Robotic fault detection and fault tolerance: A survey

Visinsky, Monica L.; Cavallaro, Joseph R.; Walker, Ian D.

doi:10.1016/0951-8320(94)90132-5

Cited by 172 publications

(98 citation statements)

References 16 publications

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“…Both in [10] and [12] we can find compilations of some developments in fault diagnosis. Through analysis of these works, it becomes evident that some techniques are not feasible for integration in mobile robots or that their full application can become impractical, either because of high amounts of processing power or because they are valid during design only.…”

Section: Overviewmentioning

confidence: 99%

“…Moreover, it is noted that the special characteristics encountered on the robotics field, like limited available redundancy, increase the hardship in designing new methods for fault detection. It is also mentioned that, because of the imperfection of sensors, thresholds should be used, preferably dynamic, in order to avoid false positive detections [12]. Despite the problems concerning model-based methods, in recent years, it remained an important base for works in the field, including the development of a technique that aimed to overcome a deficiency found in most approaches, as most only consider the occurrence of isolated faults (one fault in one component) and fail to address simultaneous faults or, in alternative, require sensor redundancy to detect these situations.…”

Section: Industrial Robotsmentioning

confidence: 99%

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A Safety Monitoring Model for a Faulty Mobile Robot

2018

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Abstract:The continued development of mobile robots (MR) must be accompanied by an increase in robotics' safety measures. Not only must MR be capable of detecting and diagnosing faults, they should also be capable of understanding when the dangers of a mission, to themselves and the surrounding environment, warrant the abandonment of their endeavors. Analysis of fault detection and diagnosis techniques helps shed light on the challenges of the robotic field, while also showing a lack of research in autonomous decision-making tools. This paper proposes a new skill-based architecture for mobile robots, together with a novel risk assessment and decision-making model to overcome the difficulties currently felt in autonomous robot design.

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Section: Overviewmentioning

confidence: 99%

Section: Industrial Robotsmentioning

confidence: 99%

A Safety Monitoring Model for a Faulty Mobile Robot

2018

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“…3 The first question that arises in the study of convergence behaviors of a failed manipulator is whether the desired task position is reachable, that is, lies within the postfeilure workspace. If indeed it does, the issue of whether, under the employed control scheme, the manipulator converges correctly to the desired position must be examined.…”

Section: • Journal Of Robotic Systems-200smentioning

confidence: 99%

“…For the case when the sensor has indeed ties 'Ia equal the commanded velocities 'Ic' However, in the event of a locked-joint failure of the ith joint, the corresponding element of ' Ia is identically zero. Then, the actual end-effector velocity is given by (3) where iJ is the post-failure Jacobian, given by…”

Section: • Journal Of Robotic Systems-200smentioning

confidence: 99%

Analyzing unidentified locked-joint failures in kinematically redundant manipulators

2004

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Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failuretolerance techniques rely on effective failure detection and identification. Since a failure may not always be successfully identified, or, even if identified, may not be identified soon enough, it becomes important to consider the behavior of manipulators with unidentified failures. This work investigates the behavior of robots experiencing unidentified locked-joint failures in a general class of tasks characterized by point-to-point motion. Based on the analysis, a procedure for workspace evaluation is developed that allows for the identification of regions in the manipulator's workspace in which tasks may be completed even with such failures. where xe R" is the position of the end effector, q eRn is the vector of joint variables, and m and n the dimensions of the task space and joint space, teepeetively. Manipulators that have more degrees of freedom (DOFs) than required for a task, i.e., n>m, are said to be redundant. 'The end-effector velocity is expressed in terms of the joint rates as where] E H m X n is the manipulator Jacobian, xis the end-effector velocity, and it is the joint velocity.If perfect servo control of the joints is assumed, then in a healthy manipulator the actual joint velodfailed, the ability of manipulators to converge to desired end-effector positions even with imperfect/ approximated lacobtana/Iacobian-inverses has been addressed in refs. 26 and 27. Therefore, we focus on the other case where a joint has actually locked, but the controller continues to command motion of that joint as though it were healthy. For a general class of tasks characterized by point-to-point motion, we examine convergence issues such as whether the manipulator comes to rest and, if so, what is the terminal position and orientation of the end-effector. The convergence analysis is restricted to purely kinematic effects, due to the fact that the dynamic effects of a failure are essentially transient in nature and do not significantly affect the convergence behavior. 18.28 -3 0 Conditions under which the manipulator converges are explicitly defined and the anomalies in behavior due to the faults explained and illustrated with examples. These conditions are used to evaluate the convergence behavior of the manipulator over the postfailure workspace. This allows for the identification of workspace regions for which task completion may be possible even with unidentified failures.The position and orientation-of the end effector of a manipulator can be expressed in terms of its joint variables by the kinematic equation "nus assumes a typical commercial robot where duplicate sensing and/or analytical redundancy does not exist.

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“…Much of this work has centered on incorporation of redundant [4±6] and backup systems. The extra components needed for fault tolerant robot designs obviously add extra costs and extra possibilities of failure [7,8]. Reliability analysis tools such as fault trees [9±11] and Markov [12±14] models give hard numbers showing that the bene®ts of the fault tolerant design are tangible and worth the effort.…”

Section: Introductionmentioning

confidence: 99%

Evaluating the reliability of prototype degradable systems

Leuschen

Walker

Cavallaro

2001

Reliability Engineering & System Safety

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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 design analyses. This technique is able to provide useful information while maintaining the uncertainty inherent in the original speci®cations. The technique introduced here is a logical extension of the underlying concepts of fuzzy sets and Markov models. Although originally developed for robotic systems, the technique is more broadly applicable. This paper develops fuzzy Markov modeling and uses it to analyze a speci®c robot designed for hazardous waste removal and speci®c types of electronic systems. q

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Robotic fault detection and fault tolerance: A survey

Cited by 172 publications

References 16 publications

A Safety Monitoring Model for a Faulty Mobile Robot

A Safety Monitoring Model for a Faulty Mobile Robot

Analyzing unidentified locked-joint failures in kinematically redundant manipulators

Evaluating the reliability of prototype degradable systems

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