Investigation of Reliability of Hydraulic Robots for Hazardous Environments Using Analytic Redundancy

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dc.citation.conferenceDate1999en_US
dc.citation.conferenceNameIEEE Annual Reliability and Maintainability Symposiumen_US
dc.citation.firstpage122en_US
dc.citation.lastpage128en_US
dc.citation.locationWashington, DCen_US
dc.contributor.authorLeuschen, Martin L.en_US
dc.contributor.authorWalker, Ian D.en_US
dc.contributor.authorCavallaro, Joseph R.en_US
dc.contributor.orgCenter for Multimedia Communicationen_US
dc.date.accessioned2012-05-22T15:58:56Zen_US
dc.date.available2012-05-22T15:58:56Zen_US
dc.date.issued1999-01-01en_US
dc.description.abstractThe Rosie mobile worksystem is a robot that is on the cutting edge of hazardous environment robotics. It is a heavy-duty hydraulic robot designed for nuclear reactor decontamination and dismantlement. The robot consists of a wheeled platform containing a central hydraulic power supply powered by an electric tether, four independently steerable wheels, and a heavy-duty crane/ manipulator. The hydraulic wheel actuator subsystem has been determined to be a vital component of the mobile platform through reliability analysis. Our research into analyzing this robot's reliability through the technique of analytical redundancy (AR) will help provide the Department of Energy (DOE) with a more complete and effective set of tests for monitoring and diagnostics of the Rosie system. In this paper, we discuss the derivation through AR of a suite of model based tests for the default sensor package for one of Rosie's wheel actuators. AR allows us to exploit the sensor information of the sensors values and the system model to derive tests of the consistency of the sensor data. Some of these tests are comparison of the actual system response to control inputs to predicted response indicated by the model, the other tests uncovered by the AR analysis reflect higher order state interdependencies. These tests and their use in monitoring and diagnostics for Rosie are detailed and examined in depth. This work is also an interesting example of the application of model based techniques for an important class of practical systems.en_US
dc.description.sponsorshipNational Science Foundationen_US
dc.description.sponsorshipSandia National Laboratoryen_US
dc.identifier.citationM. L. Leuschen, I. D. Walker and J. R. Cavallaro, "Investigation of Reliability of Hydraulic Robots for Hazardous Environments Using Analytic Redundancy," 1999.en_US
dc.identifier.doihttp://dx.doi.org/10.1109/RAMS.1999.744107en_US
dc.identifier.otherhttp://scholar.google.com/scholar?cluster=14204790342235691040&hl=en&as_sdt=0,44en_US
dc.identifier.urihttps://hdl.handle.net/1911/64176en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.subjectFault Detectionen_US
dc.subjectRoboticsen_US
dc.subjectSimulationen_US
dc.titleInvestigation of Reliability of Hydraulic Robots for Hazardous Environments Using Analytic Redundancyen_US
dc.typeConference paperen_US
dc.type.dcmiTexten_US
dc.type.dcmiTexten_US
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