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Monitoring and Diagnostics for a Hydraulic Robot in Hazardous Environments

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Title: Monitoring and Diagnostics for a Hydraulic Robot in Hazardous Environments
Author: Leuschen, Martin L.; Cavallaro, Joseph R.; Walker, Ian D.
Type: Conference Paper
Publisher: American Nuclear Society
Citation: M. L. Leuschen, J. R. Cavallaro and I. D. Walker,"Monitoring and Diagnostics for a Hydraulic Robot in Hazardous Environments," in American Nuclear Society Topical Meeting on Robotics and Remote Systems, 1999
Abstract: Hazardous 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.
Date Published: 1999-04-01

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    Publications by Rice University Electrical and Computer Engineering faculty and graduate students