Paper Info
Title
Robot Error Detection Using an Artificial Immune System
Abstract
Biology has produced living creatures that exhibit remarkable fault tolerance. The immune system is one feature that enables this. The acquired immune system learns during the life of the individual to differentiate between self (that which is normally present) and non-self (that which is not normally present). This paper describes an artificial immune system (AIS) that is used as an error detection system and is applied to two different robot based applications; the immunization of a fuzzy controller for a Khepera robot that provides object avoidance and a control module of a BAE Systems RASCALTM robot. The AIS learns normal behavior (unsupervised) during a fault free learning period and then identifies all error greater that a preset error sensitivity. The AIS was implemented in software but has the potential to be implemented in hardware. The AIS can be independent to the system under test, just requiring the inputs and outputs. This is not only ideal in terms of common mode and design errors but also offers the potential of a general, off-the-shelf, error detection system; the same AIS was applied to both the applications.
Year
DOI
Venue
2003
10.1109/EH.2003.1217667
Evolvable Hardware
Keywords
Field
DocType
robot error detection,novel approach,existing bae systems rascal,complex structure management andreconfiguration,embryonic array,valuable characteristic,artificial immune system,fault tolerant,fuzzy systems,ais,robots,control systems,system under test,common mode,fuzzy control,immune system,learning artificial intelligence,error detection,fault tolerance,error correction,unsupervised learning,artificial immune systems
System under test,Object detection,Control theory,Artificial immune system,Unsupervised learning,Fault tolerance,Artificial intelligence,Engineering,Fuzzy control system,Robot
Conference
ISBN
Citations 
PageRank 
0-7695-1977-6
20
1.41
References 
Authors
13
3
Name
Order
Citations
PageRank
Richard Canham1737.76
Alexander H. Jackson2424.65
Andy Tyrrell315813.74