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Author: Andrea Monteriù Publisher: Institution of Engineering and Technology ISBN: 178561830X Category : Technology & Engineering Languages : en Pages : 326
Book Description
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.
Author: Andrea Monteriù Publisher: Institution of Engineering and Technology ISBN: 178561830X Category : Technology & Engineering Languages : en Pages : 326
Book Description
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.
Author: Fabrizio Caccavale Publisher: Springer ISBN: 3540457372 Category : Technology & Engineering Languages : en Pages : 199
Book Description
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.
Author: Gerasimos G. Rigatos Publisher: Createspace Independent Pub ISBN: 9781461098744 Category : Technology & Engineering Languages : en Pages : 210
Book Description
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.
Author: Mogens Blanke Publisher: Springer Science & Business Media ISBN: 3662053446 Category : Science Languages : en Pages : 583
Book Description
This book presents 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, test fault detectability and reveal redundancies that can be used to ensure fault tolerance. Case studies demonstrate the methods presented. The second edition includes new material on reconfigurable control, diagnosis of nonlinear systems, and remote diagnosis, plus new examples and updated bibliography.
Author: Linlin Li Publisher: Springer ISBN: 3658130202 Category : Technology & Engineering Languages : en Pages : 192
Book Description
Linlin Li addresses the analysis and design issues of observer-based FD and FTC for nonlinear systems. The author analyses the existence conditions for the nonlinear observer-based FD systems to gain a deeper insight into the construction of FD systems. Aided by the T-S fuzzy technique, she recommends different design schemes, among them the L_inf/L_2 type of FD systems. The derived FD and FTC approaches are verified by two benchmark processes.
Author: Mogens Blanke Publisher: Springer ISBN: 3662479435 Category : Technology & Engineering Languages : en Pages : 701
Book Description
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.
Author: Józef Korbicz Publisher: Springer Science & Business Media ISBN: 3642186157 Category : Computers Languages : en Pages : 936
Book Description
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.
Author: Vicenc Puig Publisher: John Wiley & Sons ISBN: 1789450594 Category : Computers Languages : en Pages : 290
Book Description
This book presents recent advances in fault diagnosis and fault-tolerant control of dynamic processes. Its impetus derives from the need for an overview of the challenges of the fault diagnosis technique and sustainable control, 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 2 also presents and compares different fault diagnosis and fault-tolerant schemes, using well established, innovative strategies for modeling the behavior of the dynamic process under investigation. An updated treatise of diagnosis and fault-tolerant control is addressed with the use of essential and advanced methods including signal-based, model-based and data-driven techniques. Another key feature is the application of these methods for dealing with robustness and reliability.
Author: Andrea Monteriù
Author: Andrea Monteriù
Author: Fabrizio Caccavale
Author: Gerasimos G. Rigatos
Author: Mogens Blanke
Author: Linlin Li
Author: 
Author: Mogens Blanke
Author: Józef Korbicz
Author: M. Hadi Amoozgar
Author: Vicenc Puig