Monitoring and Diagnostics for a Hydraulic Robot in Hazardous Environments

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dc.citation.conferenceDate1999en_US
dc.citation.conferenceNameAmerican Nuclear Society Topical Meeting on Robotics and Remote Systemsen_US
dc.citation.locationPittsburgh, PAen_US
dc.contributor.authorLeuschen, Martin L.
dc.contributor.authorCavallaro, Joseph R.
dc.contributor.authorWalker, Ian D.
dc.contributor.orgCenter for Multimedia Communicationen_US
dc.date.accessioned2012-05-29T21:11:13Z
dc.date.available2012-05-29T21:11:13Z
dc.date.issued1999-04-01eng
dc.description.abstractHazardous environments are an important application of modern robotic techniques. However, failures can be quite serious in such environments, especially if they trap the robot within or damage containment efforts. Thus robust early fault detection is especially important for such robots. In this paper we discuss the application of one such method, analytical redundancy, to a hydraulic system similar to the one found in hazardous environment robots such as the Rosie worksystem. Further, we extend the method beyond its linear formulation to better deal with the nonlinearities inherent to hydraulic systems.en_US
dc.description.sponsorshipNational Science Foundationen_US
dc.description.sponsorshipSandia National Laboratoryen_US
dc.identifier.citationM. L. Leuschen, J. R. Cavallaro and I. D. Walker, "Monitoring and Diagnostics for a Hydraulic Robot in Hazardous Environments," 1999.
dc.identifier.otherhttp://scholar.google.com/scholar?cluster=1007253205170041842&hl=en&as_sdt=0,44
dc.identifier.urihttps://hdl.handle.net/1911/64187
dc.language.isoengen
dc.publisherAmerican Nuclear Societyen_US
dc.subjectRoboticsen_US
dc.subjectFault Detectionen_US
dc.subjectHydraulic systemsen_US
dc.titleMonitoring and Diagnostics for a Hydraulic Robot in Hazardous Environmentsen_US
dc.typeConference paperen_US
dc.type.dcmiTexten
dc.type.dcmiTexten_US
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