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

使用逆仿真的基于模型的行星探索漫游车故障检测和诊断

• 批准号: 2279886
• 金额: --
• 依托单位: University of Glasgow
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2020
• 资助国家: 英国
• 起止时间: 2020 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2279886
• 关键词: Model; Based; Fault; Detection; Diagnosis

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.

简要介绍研究背景，包括潜在影响：该项目的重点是开发一种健康监测和故障恢复架构，将用于行星漫游车制导、导航和控制。这种结构将包括正向和反向模拟技术、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。所提出的架构的性能进行比较，对现有的检测和隔离方法的选择。对这种比较的分析将概述在行星漫游车的背景下使用这种方法的优点和缺点。在这项研究中，将考虑漫游车系统所经历的一些典型的不同复杂性的故障。此外，还将研究地面力学对漫游车性能以及健康监测和故障恢复系统的影响。这种架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。特别地，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）将是非常有用的，其中当故障发生时，操作环境对于人类干预来说太遥远。此外，它对于化学过程和制造系统精确监测和确定故障位置也非常有用。利用正、逆仿真技术开发故障检测和隔离算法，开发了一个能准确反映行星探测车和地面探测车动力学特性的仿真环境，故障检测和隔离体系结构的实施，以典型的漫游车系统，如传感器和执行器的健康监测。比较所提出的体系结构的性能，其他传统的故障检测和隔离方法。开发和实施适当的恢复程序，以响应典型的故障，可能会遇到的关键系统内的行星漫游车。研究方法的新奇：故障检测，隔离和恢复的研究和实施是一个不断增长的研究领域，特别是应用到自主系统和车辆。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同样新颖。当然，这种架构和更传统的方法之间的拟议比较将是另一个新的研究部分。对齐研究理事会的战略和研究领域：虽然这个项目是连接到一些EPSRC的研究领域（例如，人工智能技术，控制工程，传感器和仪器仪表，人机交互），它是直接对齐EPSRC的机器人研究领域。本研究的预期结果与该领域的工业重点战略相一致，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：虽然没有公司或合作者直接参与该项目，但它源于英国航天局资助的工作，其中涉及与空中客车和欧空局的直接合作。