Fault Diagnosis And Fault Tolerant Control Of Robotic And Autonomous Systems

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Fault Diagnosis and Fault-Tolerant Control of Robotic and Autonomous Systems

Andrea Monteriù,Alessandro Freddi,Sauro Longhi
Fault Diagnosis and Fault Tolerant Control of Robotic and Autonomous Systems Book PDF

Author : Andrea Monteriù,Alessandro Freddi,Sauro Longhi
Publisher : Institution of Engineering and Technology
Page : 326 pages
File Size : 47,7 Mb
Release : 2020-08
Category : Technology & Engineering
ISBN : 9781785618307

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Fault Diagnosis and Fault-Tolerant Control of Robotic and Autonomous Systems by Andrea Monteriù,Alessandro Freddi,Sauro Longhi Pdf

Robotic systems have experienced exponential growth thanks to their incredible adaptability. Modern robots require an increasing level of autonomy, safety and reliability. This book addresses the challenges of increasing and ensuring reliability and safety of modern robotic and autonomous systems. The book provides an overview of research in this field to-date, and addresses advanced topics including fault diagnosis and fault-tolerant control, and the challenging technologies and applications in industrial robotics, robotic manipulators, mobile robots, and autonomous and semi-autonomous vehicles.

Fault Diagnosis and Fault Tolerance for Mechatronic Systems: Recent Advances

Fabrizio Caccavale,Luigi Villani
Fault Diagnosis and Fault Tolerance for Mechatronic Systems Recent Advances Book PDF

Author : Fabrizio Caccavale,Luigi Villani
Publisher : Springer
Page : 192 pages
File Size : 51,8 Mb
Release : 2003-09-05
Category : Technology & Engineering
ISBN : 9783540457374

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Fault Diagnosis and Fault Tolerance for Mechatronic Systems: Recent Advances by Fabrizio Caccavale,Luigi Villani Pdf

This book will play a central role in ensuring safe and reliable behaviour of intelligent and autonomous systems. It collects some of the most recent results in fault diagnosis and fault tolerant systems, with particular emphasis on mechatronic systems.

Fault Diagnosis in Robotic and Industrial Systems

Gerasimos G. Rigatos
Fault Diagnosis in Robotic and Industrial Systems Book PDF

Author : Gerasimos G. Rigatos
Publisher : Createspace Independent Pub
Page : 210 pages
File Size : 43,6 Mb
Release : 2012-11-01
Category : Technology & Engineering
ISBN : 1461098742

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Fault Diagnosis in Robotic and Industrial Systems by Gerasimos G. Rigatos Pdf

Fault detection and isolation is an important topic for researchers in the area of robotics and for industrial systems engineers. The need for a systematic method that will permit preventive maintenance through the diagnosis of incipient faults is obvious. At the same time it is desirable to reduce the false alarms rate so as to avoid unnecessary and costly interruptions of industrial processes and robotic tasks. The proposed book aims at analyzing recent advances in the area of fault diagnosis for robotic and industrial systems. There are totally 9 chapters in this book. Chapter 1 deals with supervision for the safe navigation of autonomous robots in a natural environment. Fault diagnosis and natural environment perception are used at different levels within a supervisor architecture and real operation is demonstrated on an autonomous tractor driving in an orchard. Chapter 2 gives an introduction to fault tolerant sensor systems which is based on the Failure Modes and Effects Analysis (FMEA) method. Chapter 3 aims at analyzing and implementing new solutions for the problem of distributed estimation for condition monitoring of nonlinear dynamical systems (e.g. automatic ground vehicles, unmanned surface or underwater vessels and unmanned aerial vehicles), so as to enable early detection of faults and the take up of efficient restoration measures. To this end, the development of distributed nonlinear state estimation and distributed fault detection and isolation (FDI) tools is proposed. Chapter 4 proposes so-called logic-dynamic approach for fault diagnosis in industrial systems described by nonlinear dynamic models with non-differentiable nonlinearities. The approach allows solving the problem of fault diagnosis is nonlinear systems using well-known linear methods. In Chapter 5, observer design for nonlinear systems described by a Takagi-Sugeno model with unmeasurable premise variables is proposed. Furthermore, a fault tolerant controller is proposed for such a system in order to preserve some performances of the system by trajectory tracking in faulty situations. Chapter 6 explains and demonstrates the utilization of different nonlinear-dynamics-based procedures for the purposes of structural health monitoring as well as for monitoring of robot joints based on Vibration-based Health Monitoring (VHM) methods In Chapter 7, vibrations picked from spalled defective rolling element bearings is presented. It uses a four stage processing algorithm to detect and diagnose the defective component in rolling element. In Chapter 8, the problem of fault diagnosis with parity equations is considered for nonlinear dynamic systems whose models are taken in the form of ordinary differential equations. The active and passive approaches are involved to achieve the robustness of the diagnostic procedure Finally, Chapter 9 proposes a graphical method for diagnosis of nonlinear systems. The proposed method is based on a 2D signature obtained by measurements projection over some moving time-window. This projection highlights what happens inside the system and enables the diagnosis of abnormal behaviors. This book is suitable for advanced undergraduate students and postgraduate students. It takes a practical approach rather than a conceptual approach. It offers a truly reader-friendly way to get to the subject related to the semantic web, making it the ideal resources for any student who is new to this subject and providing a definitive guide to anyone in this vibrant and evolving discipline. This book is an invaluable companion for students from their first encounter with the subject to more advanced studies, while the high quality artworks are designed to present the key concepts with simplicity, clarity and consistency.

Robust Control of Robots

Adriano A. G. Siqueira,Marco H. Terra,Marcel Bergerman
Robust Control of Robots Book PDF

Author : Adriano A. G. Siqueira,Marco H. Terra,Marcel Bergerman
Publisher : Springer Science & Business Media
Page : 228 pages
File Size : 48,7 Mb
Release : 2011-08-14
Category : Technology & Engineering
ISBN : 0857298984

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Robust Control of Robots by Adriano A. G. Siqueira,Marco H. Terra,Marcel Bergerman Pdf

Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.

Fault Diagnosis

Józef Korbicz,Jan M. Koscielny,Zdzislaw Kowalczuk,Wojciech Cholewa
Fault Diagnosis Book PDF

Author : Józef Korbicz,Jan M. Koscielny,Zdzislaw Kowalczuk,Wojciech Cholewa
Publisher : Springer Science & Business Media
Page : 922 pages
File Size : 42,6 Mb
Release : 2012-12-06
Category : Computers
ISBN : 9783642186158

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Fault Diagnosis by Józef Korbicz,Jan M. Koscielny,Zdzislaw Kowalczuk,Wojciech Cholewa Pdf

This comprehensive work presents the status and likely development of fault diagnosis, an emerging discipline of modern control engineering. It covers fundamentals of model-based fault diagnosis in a wide context, providing a good introduction to the theoretical foundation and many basic approaches of fault detection.

A Closer Look at Fault-Tolerant Control

Jeremy M. Hutton
A Closer Look at Fault Tolerant Control Book PDF

Author : Jeremy M. Hutton
Publisher : Nova Science Publishers
Page : 348 pages
File Size : 49,8 Mb
Release : 2020
Category : Automatic control
ISBN : 1536175285

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A Closer Look at Fault-Tolerant Control by Jeremy M. Hutton Pdf

A Closer Look at Fault-Tolerant Control first presents the application of a fault tolerant control system on distillation processes, with automatic actuator faults containment capabilities and an atmospheric crude distillation unit.Following this, model-based fault-tolerant control and fault accommodation algorithms are presented for two challenging classes of distributed systems: a spatially distributed system that can be decomposed into interconnected subsystems, and a distributed parameter system where the system state is distributed over a continuous range of space.The authors present recent research on fault-tolerant control systems for unmanned aerial systems, particularly for multirotor-type vehicles commonly known as drones.An overview of tools for the analysis of the fundamental properties of an automated system is provided, allowing for any inherent redundancy in the controlled process to be utilised to maintain availability.Additionally, a reconfigurable fault-tolerant flight control system is proposed to combat sensor/actuator faults for autonomous underwater vehicles.The reconfigurable design and operation of complex systems is addressed, with emphasis on autonomous systems, building upon concepts of autonomy, incipient failure diagnosis and prognosis algorithms.The authors present a fault detection filter for induction motors speed as a class of nonlinear system in networked control systems subject to induced time delays. The multi-model approach for the modeling of induction motors is described using a set of linear models.In the concluding study, the construction of an induction motor is presented, and a review of induction motor failures is discussed.

Control Systems, Robotics and AutomatioN – Volume XVI

Heinz D. Unbehauen
Control Systems Robotics and AutomatioN Volume XVI Book PDF

Author : Heinz D. Unbehauen
Publisher : EOLSS Publications
Page : 524 pages
File Size : 54,5 Mb
Release : 2009-10-11
Category : Electronic
ISBN : 9781848261556

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Control Systems, Robotics and AutomatioN – Volume XVI by Heinz D. Unbehauen Pdf

This Encyclopedia of Control Systems, Robotics, and Automation is a component of the global Encyclopedia of Life Support Systems EOLSS, which is an integrated compendium of twenty one Encyclopedias. This 22-volume set contains 240 chapters, each of size 5000-30000 words, with perspectives, applications and extensive illustrations. It is the only publication of its kind carrying state-of-the-art knowledge in the fields of Control Systems, Robotics, and Automation and is aimed, by virtue of the several applications, at the following five major target audiences: University and College Students, Educators, Professional Practitioners, Research Personnel and Policy Analysts, Managers, and Decision Makers and NGOs.

Advanced Solutions in Diagnostics and Fault Tolerant Control

Jan M. Kościelny,Michał Syfert,Anna Sztyber
Advanced Solutions in Diagnostics and Fault Tolerant Control Book PDF

Author : Jan M. Kościelny,Michał Syfert,Anna Sztyber
Publisher : Springer
Page : 472 pages
File Size : 41,5 Mb
Release : 2017-07-28
Category : Technology & Engineering
ISBN : 9783319644745

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Advanced Solutions in Diagnostics and Fault Tolerant Control by Jan M. Kościelny,Michał Syfert,Anna Sztyber Pdf

This book highlights the latest achievements concerning the theory, methods and practice of fault diagnostics, fault tolerant systems and cyber safety. When considering the diagnostics of industrial processes and systems, increasingly important safety issues cannot be ignored. In this context, diagnostics plays a crucial role as a primary measure of the improvement of the overall system safety integrity level. Obtaining the desired diagnostic coverage or providing an appropriate level of inviolability of the integrity of a system is now practically inconceivable without the use of fault detection and isolation methods. Given the breadth and depth of its coverage, the book will be of interest to researchers faced with the challenge of designing technical and medical diagnosis systems, as well as junior researchers and students in the fields of automatic control, robotics, computer science and artificial intelligence.

Diagnosis and Fault-Tolerant Control

Mogens Blanke,Michel Kinnaert,Jan Lunze,Marcel Staroswiecki
Diagnosis and Fault Tolerant Control Book PDF

Author : Mogens Blanke,Michel Kinnaert,Jan Lunze,Marcel Staroswiecki
Publisher : Springer
Page : 695 pages
File Size : 42,6 Mb
Release : 2015-08-11
Category : Technology & Engineering
ISBN : 9783662479438

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Diagnosis and Fault-Tolerant Control by Mogens Blanke,Michel Kinnaert,Jan Lunze,Marcel Staroswiecki Pdf

Fault-tolerant control aims at a gradual shutdown response in automated systems when faults occur. It satisfies the industrial demand for enhanced availability and safety, in contrast to traditional reactions to faults, which bring about sudden shutdowns and loss of availability. The book presents effective model-based analysis and design methods for fault diagnosis and fault-tolerant control. Architectural and structural models are used to analyse the propagation of the fault through the process, to test the fault detectability and to find the redundancies in the process that can be used to ensure fault tolerance. It also introduces design methods suitable for diagnostic systems and fault-tolerant controllers for continuous processes that are described by analytical models of discrete-event systems represented by automata. The book is suitable for engineering students, engineers in industry and researchers who wish to get an overview of the variety of approaches to process diagnosis and fault-tolerant control. The authors have extensive teaching experience with graduate and PhD students, as well as with industrial experts. Parts of this book have been used in courses for this audience. The authors give a comprehensive introduction to the main ideas of diagnosis and fault-tolerant control and present some of their most recent research achievements obtained together with their research groups in a close cooperation with European research projects. The third edition resulted from a major re-structuring and re-writing of the former edition, which has been used for a decade by numerous research groups. New material includes distributed diagnosis of continuous and discrete-event systems, methods for reconfigurability analysis, and extensions of the structural methods towards fault-tolerant control. The bibliographical notes at the end of all chapters have been up-dated. The chapters end with exercises to be used in lectures.

New Trends in Robot Control

Jawhar Ghommam,Nabil Derbel,Quanmin Zhu
New Trends in Robot Control Book PDF

Author : Jawhar Ghommam,Nabil Derbel,Quanmin Zhu
Publisher : Springer Nature
Page : 382 pages
File Size : 41,8 Mb
Release : 2020-02-13
Category : Technology & Engineering
ISBN : 9789811518195

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New Trends in Robot Control by Jawhar Ghommam,Nabil Derbel,Quanmin Zhu Pdf

This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings from interdisciplinary theoretical studies. Featuring chapters on advanced control (fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis, and fault-tolerant control), the book will equip readers to easily tailor the techniques to their own applications. Accordingly, it offers a valuable resource for researchers, engineers, and students in the field of robotic systems.

Intelligent Fault Diagnosis and Accommodation Control

Sunan Huang,Kok Kiong Tan,Poi Voon Er,Tong Heng Lee
Intelligent Fault Diagnosis and Accommodation Control Book PDF

Author : Sunan Huang,Kok Kiong Tan,Poi Voon Er,Tong Heng Lee
Publisher : CRC Press
Page : 173 pages
File Size : 43,5 Mb
Release : 2020-03-17
Category : Technology & Engineering
ISBN : 9780429558917

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Intelligent Fault Diagnosis and Accommodation Control by Sunan Huang,Kok Kiong Tan,Poi Voon Er,Tong Heng Lee Pdf

Control systems include many components, such as transducers, sensors, actuators and mechanical parts. These components are required to be operated under some specific conditions. However, due to prolonged operations or harsh operating environment, the properties of these devices may degrade to an unacceptable level, causing more regular fault occurrences. It is therefore necessary to diagnose faults and provide the fault-accommodation control which compensates for the fault of the component by substituting a configuration of redundant elements so that the system continues to operate satisfactorily. In this book, we present a result of several years of work in the area of fault diagnosis and fault-accommodation control. It aims at information estimate methods when faults occur. The book uses the model built from the plant or process, to detect and isolate failures, in contrast to traditional hardware or statistical technologies dealing with failures. It presents model-based learning and design technologies for fault detection, isolation and identification as well as fault-tolerant control. These models are also used to analyse the fault detectability and isolability conditions and discuss the stability of the closed-loop system. It is intended to report new technologies in the area of fault diagnosis, covering fault analysis and control strategies of design for various applications. The book addresses four main schemes: modelling of actuator or sensor faults; fault detection and isolation; fault identification, and fault reconfiguration (accommodation) control. It also covers application issues in the monitoring control of actuators, providing several interesting case studies for more application-oriented readers.

Diagnosis and Fault-tolerant Control 1

Vicenc Puig,Silvio Simani
Diagnosis and Fault tolerant Control 1 Book PDF

Author : Vicenc Puig,Silvio Simani
Publisher : John Wiley & Sons
Page : 290 pages
File Size : 53,8 Mb
Release : 2021-12-01
Category : Technology & Engineering
ISBN : 9781119882312

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Diagnosis and Fault-tolerant Control 1 by Vicenc Puig,Silvio Simani Pdf

This book presents recent advances in fault diagnosis strategies for complex dynamic systems. Its impetus derives from the need for an overview of the challenges of the fault diagnosis technique, especially for those demanding systems that require reliability, availability, maintainability and safety to ensure efficient operations. Moreover, the need for a high degree of tolerance with respect to possible faults represents a further key point, primarily for complex systems, as modeling and control are inherently challenging, and maintenance is both expensive and safety-critical. Diagnosis and Fault-tolerant Control 1 also presents and compares different diagnosis schemes using established case studies that are widely used in related literature. The main features of this book regard the analysis, design and implementation of proper solutions for the problems of fault diagnosis in safety critical systems. The design of the considered solutions involves robust data-driven, model-based approaches.

Diagnosis and Fault-Tolerant Control

Mogens Blanke
Diagnosis and Fault Tolerant Control Book PDF

Author : Mogens Blanke
Publisher : Springer Science & Business Media
Page : 700 pages
File Size : 41,7 Mb
Release : 2006-08-03
Category : Computers
ISBN : UOM:39015066730139

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Diagnosis and Fault-Tolerant Control by Mogens Blanke Pdf

Fault-tolerant control aims at a graceful degradation of the behaviour of automated systems in case of faults. It satisfies the industrial demand for enhanced availability and safety, in contrast to traditional reactions to faults that bring about sudden shutdowns and loss of availability. The book presents effective model-based analysis and design methods for fault diagnosis and fault-tolerant control. Architectural and structural models are used to analyse the propagation of the fault throught the process, to test the fault detectability and to find the redundancies in the process that can be used to ensure fault tolerance. Design methods for diagnostic systems and fault-tolerant controllers are presented for processes that are described by analytical models, by discrete-event models or that can be dealt with as quantised systems. Five case studies on pilot processes show the applicability of the presented methods. The theoretical results are illustrated by two running examples used throughout the book. The second edition includes new material about reconfigurable control, diagnosis of nonlinear systems, and remote diagnosis. The application examples are extended by a steering-by-wire system and the air path of a diesel engine, both of which include experimental results. The bibliographical notes at the end of all chapters have been up-dated. The chapters end with exercises to be used in lectures.

Mobile Intelligent Autonomous Systems

Jitendra R. Raol,Ajith K. Gopal
Mobile Intelligent Autonomous Systems Book PDF

Author : Jitendra R. Raol,Ajith K. Gopal
Publisher : CRC Press
Page : 835 pages
File Size : 41,9 Mb
Release : 2016-04-19
Category : Technology & Engineering
ISBN : 9781000755640

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Mobile Intelligent Autonomous Systems by Jitendra R. Raol,Ajith K. Gopal Pdf

Going beyond the traditional field of robotics to include other mobile vehicles, this reference and "recipe book" describes important theoretical concepts, techniques, and applications that can be used to build truly mobile intelligent autonomous systems (MIAS). With the infusion of neural networks, fuzzy logic, and genetic algorithm paradigms for MIAS, it blends modeling, sensors, control, estimation, optimization, signal processing, and heuristic methods in MIAS and robotics, and includes examples and applications throughout. Offering a comprehensive view of important topics, it helps readers understand the subject from a system-theoretic and practical point of view.

RoboCup 2012: Robot Soccer World Cup XVI

Xiaoping Chen,Peter Stone,Luis Enrique Sucar,Tijn van der Zant
RoboCup 2012 Robot Soccer World Cup XVI Book PDF

Author : Xiaoping Chen,Peter Stone,Luis Enrique Sucar,Tijn van der Zant
Publisher : Springer
Page : 392 pages
File Size : 50,7 Mb
Release : 2013-06-12
Category : Computers
ISBN : 9783642392504

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RoboCup 2012: Robot Soccer World Cup XVI by Xiaoping Chen,Peter Stone,Luis Enrique Sucar,Tijn van der Zant Pdf

This book includes the thoroughly refereed post-conference proceedings of the 16th Annual RoboCup International Symposium, held in Mexico City, Mexico, in June 2012. The 24 revised papers presented together with nine champion team papers and one best paper award were carefully reviewed and selected from 64 submissions. The papers present current research and educational activities within the fields of Robotics and Artificial Intelligence with a special focus to robot hardware and software, perception and action, robotic cognition and learning, multi-robot systems, human-robot interaction, education and edutainment, and applications.