and recovery. The approach focuses on multi-robot systems.  ... 
doi:10.1007/978-3-662-44468-9_27 fatcat:k2nab6fmuvgw7gg2j5qhricamq

Autonomic architecture for fault handling in mobile robots

Martin Doran, Roy Sterritt, George Wilkie
2020 Innovations in Systems and Software Engineering  
We use the results from the case studies to create and refine a generic autonomic architecture that can be utilized for any general mobile robot setup for fault detection and fault compensation.  ...  Using autonomic principles, we focused on how to detect faults within a mobile robot and how specialized algorithms can be deployed to compensate for the faults discovered.  ...  Each hardware component on the mobile robot requires 'specialized' policies for self-adaption, but the overall system is designed to handle and process any 'fault' situation regardless of the component  ... 
doi:10.1007/s11334-020-00361-8 fatcat:iwftzl5dz5f4xkfe7mxmsluh2q


Giovanna Di Marzo Serugendo, John Fitzgerald, Alexander Romanovsky
2010 Proceedings of the 2010 ACM Symposium on Applied Computing - SAC '10  
This paper proposes a software architecture and a development process for engineering dependable and controllable self-organising (SO) systems.  ...  We show how this applies to two different systems: (1) a dynamically resilient Web service system; and (2) an industrial assembly system with self-adaptive and SO capabilities.  ...  Acknowledgements We are grateful to Yuhui Chen for his work on WS-Mediator. This work has been partially supported by the EPSRC Platform Grant on Trustworthy Ambient Systems (TrAmS).  ... 
doi:10.1145/1774088.1774184 dblp:conf/sac/SerugendoFR10 fatcat:kpoum2bdxbdgzprla5guqucime

A Self-healing Architecture based on RAINBOW for Industrial Usage

Ali Farahani, Eslam Nazemi, Giacomo Cabri
2016 Scalable Computing : Practice and Experience  
The proposed architecture uses rule-based reasoning and it actualizes the method of environmental modeling by using a rule-based system as the model extractor.  ...  The paper reports also about the practical experience of implementing this architecture for a painter robot in an automotive factory, which deals with problems in painted part by itself.  ...  Need for a reference architecture for easier implementation of the self-adaptive system in industrial usage is not covered by this research. 2.2. Fault-management with Self-healing.  ... 
doi:10.12694/scpe.v17i4.1206 fatcat:z27bcvg4mzawldfp6kt64k53bi

Experience Report in Developing and Applying a Method for Self-Organisation to Agile Manufacturing

Giovanna Di Marzo Serugendo, Regina Frei
2010 2010 Fourth IEEE International Conference on Self-Adaptive and Self-Organizing Systems  
The design and implementation of distributed, self-organising and self-adaptive systems are challenging.  ...  More specifically, this paper describes how both a development method for self-organising systems and the above particular application have been progressively shaped, each influencing the other.  ...  ACKNOWLEDGMENTS One author receives a PhD grant from a National Foundation for Science and Technology.  ... 
doi:10.1109/saso.2010.24 dblp:conf/saso/SerugendoF10 fatcat:kurd46r36ngmfg7df6lzyaa6ue

ReFrESH: A self-adaptation framework to support fault tolerance in field mobile robots

Yanzhe Cui, Richard M. Voyles, Joshua T. Lane, Mohammad H. Mahoor
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper demonstrates a self-adaptation framework, ReFrESH, that contains mechanisms for fault detection and fault mitigation.  ...  Moreover, to increase flexibility of the fault tolerance, ReFrESH provides self-adaptation support for both software and hardware functionality.  ...  ACKNOWLEDGMENT This work was supported by National Science Foundation grants CNS-0923518, CNS-1138674 and IIS-1111568 with additional support from the NSF Safety, Security and Rescue Research Center.  ... 
doi:10.1109/iros.2014.6942765 dblp:conf/iros/CuiVLM14 fatcat:f4nyk3bsxveopbbiaxegi2nsnu

Knowledge representation for self-adaptive behavior

Emil Vassev, Mike Hinchey, Benoit Gaudin
2012 Proceedings of the Fifth International C* Conference on Computer Science and Software Engineering - C3S2E '12  
In this paper, an approach to knowledge representation and reasoning for self-adaptive behavior is presented.  ...  Such systems encapsulate rules, constraints and mechanisms for self-adaptation and acquire and process knowledge about themselves and their environment.  ...  As a proof of concept, we applied our approach to build a formal KR&R model for self-adaptive behavior in swarm robotics systems, one of the ASCENS case studies.  ... 
doi:10.1145/2347583.2347599 dblp:conf/c3s2e/VassevHG12 fatcat:hbqjjoltiraz7ajnhkv4ip7gqi

2020 Index IEEE Transactions on Systems, Man, and Cybernetics: Systems Vol. 50

2020 IEEE Transactions on Systems, Man & Cybernetics. Systems  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, TSMC July 2020 2599-2611 Unifying Analytical Methods With Numerical Methods for Traffic System Modeling and Control.  ... 
doi:10.1109/tsmc.2021.3054492 fatcat:zartzom6xvdpbbnkcw7xnsbeqy

Learning Policy for Robot Anomaly Recovery Based on Robot Introspection [chapter]

Xuefeng Zhou, Hongmin Wu, Juan Rojas, Zhihao Xu, Shuai Li
2020 Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection  
Zhou et al., Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection, https://doi.  ...  If and only if robot reverse many times (not less than twice) and still couldn't avoid or eliminate the anomaly, the human interaction is called.  ...  The proposed recovery policies are verified on a Baxter robot performs kitting experiment tasks, results indicate that the proposed policies meet the extensibility and adaptability for improving the long-term  ... 
doi:10.1007/978-981-15-6263-1_6 fatcat:v6cjejtmebdprayfwbjmgeoeku


Danny Weyns, Sam Malek, Jesper Andersson
2010 Proceeding of the 7th international conference on Autonomic computing - ICAC '10  
In this paper, we introduce a reference model, entitled FOrmal Reference Model for Self-adaptation (FORMS), which intends to alleviate this pressing issue.  ...  FORMS consists of a small number of formally specified modeling primitives that correspond to the key variation points within self-adaptive software systems, and a set of relationships that guide their  ...  Figure 6 : 6 Conceptual view of the robotics system's computations in relation to FORMS. with reactive fault recovery. Adaptation policy is similar to policy knowledge in MAPE-K.  ... 
doi:10.1145/1809049.1809078 dblp:conf/icac/WeynsMA10 fatcat:obd6zlfatbh5hjt4qr527mrjoq

Autonomic Management For Mobile Robot Battery Degradation

Martin Doran, Roy Sterritt, George Wilkie
2018 Zenodo  
However, batteries are relatively cheap and when fully charged, can supply high power output necessary for operating heavy mobile robots.  ...  This paper proposes the use of autonomic principles of self-adaption to address the behavioral changes a battery experiences as it gets older.  ...  Self-Configuration -can dynamically adapt to changing environments were pre-loaded policies can be updated to deal with the necessary adjustments needed [1] .  ... 
doi:10.5281/zenodo.1316439 fatcat:tjabvjemwbfizh2wfof2w2gt7y

Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs

Sarun Chattunyakit, Yukinori Kobayashi, Takanori Emaru, Ankit Ravankar
2019 Applied Sciences  
Not only the control method but also the shape and structure of the robot itself are significant for the robot to be able to move again after damage.  ...  In this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs.  ...  Acknowledgments: This work is supported by MEXT (the Ministry of Education, Culture, Sports, Science and Technology), Japan. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app9040799 fatcat:7dlxdl4bangxzju3iy5mgi5zya

A Self-adaptive LSAC-PID Approach based on Lyapunov Reward Shaping for Mobile Robots [article]

Xinyi Yu and Siyu Xu and Yuehai Fan and Linlin Ou
2021 arXiv   pre-print
In addition, for line-following robots, the region growing method is improved to adapt to the influence of forks and environmental interference.  ...  To solve the coupling problem of control loops and the adaptive parameter tuning problem in the multi-input multi-output (MIMO) PID control system, a self-adaptive LSAC-PID algorithm is proposed based  ...  Acknowledgment This paper is supported by National Key Research and Development Plan "Intelligent Robot" Key Project(2018YFB1308400).  ... 
arXiv:2111.02283v1 fatcat:o5277qgnkjd7hi4axaqlir4ilm
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