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    Monitoring and Diagnostics for a Hydraulic Robot in Hazardous Environments

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    Author
    Leuschen, Martin L.; Cavallaro, Joseph R.; Walker, Ian D.
    Date
    1999-04-01
    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.
    Citation
    M. L. Leuschen, J. R. Cavallaro and I. D. Walker, "Monitoring and Diagnostics for a Hydraulic Robot in Hazardous Environments," 1999.
    Keyword
    Robotics; Fault Detection; Hydraulic systems
    Type
    Conference paper
    Publisher
    American Nuclear Society
    Citable link to this page
    https://hdl.handle.net/1911/64187
    Metadata
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    • ECE Publications [1443]
    • Rice Wireless [268]

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    Managed by the Digital Scholarship Services at Fondren Library, Rice University
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