BITS Faculty Publications

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Subject: search.filters.subject.Fault tolerance

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    Design of an Improved Q-ZSI with Fault Tolerance for EV Applications
    (IEEE, 2019) Bansal, Hari Om; Singh, Dheerendra
    In this paper, a Fault Tolerant Quasi Z-source Inverter (Q-ZSI) topology has been proposed for three phase induction motor drive systems. The proposed topology incorporates the ability to detect an open circuit or a short circuit fault in any of the switching arms. Once a fault is detected the firing signal is transferred to another switching arm to ensure uninterrupted flow of power. The main goal of this paper is to design a rugged inverter topology that can give better performance than the standard Z-Source Inverters (ZSI) in harsh environments where the switches are more prone to faults.
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    FAST: Synchronous Frontier Allocation for Scalable Online Multi-Robot Terrain Coverage
    (Springer, 2017-09) Gautam, Avinash; Mohan, Sudeept
    We propose Frontier Allocation Synchronized by Token passing (FAST), a distributed algorithm for online terrain coverage using multiple mobile robots, ensuring mutually exclusive selection of frontier cells. Many existing approaches cover the terrain in an irregular fashion, without considering the usability of the already covered region. For instance, in the task of floor cleaning in an office building, these approaches do not guarantee the cleanliness of large unbroken areas until a majority of the task is complete. FAST on the other hand, incrementally traverses the terrain generating structured trajectories for each robot. Following a structured trajectory for coverage path planning is proven to be a very powerful approach in literature. This renders large portions of the terrain usable even before the completion of the coverage task. The novel map representation techniques used in FAST render it scalable to large terrains, without affecting the volume of communication among robots. Moreover, the distributed nature of FAST allows incorporation of fault-tolerance mechanisms.
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    FAST Synchronous Frontier Allocation for Scalable Online Multi-Robot Terrain Coverage
    (Springer, 2016-09) Mohan, Sudeept; Gautam, Avinash
    We propose Frontier Allocation Synchronized by Token passing (FAST), a distributed algorithm for online terrain coverage using multiple mobile robots, ensuring mutually exclusive selection of frontier cells. Many existing approaches cover the terrain in an irregular fashion, without considering the usability of the already covered region. For instance, in the task of floor cleaning in an office building, these approaches do not guarantee the cleanliness of large unbroken areas until a majority of the task is complete. FAST on the other hand, incrementally traverses the terrain generating structured trajectories for each robot. Following a structured trajectory for coverage path planning is proven to be a very powerful approach in literature. This renders large portions of the terrain usable even before the completion of the coverage task. The novel map representation techniques used in FAST render it scalable to large terrains, without affecting the volume of communication among robots. Moreover, the distributed nature of FAST allows incorporation of fault-tolerance mechanisms.