Distributed Cooperative Fault Diagnosis Method for Internal Components of Robot Systems
Distributed Cooperative Fault Diagnosis Method for Internal Components of Robot Systems
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发表时间：
2017
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通讯作者：
H. Kono;Musab Obaid Alhammadi;Y. Tamura;A. Yamashita;H. Asama
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作者：
H. Kono;Musab Obaid Alhammadi;Y. Tamura;A. Yamashita;H. Asama
机器人系统最近被研究用于现实世界的情况，如太空探索、水下检查和灾难响应。在极端环境下，机器人系统存在故障的概率。因此，考虑容错对任务的成功是很重要的。在本研究中，我们提出了一种机器人系统内部部件的分布式协同故障诊断方法。这种方法使用被称为诊断器的诊断设备来观察电气元件的状态。这些诊断器独立地、并行地执行每个诊断，并假设它们通过无线通信相互连接。提出了一种收集故障诊断结果的故障诊断技术。计算机仿真验证了分布式协同故障诊断方法能够在简化的故障情况下检测到部件故障。
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.