37documents trouvés
Analyse préliminaire des dangers. Livrable L2.2
J.GUIOCHET, D.MARTIN-GUILLEREZ
TSF
Rapport de Contrat : Projet ANR MIRAS. ANR-08-TECS-009-04, Août 2009, 27p. , N° 09498
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118717HAZOP-UML scenario-based risk analysis
J.GUIOCHET, D.POWELL
TSF
Rapport LAAS N°09142, Mars 2009, 14p.
Diffusable
117022Preliminary report on risk reduction strategy for a robot manipulator in close interaction with a person with respect to identified use cases. D1.7
J.GUIOCHET, D.POWELL, O.TAOFIFENUA, T.GUHL, R.BISCHOFF
TSF, Kuka Roboter
Rapport de Contrat : Projet Européen PHRIENDS. FP6-045359, Décembre 2008, 37p. , N° 08712
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116049Surveillance en ligne de la sécurité basée sur les modes de sécurité
J.GUIOCHET, D.POWELL, E.BAUDIN, J.P.BLANQUART
TSF, ASTRIUM
Manifestation avec acte : Lambda mu 16 - 16e Congrès de Maîtrise des Risques et de Sûreté de Fonctionnement, Avignon (France), 7-9 Octobre 2008, 7p. , N° 08338
Lien : http://hal.archives-ouvertes.fr/hal-00282460/fr/
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Plus d'informations
Abstract
Computer systems have to carry out more and more complex tasks, including ones where humans can be endangered. Residual design faults in such systems, as well as the inevitability of physical faults and interaction faults during operation, motivate the use of safety monitors to prevent catastrophic failures. We present an approach and a formalization of the process for determining safety rules. It consists in identifying safety modes, according to the different tasks carried out by the monitored system. In practice, each safety mode is related to one or several functional modes and is specified by a permissiveness vector that defines the authorized domains of variation of key physical variables. The set of safety modes can be partially ordered according to their authorization vectors and can thus be represented as a directed acyclic graph. This graph is used to automatically build a model representing safety modes and their transitions, which can be implemented in an independent safety monitor. A case study has been carried out on a mobile manipulator robot, working in a factory alongside humans.
Mots-Clés / Keywords
Dependability; Safety mode; Online monitoring; Robotics;
Fault tolerant planning: toward dependable autonomous robots
B.LUSSIER, J.GUIOCHET, F.INGRAND
TSF, RIS
Rapport LAAS N°08478, Septembre 2008, 16p.
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Mots-Clés / Keywords
Error handling and recovery; Plan execution; Formation and generation; Fault tolerance; Reliability; Autonomous vehicles; Simulation applications;
Report on analysis methods including safety integrity requirements for safe physical human-robot interaction. D1.6
J.GUIOCHET, D.POWELL, O.TAOFIFENUA, T.GUHL, R.BISCHOFF
TSF, Kuka Roboter
Rapport de Contrat : Projet Européen PHRIENDS. FP6-045359, Août 2008, 49p. , N° 08711
Diffusion restreinte
116047Online safety monitoring using safety modes
J.GUIOCHET, D.POWELL, E.BAUDIN, J.P.BLANQUART
TSF, ASTRIUM
Manifestation avec acte : The Sixth IARP-IEEE/RAS-EURON Joint Workshop on Technical Challenges for Dependable Robots in Human Environments, Pasadena (USA), 17-18 Mai 2008, 13p. , N° 08339
Lien : http://hal.archives-ouvertes.fr/hal-00282444/fr/
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Plus d'informations
Abstract
Robotic systems have to carry out more and more complex tasks, including ones where humans can be endangered. Residual design faults in such systems, as well as the inevitability of physical faults and interac- tion faults during operation, motivate the use of safety monitors to prevent catastrophic failures. In this paper, we consider the design of such safety monitors for multi- functional robotic systems. We present an approach and a formalization of the process for determining safety rules. It consists in identifying safety modes, according to the different tasks carried out by the monitored system. In practice, each safety mode is related to one or several functional modes and is specied by a permissiveness vector that denes the authorized domains of variation of key physical variables. The set of safety modes can be partially ordered according to their authorization vectors and can thus be represented as a directed acyclic graph. This graph is used to automatically build a model representing safety modes and their transitions, which can be implemented in an independent safety monitor. A case study has been carried out on a mobile manipulator robot, working in a factory alongside humans.
Mots-Clés / Keywords
Dependability; Safety; Online monitoring; Robot; Autonomy;
Independent safety systems for autonomy. State of the art and future directions
E.BAUDIN, J.P.BLANQUART, J.GUIOCHET, D.POWELL
TSF, ASTRIUM
Rapport LAAS N°07710, Décembre 2007, 45p.
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112486Planning with diversified models for fault-tolerant robots
B.LUSSIER, M.GALLIEN, J.GUIOCHET, F.INGRAND, M.O.KILLIJIAN, D.POWELL
TSF, RIS
Manifestation avec acte : International Conference on Automated Planning and Scheduling (ICAPS 2007), Providence (USA), 22-26 Septembre 2007, pp.216-223 , N° 07296
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Plus d'informations
Abstract
Autonomous robots offer alluring perspectives in numerous application domains: space rovers, satellites, medical assistants, tour guides, etc. However, a severe lack of trust in their dependability greatly reduces their possible usage. In particular, autonomous systems make extensive use of decisional mechanisms that are able to take complex and adaptative decisions, but are very hard to validate. This paper proposes a fault tolerance approach for decisional planning components, which are almost mandatory in complex autonomous systems. The proposed mechanisms focus on development faults in planning models and heuristics, through the use of diversification. The paper presents an implementation of these mechanisms on an existing autonomous robot architecture, and evaluates their impact on performance and reliability through the use of fault injection.
Fault tolerant planning for critical robots
B.LUSSIER, M.GALLIEN, J.GUIOCHET, F.INGRAND, M.O.KILLIJIAN, D.POWELL
TSF, RIS
Manifestation avec acte : 37th Annual IEEE/IFIP International Conference on Dependable Systems and Networks (DSN 2007), Edimbourg (UK), 25-28 Juin 2007, pp.144-153 , N° 07168
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Plus d'informations
Abstract
Autonomous robots offer alluring perspectives in numerous application domains: space rovers, satellites, medical assistants, tour guides, etc. However, a severe lack of trust in their dependability greatly reduces their possible usage. In particular, autonomous systems make extensive use of decisional mechanisms that are able to take complex and adaptative decisions, but are very hard to validate. This paper proposes a fault tolerance approach for decisional planning components, which are almost mandatory in complex autonomous systems. The proposed mechanisms focus on development faults in planning models and heuristics, through the use of diversi ication. The paper presents an implementation of these mechanisms on an existing autonomous robot architecture, and evaluates their impact on performance and reliability through the use of fault injection.
Mots-Clés / Keywords
Robotics; Fault tolerance; Dependability; Diverse programming; Planning;