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Area of Science:

  • Robotics
  • Mechatronic Systems
  • Embedded Systems Engineering

Background:

  • Mechatronic systems, such as mobile robots, are complex, integrating electromechanical components, sensors, and embedded software.
  • Assessing the interactions between safety-critical subsystems and their susceptibility to hardware failures is challenging.
  • Current state-of-the-art methodologies like Failure Mode Effect Analysis (FMEA) and Failure Mode, Effects, and Diagnostic Analysis (FMEDA) are used for such assessments.

Purpose of the Study:

  • To propose a novel, simulation-based approach for designing and verifying mobile robot detection and mitigation strategies against random hardware failures.
  • To aid mobile robotics developers in adopting a rigorous development process for enhanced system reliability.
  • To demonstrate the effectiveness of the proposed approach in identifying and addressing potential hardware failures in critical systems.

Main Methods:

  • Integration of Failure Mode Effect Analysis (FMEA) with hardware/software interaction analysis (ECSS-Q-ST-30-02C).
  • Development of a simulation-based approach integrating mechanical, electrical/electronic components, and embedded software.
  • Application of the methodology to the mobility system of a Mars exploration assistance rover (D.I.A.N.A. project).

Main Results:

  • The simulation-based approach effectively supports the FMEA process for complex mechatronic systems.
  • Development and verification of detection and mitigation strategies for hardware failures, particularly affecting sensors.
  • Demonstration of how to determine the effectiveness of implemented safety strategies.

Conclusions:

  • A simulation-driven FMEA integrated with hardware/software analysis provides a robust method for verifying mobile robot safety.
  • The proposed approach enhances the development process for reliable mechatronic systems, especially in safety-critical applications like space exploration.
  • This methodology is crucial for improving the resilience of mobile robots to random hardware failures in sensors and actuators.