Maîtrise de la sécurité des systèmes de la robotique de service - Approche UML basée sur une analyse du risque système

摘要

Service robot systems, as medical robots, can perform complex tasks and share<br />their working area with humans. Therefore, they belong to safety critical systems. In nowadays<br />development process, safety is often managed by the way of dependability techniques. We<br />propose a new global approach, based on the risk concept in order to guide designers along the<br />safety analysis of such complex systems. Safety depends on risk management activity, which<br />core is risk analysis. This one consists in three steps : system definition, hazard identification<br />and risk estimation. We first propose the use of UML (Unified Modeling Language) as the<br />description language and we integrate human factors activities for the system definition step.<br />Then, for the next steps, interactions of UML and risk analysis techniques such as FMECA<br />(Failure Mode, Effects and Criticality Analysis) and FTA (Fault Tree Analysis) are studied.<br />As an illustration of its potentiality, the proposed approach is then applied to the case study<br />of a system for robotic tele-echography (ultrasound scan examination) actuated by artificial<br />muscles of McKibben.