Self-Certification and Safety Compliance for Robotics Platforms

Abstract

In this paper, the results and methodology of a framework to enable run-time safety compliance and self-certification of robotics is presented. This transferable framework is verified within a practical demonstration scenario, based on asset inspection within a confined space, and representing a Beyond Visual Line of Sight (BVLOS) use case. The methodology of the framework is based on computationally efficient analysis to support run-time, front-end, data analysis and adaptive decision-making. Utilizing the Husky A200 platform, manufactured by Clearpath, front-end datasets on the mission status and diagnostics of critical sub-systems within the Husky platform are used to update run-time system ontologies. The holistic and hierarchical- relational model of the robot integrates the automata of the sensed and some non-sensed components, using prior knowledge, such as risk assessments and offline reliability data, to support run-time analysis, such as fault prognosis, detection, isolation and diagnosis. These computationally efficient data and system analyses then enable faults to be translated into failure modes that can affect decision making during the mission. With respect to challenges of a dynamic environment, namely ambient conditions or the presence of unexpected people, Frequency Modulated Continuous Wave (FMCW) sensing is integrated onto the husky platform. The FMCW supports localization in opaque environments and detection of people within and out-with of the confined space, as well as enabling integrity analysis of the infrastructure. The framework presents its results within a symbiotic digital twin of the infrastructure and robotic platform. With fully synchronized communication and data streams, the interactive digital twin provides operational decision support and trust for human in the loop operators of varying skill levels. The presentation of actionable information to the end user is used to support improvements in productivity associated with asset integrity as well as supporting user trust in safety during a BVLOS mission.

Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms

“…For the inspection aspect of our mission, we integrate FMCW radar to provide asset integrity inspection via surface and subsurface analysis. This novel application of FMCW includes detection of corrosion, on metal structures and integrity inspection of composite structure wind turbine blades [8], [18], [95].…”

“…However, international safety regulators, such as the civil aviation authorities, have identified that run-time safety and reliability of autonomous systems are key obstacles in Beyond Visual Line of Sight (BVLOS) missions for unmanned aerial vehicles in twelve European countries [17]. We also highlight dynamic conditions, such as weather conditions, smoke, steam and mist, as challenges which reduce the reliability of sensors onboard robotic platforms [8], [18], [19]. Despite advancements in RAI, there are several barriers that limit expansion in the offshore domain, which include technological, regulatory and commercial challenges.…”

“…The non-contact sensing mechanism enables surface and subsurface detection of faults within porous (low dielectric) structures, where defects can be detected deep within a wind turbine structure. Applications of FMCW in the K-band (18 -26 GHz) have included the detection of fluid ingress and delamination features within wind turbine structures; common defect types in manufacturing and operationally induced defects [8] [18]. Microwave radar in the W-band (75-110 GHz) has also been successfully tested as an embedded sensor on wind turbine towers, allowing for the analysis of vibration in major wind turbine structural components to inform asset prognostics [66], [67].…”

Reliability and Safety of Autonomous Systems Based on Semantic Modelling for Self-Certification

“…Trust in the reliability and resilience of these autonomous systems is paramount to their continued growth, as well as their safe and effective utilization [9][10][11]. Hauser [12] reported the need for autonomous systems operating in real-world conditions to radically are autonomous, semi or fully, and encompasses their advanced software and hardware components, and interactions with the surrounding environment.…”

“…The system was then demonstrated within an industry informed confined space mission for an offshore substation. In addition, a digital twin was utilized to communicate with the system and to analysis the system's outcome, which is not the scope of this paper [9]. Although we present and discuss the integrated models and technologies used in this autonomous mission, to provide a mission and autonomous system context, the main focus of this paper is on the modelling paradigm, based on ontologies [21], i.e., the system model.…”