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Distributed Cooperative Fault Diagnosis Method for Internal Components of Robot Systems
Hitoshi Kono, Musab Obaid Alhammadi, Yusuke Tamura, Atsushi Yamashita, Hajime Asama
Pages - 1 - 11 | Revised - 01-03-2017 | Published - 01-04-2017
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KEYWORDS
Fault Detection, Distributed Cooperative System, Internal Component, Robot System.
ABSTRACT
Robot systems have recently been studied for real world situations such as space exploration, underwater inspection, and disaster response. In extreme environments, a robot system has a probability of failure. Therefore, considering fault tolerance is important for mission success. In this study, we proposed a distributed cooperative fault diagnosis method for internal components of robot systems. This method uses diagnostic devices called diagnosers to observe the state of an electrical component. These diagnosers execute each diagnosis independently and in parallel with one another, and it is assumed that they are interconnected through wireless communication. A fault diagnosis technique was proposed that involves gathering the diagnosis results. Further, computer simulations confirmed that the distributed cooperative fault diagnosis method could detect component faults in simplified fault situations.
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Dr. Hitoshi Kono
Department of Precision Engineering
The University of Tokyo
Tokyo 113-8656 - Japan
zin@ieee.org
Dr. Musab Obaid Alhammadi
Department of Electrical and Computer Engineering
Khalifa University
Abu Dhabi 127788 - United Arab Emirates
Dr. Yusuke Tamura
Department of Precision Engineering The University of Tokyo Tokyo 113-8656 - Japan
Dr. Atsushi Yamashita
Department of Precision Engineering
The University of Tokyo
Tokyo 113-8656 - Japan
Dr. Hajime Asama
Department of Precision Engineering
The University of Tokyo
Tokyo 113-8656 - Japan
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