Now showing items 1-15 of 15

    • 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 ...
    • Derivation and application of nonlinear analytical redundancy techniques with applications to robotics 

      Leuschen, Martin L. (2002)
      Fault detection is important in many robotic applications. Failures of powerful robots, high velocity robots, or robots in hazardous environments are quite capable of causing significant and possibly irreparable havoc if ...
    • Evaluating the reliability of prototype degradable systems 

      Leuschen, Martin L.; Walker, Ian D.; Cavallaro, Joseph R. (2001-04-01)
      The technique introduced in this paper is a new technique for analyzing fault tolerant designs under considerable uncertainty, such as seen in unique or few-of-a-kind devices in poorly known environments or pre-prototype ...
    • Experimental AR Fault Detection Methods for a Hydraulic Robot 

      Leuschen, Martin L.; Walker, Ian D.; Cavallaro, Joseph R.; Gamache, Ronald; Martin, Mike (2000-09-01)
      This paper focuses on practical use and theoretical elaboration of the analytical redundancy technique which is used to efficiently detect faults that have been determined to be mission-hazardous by previous FMECA and fault ...
    • 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 ...
    • Nonlinear Fault Detection for Hydraulic Systems 

      Leuschen, Martin L.; Walker, Ian D.; Cavallaro, Joseph R. (2003-01-01)
      One of the most important areas in the robotics industry is the development of robots capable of working in hazardous environments. As humans cannot safely or cheaply work in these environments, providing a high level ...
    • Nonlinear Fault Detection for Hydraulics: Recent Advances in Fault Diagnosis and Fault Tolerance for Mechatronic Systems 

      Leuschen, Martin L.; Walker, Ian D.; Cavallaro, Joseph R. (2002-10-01)
      One of the most important areas in the robotics industry is the development of robots capable of working in hazardous environments. As humans cannot safely or cheaply work in these environments, providing a high level ...
    • Robot Reliability Through Fuzzy Markov Models 

      Leuschen, Martin L.; Walker, Ian D.; Cavallaro, Joseph R. (1998-01-01)
      In the past few years, new applications of robots have increased the importance of robotic reliability and fault tolerance. Standard approaches of reliability engineering rely on the probability model, which is often ...
    • Robot Reliability Through Fuzzy Markov Models 

      Leuschen, Martin L. (1997-04-20)
      In the past few years, new applications of robots have increased the importance of robotic reliability and fault tolerance. Standard approaches of reliability engineering rely on the probability model, which is often ...
    • Robot Reliability Using Fuzzy Fault Trees and Markov Models 

      Leuschen, Martin L.; Walker, Ian D.; Cavallaro, Joseph R. (1996-11-01)
      Robot reliability has become an increasingly important issue in the last few years, in part due to the increased application of robots in hazardous and unstructured environments. However, much of this work leads to complex ...
    • 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 ...