Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Publisher: search.filters.publisher.Springer VerlagSubject: search.filters.subject.Fault tolerance

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  • Conference Object
    Citation - Scopus: 2
    Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot
    (Springer Verlag, 2018) Şahin, Osman Nuri; Çelik, Onur; Dede, Mehmet İsmet Can
    Indoor locomotion with mobile robots has found applications in industrial part moving, factory floor investigation and cleaning tasks. Holonomic mobile robots have the advantage of moving in tight and winding passages without the need of steering. In this study, a four omni-directional wheeled mobile robot is considered. The mobile robot is kinematically redundant having four of these wheels and this is used in providing fault-tolerance due to a malfunction in one of the wheels. In this paper, the redundancy resolution for this mobile robot is explained providing a solution to a fault in one of the wheels during operation. A top level controller to compensate for the orientation errors is introduced. Finally experimental set-up is presented along with the result of the fault-tolerance experiments.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 3
    A Replication-Based Fault Tolerance Protocol Using Group Communication for the Grid
    (Springer Verlag, 2006) Erciyeş, Kayhan
    We describe a replication-based protocol that uses group communication for fault tolerance in the Computational Grid. The Grid is partitioned into a number of clusters and each cluster has a designated coordinator that manages the states of the replicas within its cluster. The coordinators belong to a process group and the proposed protocol ensures the correct sequence of message deliveries to the replicas by the coordinators. Any failing node of the Grid is replaced by an active replica to provide correct continuation of the operation of the application. We show the theoretical framework along with illustrations of the replication protocol and its implementation results and analyze its performance and scalability.