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A safety analysis methodology is introduced, which integrates both our hazard analysis technique and the implementation of the safety layer of our control system. These safety policies are shown to be an effective way of describing safety systems as a set of rules that dictate how the system should behave in potentially hazardous situations. The new architecture design centres around safety, and the concept of a 'safety policy' is introduced. A novel safety-driven control system architecture is presented, which attempts to address many of the weaknesses identified with the present designs found in the literature.
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Based on this investigation, we show how the adoption of a hazard check list that highlights particular hazardous areas, can be used to improve current hazard analysis techniques. This is based on a careful analysis of current design processes, which looks at how effectively they identify hazards that may arise in typical environments that a personal robot may be required to operate in. In this thesis we argue that traditional system design techniques fail to capture the complexities associated with dynamic environments. We believe that the safety issue is a primary factor in wide scale adoption of personal robots, and until these issues are addressed, commercial enterprises will be unlikely to invest heavily in their development. For personal robots, and those intended to operate in unstructured environments, the problem of safety is compounded. In recent years there has been a concerted effort to address many of the safety issues associated with physical human-robot interaction (pHRI). So, it is necessary to manage of risk for humans working near robots involves in general very broad considerations, ranging from potential electrical and pressurized fluid hazards, pinching hands, dropping parts, etc. Safety planning and the a priori identification of potentially hazardous situations as a means of reducing potential robot-safety hazards have received less attention than control-based (reactive) techniques. Safe planning is an important component of the safety strategy. It is usually necessary to ensure that the robot has not exceeded the maximum safe zone, and thus it has not come into contact with man. To avoid injury, it is necessary to find a mutual link between the behavior of the robot and possible personal injury. However, robots can pose hazardous risks to humans if sufficient precautions are not provided. For example, robots are increasingly being used in industry to perform such tasks as material handling and welding, and there are around one million robots in use worldwide. Furthermore, industrial robot, unlike human, can perform complex or mundane tasks without tiring, and they can work in hazardous conditions that would pose risks to humans.
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Automated and robotized systems are widely used in industry with deployment to perform unsafe, hazardous, highly repetitive and unpleasant tasks for human.