Skip to main content
SpringerLink
Log in

Adaptive Deployment of Safety Monitors for Autonomous Systems

  • Conference paper
  • First Online:
Computer Safety, Reliability, and Security (SAFECOMP 2019)

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 11699))

Included in the following conference series:

Abstract

This article discusses the problem of deploying safety-critical software for an autonomous system, namely a collaborative robot operating in domestic environments. We present a deployment infrastructure to enhance both humans and robots in carrying out their deployment activities. We develop means to enable humans to explicitly specify the requirements of the software to be deployed, along with the resources of the robot platform on which the software will be executed. In addition, we propose an architecture which enables robots to autonomously re-deploy their software at run-time in order to account for changing requirements imposed by their task, platform and environment. We show how the architecture enables a collaborative robot to autonomously re-deploy safety monitors for detecting in-hand slippage often occuring in human-robot handover tasks. By doing so, the robot autonomously maintains a certain safety level as the functioning of the monitor depends on both selecting and deploying the correct monitoring strategy for the situation at hand.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 59.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 74.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Notes

  1. 1.

    The infrastructure component abstracts the concrete runtime environment, e.g. a robot software framework.

References

  1. Sanchez, J., Schneider, S., Hochgeschwender, N., Kraetzschmar, G.K., Plöger, P.G.: Context-based adaptation of in-hand slip detection for service robots. IFAC-PapersOnLine 49(15), 266–271 (2016)

    Article  MathSciNet  Google Scholar 

  2. Ando, N., Suehiro, T., Kotoku, T.: A software platform for component based RT-system development: OpenRTM-Aist. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2008. LNCS (LNAI), vol. 5325, pp. 87–98. Springer, Heidelberg (2008). https://doi.org/10.1007/978-3-540-89076-8_12

    Chapter  Google Scholar 

  3. Bruyninckx, H., Soetens, P., Koninckx, B.: The real-time motion control core of the OROCOS project. In: Proceedings of the IEEE International Conference on Robotics and Automation (2003)

    Google Scholar 

  4. Dhouib, S., Kchir, S., Stinckwich, S., Ziadi, T., Ziane, M.: RobotML, a domain-specific language to design, simulate and deploy robotic applications. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds.) SIMPAR 2012. LNCS (LNAI), vol. 7628, pp. 149–160. Springer, Heidelberg (2012). https://doi.org/10.1007/978-3-642-34327-8_16

    Chapter  Google Scholar 

  5. Garcia, A.F., Rubira, C.M., Romanovsky, A., Xu, J.: A comparative study of exception handling mechanisms for building dependable object-oriented software. J. Syst. Softw. 59(2), 197–222 (2001)

    Article  Google Scholar 

  6. Hochgeschwender, N., Biggs, G., Voos, H.: A reference architecture for deploying component-based robot software and comparison with existing tools. In: 2018 Second IEEE International Conference on Robotic Computing (IRC), pp. 121–128, Jan 2018

    Google Scholar 

  7. Hochgeschwender, N., Schneider, S., Voos, H., Bruyninckx, H., Kraetzschmar, G.K.: Graph-based software knowledge: storage and semantic querying of domain models for run-time adaptation. In: 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp. 83–90 (2016)

    Google Scholar 

  8. Hochgeschwender, N.: Model-based specification, deployment and adaptation of robot perception systems. Ph.D. thesis, University of Luxembourg, Luxembourg (2017)

    Google Scholar 

  9. Safety of machinery - General principles for design - Risk assessment and risk reduction. Standard, International Organization for Standardization, Geneva, CH (2010)

    Google Scholar 

  10. Robots and robotic devices - Collaborative robots. Technical specification, International Organization for Standardization, Geneva, CH (2016)

    Google Scholar 

  11. Kephart, J.O., Chess, D.M.: The vision of autonomic computing. Computer 36(1), 41–50 (2003)

    Article  MathSciNet  Google Scholar 

  12. Nordmann, A., Hochgeschwender, N., Wigand, D., Wrede, S.: A survey on domain-specific modeling and languages in robotics. J. Softw. Eng. Rob. 7(1), 75–99 (2016)

    Google Scholar 

  13. Object Management Group: Deployment and configuration of component-based distributed applications specification (2004). http://www.omg.org/spec/DEPL/4.0/. Accessed 05 May 2019

  14. Pettersson, O.: Execution monitoring in robotics: a survey. Robot. Auton. Syst. 53(2), 73–88 (2005)

    Article  MathSciNet  Google Scholar 

  15. Quigley, M., et al.: ROS: an open-source robot operating system (2009)

    Google Scholar 

  16. Villani, V., Pini, F., Leali, F., Secchi, C.: Survey on human-robot collaboration in industrial settings: safety, intuitive interfaces and applications. Mechatronics 55, 248–266 (2018)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. German Aerospace Center (DLR), Simulation and Software Technology, Cologne, Germany

    Nico Hochgeschwender

Authors
  1. Nico Hochgeschwender
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Nico Hochgeschwender .

Editor information

Editors and Affiliations

  1. Newcastle University, Newcastle-upon-Tyne, UK

    Alexander Romanovsky

  2. Ã…bo Akademi University, Turku, Finland

    Elena Troubitsyna

  3. City, University of London, London, UK

    Ilir Gashi

  4. AIT Austrian Institute of Technology, Vienna, Austria

    Erwin Schoitsch

  5. Thales Deutschland GmbH, Berlin, Germany

    Friedemann Bitsch

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Hochgeschwender, N. (2019). Adaptive Deployment of Safety Monitors for Autonomous Systems. In: Romanovsky, A., Troubitsyna, E., Gashi, I., Schoitsch, E., Bitsch, F. (eds) Computer Safety, Reliability, and Security. SAFECOMP 2019. Lecture Notes in Computer Science(), vol 11699. Springer, Cham. https://doi.org/10.1007/978-3-030-26250-1_28

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-26250-1_28

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-26249-5

  • Online ISBN: 978-3-030-26250-1

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation