Fault detection and fault tolerance methods for robotics

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dc.contributor.advisorCavallaro, Joseph R.
dc.contributor.advisorWalker, Ian D.
dc.creatorVisinsky, Monica Lynn
dc.date.accessioned2009-06-04T00:45:21Z
dc.date.available2009-06-04T00:45:21Z
dc.date.issued1992
dc.description.abstractFault tolerance is increasingly important in modern autonomous or industrial robots. The ability to detect and tolerate failures allows robots to effectively cope with internal failures and continue performing designated tasks without the need for immediate human intervention. To support these fault tolerant capabilities, methods of detecting and isolating failures must be perfected. This thesis presents new fault detection algorithms which detect failures in robot components using analytical redundancy relations. The robot components critical to fault detection are revealed using an extended fault tree analysis. The thesis validates the algorithms using a simulated robot failure testbed. An intelligent fault tolerance framework is proposed in which a fault tree database and the detection algorithms work together to detect and tolerate sensor or motor failures in a robot system. Future work will expand the detection and tolerance routines and embed the framework into a more flexible expert system package.
dc.format.extent102 p.en_US
dc.format.mimetypeapplication/pdf
dc.identifier.callnoThesis E.E. 1992 Visinsky
dc.identifier.citationVisinsky, Monica Lynn. "Fault detection and fault tolerance methods for robotics." (1992) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/13624">https://hdl.handle.net/1911/13624</a>.
dc.identifier.urihttps://hdl.handle.net/1911/13624
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectElectronics
dc.subjectElectrical engineering
dc.subjectComputer science
dc.subjectMechanical engineering
dc.titleFault detection and fault tolerance methods for robotics
dc.typeThesis
dc.type.materialText
thesis.degree.departmentElectrical Engineering
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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