Adaptive Kontrollstrategien fur mobile Roboter basierend auf Organic Computing Prinzipien

by Raphael Maas

Extent: 259 pages

Publisher: Logos Verlag Berlin

Subjects: Technical Sciences: Computer Science, Engineering, IT, & Math

Language: German

Paperback (Out of print)

(March 2015)

ISBN: 9783832539337

5.71 x 8.27 inches

Price: $57.00

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Synopsis
Contributing Authors

Die vorliegende Arbeit setzt sich mit unterschiedlichen Fragestellungen aus dem Bereich des Organic Computing auseinander. Hierzu zahlt unter anderem ein Framework, das den Entwurf selbstuberwachender Systeme auf der Basis von organisch inspirierten Kontrolleinheiten unterstutzt, die ihren eigenen Systemzustand eigenverantwortlich uberwachen konnen. Ein weiterer Bereich dieser Arbeit stellt einen mobilen Roboter vor, der im Rahmen dieser Arbeit entwickelt wurde und als Referenzhardware fur das entwickelte Framework dient. In diesem Kontext wird ausserdem auf Bereiche wie Hardwareabstraktion und Systemarchitektur eingegangen. Weitere Hauptaspekte dieser Arbeit setzen sich aus der Herleitung und der Bewertung neuer Verfahren zur dynamischen Uberwachung des Systemzustands zusammen. Auf der Grundlage von systeminternen Referenzsignalen werden Anomalien entdeckt. Durch die daraus abgeleiteten Gesundheitssignale wird ein System in die Lage versetzt, das Auftreten von Fehlern eigenverantwortlich zu detektieren. Zusatzlich erfolgt als weiterer Kernpunkt die Untersuchung von adaptiven Pfadplanungsmethoden fur mobile Roboter. Schwerpunktmassig werden dabei die Selbstkonfiguration, die Selbstoptimierung und der Selbstschutz betrachtet, da die prasentierten Methoden speziell auf eine Pfadplanung im Fehlerfall eingehen.

By (author) Raphael Maas

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