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dc.contributor.authorVisinsky, Monica L.
Cavallaro, Joseph R.
Walker, Ian D. 2012-05-18T16:35:00Z 2012-05-18T16:35:00Z 1994-08-01
dc.description.abstract In existing robot fault detection schemes, sensed values of the joint status (position, velocity, etc.) are typically compared against expected or desired values, and if a given threshold is exceeded, a fault is inferred. The thresholds tend to be empirically determined and held constant over a wide range of trajectories. This leads to false alarms when the threshold is too small to counter the error-inducing effects model inaccuracy and to undetected faults when the threshold is too large for the given situation. This paper presents new methods for adaptively choosing fault detection thresholds, subject to sensing and modeling inaccuracies and the changing status of the robot. Our approach chooses optimal thresholds based on a Singular Value Decomposition (SVD) of a specialized error regressor format of the dynamics to minimize the possibility of false alarms or undtected failures. The thresholds vary dynamically with the changing trajectory and configuration of the robot and with the robot's failure status. Examples of the fault detection scheme for a non-planar 3 DOF robot are given.
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 TSI Press
dc.subjectFault Detection
Fault Detection Thresholds
Singular Value Decomposition (SVD)
dc.title Adaptive Fault Detection and Tolerance for Robots
dc.type Conference paper Center for Multimedia Communication
dc.citation.location Wailea, HI
dc.citation.conferenceName First World Automation Conference
dc.citation.conferenceDate 1994
dc.type.dcmi Text
dc.type.dcmi Text
dc.citation.firstpage 205
dc.citation.lastpage 210

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  • CMC Publications [268]
    Publications by Rice Faculty and graduate students in multimedia communications
  • ECE Publications [1214]
    Publications by Rice University Electrical and Computer Engineering faculty and graduate students

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