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

Christoph Walter, Tino Krueger, Norbert Elkmann

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.

References

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Paper Citation


in Harvard Style

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, pages 28-34. DOI: 10.5220/0001489100280034


in Bibtex Style

@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},
}


in EndNote Style

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
AU - Walter C.
AU - Krueger T.
AU - Elkmann N.
PY - 2008
SP - 28
EP - 34
DO - 10.5220/0001489100280034