Now showing items 1-9 of 9

  • Adaptive Fault Detection and Tolerance for Robots 

    Visinsky, Monica L.; Cavallaro, Joseph R.; Walker, Ian D. (1994-08-01)
    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. ...
  • Derivation and Application of Nonlinear Analytical Redundancy Techniques with Applications to Robotics 

    Leuschen, Martin L. (2001-11-20)
    Derivation and Application of Nonlinear Analytical Redundancy Techniques with Applications to Robotics Fault detection is important in many robotic applications. Failures of powerful robots, high velocity ...
  • A Dynamic Fault Tolerance Framework for Remote Robots 

    Visinsky, Monica L.; Cavallaro, Joseph R.; Walker, Ian D. (1995-08-01)
    Fault tolerance is increasingly important for robots, especially those in remote or hazardous environments. Robots need the ability to effectively detect and tolerate internal failures in order to continue performing their ...
  • Dynamic Senor-Based Fault Detection for Robots 

    Visinsky, Monica L.; Cavallaro, Joseph R.; Walker, Ian D. (1993-09-01)
    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 ...
  • 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 ...
  • Investigation of Reliability of Hydraulic Robots for Hazardous Environments Using Analytic Redundancy 

    Leuschen, Martin L.; Walker, Ian D.; Cavallaro, Joseph R. (1999-01-01)
    The Rosie mobile worksystem is a robot that is on the cutting edge of hazardous environment robotics. It is a heavy-duty hydraulic robot designed for nuclear reactor decontamination and dismantlement. The robot consists ...
  • Keeping the Analog Genie in the Bottle: A Case for Digital Robots 

    Walker, Ian D.; Cavallaro, Joseph R.; Leuschen, Martin L. (1999-05-01)
    In this paper, we consider the case for adopting a truly 'digital' type of robot, which would evolve between a discrete and finite set of states. We adopt the point of view that the advantages of traditional robotic evolution ...
  • Monitoring and Diagnostics for a Hydraulic Robot in Hazardous Environments 

    Leuschen, Martin L.; Cavallaro, Joseph R.; Walker, Ian D. (1999-04-01)
    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 ...
  • Robot Fault Detection and Fault Tolerance: A Survey 

    Visinsky, Monica L.; Cavallaro, Joseph R.; Walker, Ian D. (1994-01-01)
    Fault tolerance is increasingly important for robots, especially those in remote or hazardous environments. Robots need the ability to effectively detect and tolerate internal failures in order to continue performing their ...