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dc.contributor.authorVisinsky, Monica L.
Cavallaro, Joseph R.
Walker, Ian D.
dc.date.accessioned 2012-05-18T15:53:47Z
dc.date.available 2012-05-18T15:53:47Z
dc.date.issued 1993-09-01
dc.identifier.citation M. L. Visinsky, J. R. Cavallaro and I. D. Walker, "Dynamic Senor-Based Fault Detection for Robots," 1993.
dc.identifier.otherhttp://scholar.google.com/scholar?cluster=1956175228273222433&hl=en&as_sdt=0,44
dc.identifier.urihttps://hdl.handle.net/1911/64158
dc.description.abstract Fault 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.
dc.description.sponsorship National Science Foundation
dc.description.sponsorship Sandia National Laboratory
dc.description.sponsorship Mitre Corporation Graduate Fellowship
dc.description.sponsorship NSF Graduate Fellowship
dc.language.iso eng
dc.publisher SPIE - The International Society for Optical Engineering
dc.subjectFault Detection
Fault Tolerance
Reachable Measurement Intervals
dc.title Dynamic Senor-Based Fault Detection for Robots
dc.type Conference paper
dc.contributor.org Center for Multimedia Communication
dc.citation.location Boston, MA
dc.citation.conferenceName SPIE Conference on Cooperative Intelligent Robotics in Space IV
dc.citation.conferenceDate 1993
dc.type.dcmi Text
dc.type.dcmi Text
dc.identifier.doihttp://dx.doi.org/10.1117/12.164918
dc.citation.firstpage 385
dc.citation.lastpage 396


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  • ECE Publications [1426]
    Publications by Rice University Electrical and Computer Engineering faculty and graduate students
  • Rice Wireless [268]
    Publications by Rice Faculty and graduate students in the Rice Wireless group

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