A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

Te-Sheng Hsiao; Mao Chiao Weng

doi:10.1109/ACC.2010.5531290

A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

Te-Sheng Hsiao^*, Mao Chiao Weng

^*此作品的通信作者

電機工程學系

研究成果: Conference contribution › 同行評審

3 引文斯高帕斯（Scopus）

摘要

Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.

原文	English
主出版物標題	Proceedings of the 2010 American Control Conference, ACC 2010
發行者	Institute of Electrical and Electronics Engineers Inc.
頁面	6054-6059
頁數	6
ISBN（電子）	978-1-4244-7427-1, 2378-5861
ISBN（列印）	9781424474264, 0743-1619
DOIs	https://doi.org/10.1109/ACC.2010.5531290
出版狀態	Published - 2010
事件	2010 American Control Conference, ACC 2010 - Baltimore, MD, 美國持續時間: 30 6月 2010 → 2 7月 2010

出版系列

名字	Proceedings of the 2010 American Control Conference, ACC 2010

Conference

Conference	2010 American Control Conference, ACC 2010
國家/地區	美國
城市	Baltimore, MD
期間	30/06/10 → 2/07/10

存取文件

10.1109/ACC.2010.5531290

其它文件與鏈接

Link to publication in Scopus

引用此

Hsiao, T.-S., & Weng, M. C. (2010). A hierarchical multiple-model approach for detection and isolation of robotic actuator faults. 於 Proceedings of the 2010 American Control Conference, ACC 2010 (頁 6054-6059). 文章 5531290 (Proceedings of the 2010 American Control Conference, ACC 2010). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2010.5531290

@inproceedings{b78812b896dd4325a1d34fe1417ea509,

title = "A hierarchical multiple-model approach for detection and isolation of robotic actuator faults",

abstract = "Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.",

author = "Te-Sheng Hsiao and Weng, {Mao Chiao}",

year = "2010",

doi = "10.1109/ACC.2010.5531290",

language = "English",

isbn = "9781424474264",

series = "Proceedings of the 2010 American Control Conference, ACC 2010",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "6054--6059",

booktitle = "Proceedings of the 2010 American Control Conference, ACC 2010",

address = "美國",

note = "2010 American Control Conference, ACC 2010 ; Conference date: 30-06-2010 Through 02-07-2010",

}

Hsiao, T-S & Weng, MC 2010, A hierarchical multiple-model approach for detection and isolation of robotic actuator faults. 於 Proceedings of the 2010 American Control Conference, ACC 2010., 5531290, Proceedings of the 2010 American Control Conference, ACC 2010, Institute of Electrical and Electronics Engineers Inc., 頁 6054-6059, 2010 American Control Conference, ACC 2010, Baltimore, MD, 美國, 30/06/10. https://doi.org/10.1109/ACC.2010.5531290

A hierarchical multiple-model approach for detection and isolation of robotic actuator faults. / Hsiao, Te-Sheng; Weng, Mao Chiao.
Proceedings of the 2010 American Control Conference, ACC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. p. 6054-6059 5531290 (Proceedings of the 2010 American Control Conference, ACC 2010).

研究成果: Conference contribution › 同行評審

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T1 - A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

AU - Hsiao, Te-Sheng

AU - Weng, Mao Chiao

PY - 2010

Y1 - 2010

N2 - Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.

AB - Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.

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U2 - 10.1109/ACC.2010.5531290

DO - 10.1109/ACC.2010.5531290

M3 - Conference contribution

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SN - 0743-1619

T3 - Proceedings of the 2010 American Control Conference, ACC 2010

SP - 6054

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BT - Proceedings of the 2010 American Control Conference, ACC 2010

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2010 American Control Conference, ACC 2010

Y2 - 30 June 2010 through 2 July 2010

ER -

A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

摘要

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Conference

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指紋

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