NDLI: A multi-model based fault detection and diagnosis of internal sensors for mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Hashimoto, M. Kawashima, H. Oba, F.
Copyright Year	2003
Description	Author affiliation: Dept. of Mech. Syst. Eng., Hiroshima Univ., Japan (Hashimoto, M.)
Abstract	A multi-model based approach to fault detection and diagnosis (FDD) of internal sensor for mobile robot is proposed. Three failure modes (hard failure mode, noise failure mode, and scale failure mode) of the sensor are handled; on the hard failure the sensor output is stuck at a constant value. The noise failure causes the sensor output with large noise. On the scale failure the gain (scale) of the sensor output differs from the normal. The detection and diagnosis of the hard/noise failure (HNFDD) is based on the variable structure interacting multiple-model (VSIMM) estimator; changes of the failure modes are modeled as switching from one mode to another in a probabilistic manner. The mode probabilities, which are estimated based on a bank of Kalman filters, provide the fault decision. The detection and diagnosis of the scale failure (SFDD) is achieved via single-model based Kalman filters, each of which is based on a model matching to a failure mode of particular sensors; the fault decision is made by comparing the model conditional estimates in the sensor gain. The proposed FDD algorithm is implemented on our skid-steered mobile robot with five internal sensors (four wheel-encoders and one yaw-rate gyro). Experimental results show the property of the FDD algorithm.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found
Starting Page	3787
Ending Page	3792
File Size	413614
Page Count	6
File Format	PDF
ISBN	0780378601
DOI	10.1109/IROS.2003.1249744
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fault detection Fault diagnosis Mobile robots Mechanical sensors Sensor systems Mechanical systems Automotive engineering Design engineering Systems engineering and theory Vehicles
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Mr. Siddhartha Mukherjee siddhartha@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	ndl-support@iitkgp.ac.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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