Add-On Emergency Stop Module for Safe Robotic State Transitions
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Solution Overview
Problem
Existing robotic systems face challenges in safely responding to human-initiated emergency stops without violating the first law of robotics, often resulting in unsafe or damaging behaviors.
Innovation Solution
Implementing a second emergency stop module that ensures safe robotic responses by configuring a cyber-physical system to traverse through a series of safe states, overriding unsafe instructions, and adhering to predefined control bounds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a simple emergency stop button is provided that cuts power to the autonomous system, then the ease of operation is improved, but the reliability deteriorates because it causes uncontrolled dropping of feedstock and potential damage to the robot
Solution Approach 1:
The emergency stop response is segmented into multiple discrete safe states (e.g., stopping movement, securing feedstock, shutting down) rather than a single power cut. This allows the system to transition through controlled intermediate states, ensuring safety at each step while maintaining operational simplicity for the user.
Solution Approach 2:
The system performs preliminary safe behaviors before complete shutdown, such as securing the feedstock and stopping robotic movements in advance. This prevents uncontrolled dropping and potential damage while still responding promptly to the emergency stop signal.
2Speed
If the robot executes an emergency stop by cutting power, then the response time is improved, but the harmful factors increase because it causes damage to the robot and environment
Solution Approach 1:
The system converts the potentially harmful abrupt power cut into a beneficial controlled shutdown sequence. By framing the emergency stop as a transition through safe states, the system achieves rapid response while preventing damage to the robot and environment.
Solution Approach 2:
The system implements beforehand cushioning by executing protective actions (securing feedstock, stopping movements) before the complete power shutdown. This cushions against the harmful effects of abrupt termination while maintaining fast emergency response.
3Reliability
If a complex safety system with multiple modules is implemented, then the reliability is improved, but the device complexity increases
Solution Approach 1:
The safety system uses a universal framework where a single add-on module can be integrated with existing robotic systems to provide safe emergency stop responses. The module handles multiple safety functions (state transition management, harmful behavior prevention, safe state verification) within one integrated component, reducing overall system complexity.
Solution Approach 2:
The add-on safety module acts as an intermediary between the emergency stop button and the robotic control system. It receives the simple stop signal and translates it into a sequence of safe behaviors, shielding the complex robotic system from the simplicity of the user interface while maintaining high reliability.
Data Source
AI summary
Methods, systems, and computer program products for safe operation of computer-aided cyber-physical systems in case of an emergency. Computing processors execute sequences of instructions that cause the computing processor to perform acts comprising (1) identifying a first module, wherein the first module is integrated into a cyber-physical system, and wherein the first module responds to an emergency response signal by initiating functions that are configured to achieve a first emergency response state; and (2) configuring a second module to be integrated into the cyber-physical system, wherein the second module responds to the emergency response signal or a derivative of the emergency response signal by initiating functions of the second module that are configured to achieve a second emergency response state. In various deployments, the first module is integrated into the cyber-physical system. Then, as an add-on or retrofit, the second module is added onto or into the cyber-physical system.