Design a User-defined robot of your choice (or you can use the URDF file) and enable the LIDAR Scanner so that any obstacle placed on the path of the light scan will cut the light rays. Visualize the robot in the Gazebo workspace, and also show the demonstration in RViz. (NB: Gain knowledge on wiring URDF file and .launch file for enabling any user-defined robot to get launched in the gazebo platform.) SLAM : One of the most popular applications of ROS is SLAM(Simultaneous Localization and Mapping). The objective of the SLAM in mobile robotics is to construct and update the map of an unexplored environment with the help of the available sensors attached to the robot which will be used for exploring. URDF: Unified Robotics Description Format, URDF, is an XML specification used in academia and industry to model multibody systems such as robotic manipulator arms for manufacturing assembly lines and animatronic robots for amusement parks. URDF is especially popular with users of the Robo
A Fault in one part of the system cause large voltage swings in the other parts of the system. So it is necessary to prevent from spreading through the system. This is called as containment.
This can be divided into
- Fault Containment Zone (FCZ) and
- A failure of some part of the computer outside an FCZ cannot cause any element inside that FCZ to fail
- Hardware inside the FCZ must be isolated from the outside system.
- Each FCZ should be have independent power supply and its own clock (may be synchronized with the other clocks)
- Typically, the FCZ consists of a whole computer which includes processors, memory I/O and control interfaces.
- A failure of some part of the computer outside an FCZ cannot cause any element inside that FCZ to fail
- Error Containment Zone (ECZ)
- Prevent errors from propagating across zone boundaries. This is achived by means of voting redundant outputs.
- Hardware Redundancy
- Software Redundancy
- Time Redundancy
- Information Redundancy
- Hardware Redundancy
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