Massive Sensor Array Fault Tolerance Tolerance Mechanism and Fault Injection for Validation.pdf.pdf

Hindawi Publishing Corporation Journal of Robotics Volume 2010, Article ID745834, 8 pages doi: Research Article Massive Sensor Array Fault Tolerance: Tolerance Mechanism and Fault Injection for Validation Dugan Um Mechanical Engineering, Texas A&MUniversity-Corpus Christi, 6300 Ocean Drive Unit 5797, Corpus Christi, TX 78412, USA Correspondence should be addressed to Dugan Um, dugan.******@.edu Received 30 March 2010; Accepted 14 July 2010 Academic Editor: Tarek M. Sobh Copyright ? 2010 Dugan Um. This is an open access article distributed under the mons Attribution License, which permits unrestricted use, distribution, and reproduction i n any medium, provided the original work is properly cited. As today’s machines e plex in order to handle intricate tasks, the number of sensors must increase for intelligent operations. Given the large numb er of sensors, detecting, isolating, and then tolerating faulty sensors is especially important. In this paper, we propose fault tolerance architecture suitable for a massive sensor array often found in highly advanced systems such as autonomous robots. One example is the sensitive skin, a type of massive sensor array. The objective of the sensitive skin is autonomous guidance of machines in unknown environments, requiring elongated operations in a remote site. The entirety of such a system needs to be able to work remotely w