机器人系统在线差错检测的改进的树突细胞算法.pdfVIP

A Modified Dendritic Cell Algorithm for On-line Error Detection in Robotic Systems Maizura Mokhtar, Ran Bi, Jon Timmis and Andy M. Tyrrell Abstract— The immune system is a key component in the The AIS described in this paper will be implemented on maintenance of host homeostasis. Key actors in this process are the robot’s microcontroller along side the behavioural based cells known as dendritic cells (DCs). An Artificial Immune controller, power management unit, communication module, System based on DCs (known as the Dendritic Cell Algorithm: localisation and mapping and additional bio-inspired DCA) is well established in the literature and has been applied controllers that are to be used in order to achieve its bio- in a number of applications. Work in this paper is concerned inspired objectives. The microcontroller chosen for this with the development of an integrated homeostatic system for device is the Stellaris LM3S8962 ARM® Cortex™-M3- small, autonomous robotic systems, implemented on a resource limited micro-controller. As a first step, we have modified the based microcontroller with on-chip 256kbit flash memory. DCA to operate in both simulated robotic units, and a resource Due to the resource constraints imposed on the constrained micro-controller that can operate in an on-line development of our AIS, a simple error detection mechanism manner. Errors can be introduced into the robotic unit during has bee