Abstract
Fault tolerance in robots, as in digital computers, can be achieved through the use of replicated components for redundancy. However, replicated analog devices, such as sensors, are non-homogeneous; they rarely produce identical outputs. Democratic dynamic weighted vote (DDWV) is an effective management scheme for all elements in a non-homogeneous functional modular redundancy (Helenic) architecture. Reduced fault tolerant system cost, and flexibility in configuration are benefits promoted by the Helenic architecture.
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References
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© 1989 Springer-Verlag Berlin, Heidelberg
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Toye, G., Leifer, L.J. (1989). Non-Homogenous Redundancy Management for Fault Tolerant Robots. In: Prasad, B. (eds) CAD/CAM Robotics and Factories of the Future. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-52326-7_42
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DOI: https://doi.org/10.1007/978-3-642-52326-7_42
Publisher Name: Springer, Berlin, Heidelberg
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