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A Distributed Fault Tolerant Position Control System for a Boat-like Inspection Robot

Here we present the position control system of a swimming inspection robot for large under-ground concrete pipes that are partially filled with wastewater. The system consists of a laser-based measurement subsystem for position determination and a mechanical rudder to move the robot laterally within the pipe. The required software components are implemented as services following a CORBA-based architecture. To automatically adapt the position control system to different environment conditions, a self-tuning controller is used. The controller has hybrid requirements regarding latency and interarrival times of computed position values. In this contribution, we describe the architectural support for this application as well as how the system deals with excessive latencies due to transient overload.