عنوان
پدید آورنده
موضوع
رده
کتابخانه
محل استقرار
شماره کتابشناسی ملی
شماره
TL2gp1k05k
زبان اثر
زبان متن نوشتاري يا گفتاري و مانند آن
انگلیسی
عنوان و نام پديدآور
عنوان اصلي
Reliability Engineering for Long-term Deployment of Autonomous Service Robots
نام عام مواد
[Thesis]
نام نخستين پديدآور
Wang, Shengye
نام ساير پديدآوران
Christensen, Henrik I
وضعیت نشر و پخش و غیره
نام ناشر، پخش کننده و غيره
UC San Diego
تاریخ نشرو بخش و غیره
2020
یادداشتهای مربوط به پایان نامه ها
کسي که مدرک را اعطا کرده
UC San Diego
امتياز متن
2020
یادداشتهای مربوط به خلاصه یا چکیده
متن يادداشت
Current service robots perform flawless demos under close human supervision, but they often fail when working autonomously in long-term deployments. This dissertation studies the failures in long-term autonomous service robots and proposes methods to improve their reliability.We built TritonBot, a receptionist and tour-guide robot, as a realistic example to discover the failure modes of a long-term autonomous service robot. TritonBot recognizes people's faces, talks to people, and shows people the labs and facilities in a university building. We deployed TritonBot for hundreds of hours to identify failure modes and common issues on service robots.Following the experience from TritonBot, we designed two reliability engineering methods to improve the robustness of service robots. First, we found software encapsulation and dynamic orchestration streamline development workflows and avoid resource contention in service robots. Software encapsulation allows the developers to pack software into self-contained containers and simplify development workflows, and dynamic orchestration schedules the components on demand to avoid CPU/memory resource contention. We developed Rorg, a Linux container-based scheme to manage software components on service robots. Second, we found simulating a broad spectrum of rare failures at system level exposes design flaws and improves the robustness of service robots. Design errors in robotics are challenging to discover due to the need for extensive and resource-demanding testing. Broad-spectrum system-level failure injection exposes both software- and hardware-related design flaws and assists developers in reproducing rare failures, verifying the fixes, and testing the robustness of a robot system. We implemented RoboVac, an extensible and convenient fault injection framework that works at the system level and covers many failure patterns seen in long-term autonomous service robot deployments.After working with TritonBot for two years and implementing reliability engineering methods, we concluded a few design principles for a long-term autonomous service robot at different levels in the system hierarchy. These design principles guide robust and reliable long-term autonomous service robot designs.We use a set of automated tools, engineering methods, and design principles to build service robots that are available 24x7, and we call it "Reliability Engineering for Long-term Deployment of Autonomous Service Robots."
نام شخص به منزله سر شناسه - (مسئولیت معنوی درجه اول )
مستند نام اشخاص تاييد نشده
Wang, Shengye
نام شخص - ( مسئولیت معنوی درجه دوم )
مستند نام اشخاص تاييد نشده
Christensen, Henrik I
شناسه افزوده (تنالگان)
مستند نام تنالگان تاييد نشده
UC San Diego
دسترسی و محل الکترونیکی
نام الکترونيکي
مطالعه متن کتاب وضعیت انتشار
فرمت انتشار
p
اطلاعات رکورد کتابشناسی
نوع ماده
[Thesis]
کد کاربرگه
276903
اطلاعات دسترسی رکورد
سطح دسترسي
a
تكميل شده
Y
