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Autonomic Self-Adaptive Robot Wheel Alignment

Authors:
Martin Doran
Roy Sterritt
George Wilkie

Keywords: autonomic, self-adaptive, self-optimizing

Abstract:
The Autonomic Computing paradigm was first presented almost 15 years ago as a 20-30 year long research agenda. Organizations like NASA have explored the possibilities of an autonomic system along with the biologically inspired Swarm and Agents approaches. These Systems are unfolding circumstances rather than preconceived scenarios. This paper focuses on the aspect of the Autonomic System, were, adaptive self-optimization are explored using an intelligent machine model layers such as Reaction, Routine and Reflection. In the experimentation, a Pioneer P3-DX Robot is used to simulate a Planetary Rover. The Pioneer Robot has been the subject of hardware faulting – in the case Wheel Integrity. Using the Microsoft Robotics Developer Studio (MRDS) and Microsoft SQL Server, a framework has been developed, that records the Pioneer Robot’s sensor data before and after hardware faulting. The Autonomic system elements, such as self-adaptive and self-optimizing are used to process the data. The Reaction, Routine and Reflection responses are determined at the appropriate response rates from the evaluation of these and form part of the self-healing, self-configuring, self-optimizing and self-protecting strategy to enable the Robot to continue to function, even with hardware issues such as a faulty wheel.

Pages: 27 to 33

Copyright: Copyright (c) IARIA, 2016

Publication date: March 20, 2016

Published in: conference

ISSN: 2308-4146

ISBN: 978-1-61208-463-3

Location: Rome, Italy

Dates: from March 20, 2016 to March 24, 2016