Model Based Fault Detection and Diagnosis for Planetary Exploration Rovers Using Inverse Simulation

简要说明研究的背景，包括潜在的影响：该项目的重点是开发一个健康监测和故障恢复架构，该架构将用于行星漫游车的导航、导航和控制。这种体系结构将包括正反向仿真技术、故障和信号建模过程以及一系列不同的故障检测技术，如极限检查、过程识别和奇偶方程。将所提出的体系结构的性能与选择的现有检测和隔离方法进行比较。对这种比较的分析将概述在行星漫游车方面使用这种方法的好处和坏处。这项研究将考虑火星车系统所经历的一些不同复杂程度的典型故障。此外，还将研究陆地力学对月球车性能以及健康监测和故障恢复系统的影响。这种体系结构的发展将对广泛的工程应用产生影响，在这些应用中，健康监测和系统故障恢复将延长运行寿命。特别是，这种架构对于自动驾驶车辆(例如，漫游车、无人机、深空探测器)非常有用，因为当故障发生时，操作环境过于偏远，无法进行人工干预。此外,目的和目标：利用正向和反向模拟技术开发故障检测和隔离算法，以准确地表示行星漫游车的动力学和地球表面所经历的地形机械。将故障检测和隔离体系结构实施到典型的漫游车系统的健康监测中，例如传感器和执行器。将所提出的体系结构与其他传统故障检测和隔离方法的性能进行比较。针对典型故障，开发并实施适当的恢复过程可以体验到行星漫游车内的关键系统。研究方法的创新：故障检测的研究与实现，隔离和恢复是一个日益增长的研究领域，特别是在自动驾驶系统和车辆上的应用。利用逆仿真进行故障分析是健康监测研究的一个新领域。它在行星探测漫游车领域的应用也同样新颖。当然，建议将该架构与更传统方法进行比较将是另一个新的研究部分。对研究委员会的战略和研究领域的调整：虽然这个项目与EPSRC的许多研究领域(例如人工智能技术、控制工程、传感器和仪器、人机交互)有关，但它直接与EPSRC的机器人学研究领域保持一致。这项研究的预期结果与该领域以工业为重点的战略相一致，该战略确定了在极端环境中创造新能力并确保安全/高效的车辆和制造系统的研究需求。任何参与的公司或合作者：虽然不是公司或合作者直接参与这个项目，但它源于英国航天局资助的工作，涉及与空中客车公司和欧洲航天局的直接合作。

Brief description of the context of the research including potential impact:The focus of this project is the development of a health monitoring and fault recovery architecture that will be used in the context of planetary rover guidance, navigation and control. This architecture will incorporate both forward and inverse simulation techniques, fault and signal modelling processes and a range of different fault detection techniques such as limit-checking, process-identification and parity equations. The performance of the proposed architecture will be compared against a selection of existing detection and isolation methods. Analysis of this comparison will provide an outline the benefits and disadvantages of using this approach in the context of a planetary rover. A number of faults of varying complexity typical to those experienced by a rover's systems will be considered in this study. In addition, the effect of terra-mechanics on the performance of the rover and the health monitoring and fault recovery system will be investigated.The development of this architecture will impact on a wide range of engineering applications where health monitoring and recovery from systemic faults would extend operational lifespan. In particular this architecture would be extremely useful for autonomous vehicles (e.g. rover, drones, deep space probes) where the operational environment is too remote for human intervention when a fault occurs. In addition, it would be very useful for chemical processes and manufacturing systems for accurately monitoring and identifying the location of faults.Aims and objectives:The development of fault detection and isolation algorithms using forward and inverse simulation techniquesThe development of a simulation environment that accurately represents the dynamics of a planetary rover and the terra-mechanics experienced on a planet's surface.The implementation of the fault detection and isolation architecture to the health monitoring of typical rover systems e.g. sensors and actuators.Compare the performance of the proposed architecture against other conventional fault detection and isolation methods.To develop and implement appropriate recovery procedures in response to typical faults that could be experienced the key systems within a planetary rover.Novelty of the research methodology:The study and implementation of Fault Detection, Isolation and Recovery is a growing area of research, particularly for application to autonomous systems and vehicles. The use of Inverse Simulation for fault analysis is a novel area for health monitoring research. Its application in the field of planetary exploration rovers is equally novel. Naturally the proposed comparison between this architecture and more conventional methods would be another novel part of the study.Alignment to Research Council's strategies and research areas:Although this project is connected to a number of the EPSRC's research areas (e.g. Artificial Intelligence Technologies, Control Engineering, Sensors and Instrumentation, Human-Computer Interaction), it is directly aligned with the EPSRC's Robotics research area. The intended outcomes from this study are aligned with the industrial focussed strategy for this area that has identified the need for research that creates new capabilities in extreme environments and ensures safe/efficient vehicle and manufacturing systems. Any companies or collaborators involved:Although not companies or collaborators are directly involved with this project, it stems from work funded by the UK Space Agency which involved direct collaboration with Airbus and ESA.