Now showing items 1-3 of 3

  • Fault Residual Generation via Nonlinear Analytical Redundancy 

    Leuschen, Martin L.; Walker, Ian D.; Cavallaro, Joseph R. (2005-05-01)
    Fault detection is critical in many applications, and analytical redundancy (AR) has been the key underlying tool for many approaches to fault detection. However, the conventional AR approach is formally limited to linear ...
  • Robotic Fault Detection Using Nonlinear Analytical Redundancy 

    Leuschen, Martin L.; Cavallaro, Joseph R.; Walker, Ian D. (2002-05-01)
    In this paper we discuss the application of our recently developed nonlinear analytical redundancy (NLAR) fault detection technique to a two-degree of freedom robot manipulator. NLAR extends the traditional linear AR ...
  • Testing on the Curve: Nonlinear Analytical Redundancy for Fault Detection 

    Leuschen, Martin L.; Cavallaro, Joseph R.; Walker, Ian D. (2001-03-01)
    One of the most important areas in the robotics industry is the development of robots capable of working in hazardous environments. Providing a high level of functionality in these arenas is important simply because humans ...