Dynamic Senor-Based Fault Detection for Robots

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dc.citation.conferenceDate1993en_US
dc.citation.conferenceNameSPIE Conference on Cooperative Intelligent Robotics in Space IVen_US
dc.citation.firstpage385
dc.citation.lastpage396
dc.citation.locationBoston, MAen_US
dc.contributor.authorVisinsky, Monica L.
dc.contributor.authorCavallaro, Joseph R.
dc.contributor.authorWalker, Ian D.
dc.contributor.orgCenter for Multimedia Communicationen_US
dc.date.accessioned2012-05-18T15:53:47Z
dc.date.available2012-05-18T15:53:47Z
dc.date.issued1993-09-01eng
dc.description.abstractFault detection and fault tolerance are increasingly important for robots in space or hazardous environments due to the dangerous and often inaccessible nature of these environs. We have previously developed algorithms to enable robots to autonomously cope with failures or critical sensors and motors. Typically, the detection thresholds used in such algorithms to mask out model and sensor errors are empirically determined and are based on a specific robot trajectory. We have noted, however, that the effect of model and sensor inaccuracy fluctuates dynamically as the robot and as failures occur. The thresholds, therefore, need to be more dynamic and respond to the changes in the robot system so as to maintain an optimal bound for sensing real failures in the system versus misalignment due to modeling errors. In this paper, we analyze the Reachable Measurement Intervals method of computing dynamic thresholds and explore its applicability to robotic fault detection.en_US
dc.description.sponsorshipNational Science Foundationen_US
dc.description.sponsorshipSandia National Laboratoryen_US
dc.description.sponsorshipMitre Corporation Graduate Fellowshipen_US
dc.description.sponsorshipNSF Graduate Fellowshipen_US
dc.identifier.citationM. L. Visinsky, J. R. Cavallaro and I. D. Walker, "Dynamic Senor-Based Fault Detection for Robots," 1993.*
dc.identifier.doihttp://dx.doi.org/10.1117/12.164918en_US
dc.identifier.otherhttp://scholar.google.com/scholar?cluster=1956175228273222433&hl=en&as_sdt=0,44
dc.identifier.urihttps://hdl.handle.net/1911/64158
dc.language.isoengen
dc.publisherSPIE - The International Society for Optical Engineeringen_US
dc.subjectFault Detectionen_US
dc.subjectFault Toleranceen_US
dc.subjectReachable Measurement Intervalsen_US
dc.titleDynamic Senor-Based Fault Detection for Robotsen_US
dc.typeConference paperen_US
dc.type.dcmiTexten
dc.type.dcmiTexten_US
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