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

简要描述研究背景，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，该架构将用于行星漫游者的制导、导航和控制。该架构将包括正向和反向仿真技术，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现有的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，将考虑到漫游车系统所经历的一些不同复杂程度的典型故障。此外，还将研究地球力学对月球车性能和健康监测与故障恢复系统的影响。该体系结构的开发将对广泛的工程应用程序产生影响，在这些应用程序中，健康监测和从系统故障中恢复将延长运行寿命。特别是，这种架构对于自动驾驶车辆（例如漫游者，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，无法进行人为干预。此外，它将非常有用的化学过程和制造系统，以准确地监测和识别故障的位置。目标和目标：利用正演和反演模拟技术开发故障检测和隔离算法。开发一个模拟环境，准确地表示行星漫游车的动力学和在行星表面经历的地球力学。将故障检测和隔离体系结构应用于传感器和执行器等典型漫游车系统的健康监测。将所提出的体系结构的性能与其他传统的故障检测和隔离方法进行比较。制定和实施适当的恢复程序，以应对行星漫游车关键系统可能出现的典型故障。研究方法的新颖性：故障检测、隔离和恢复的研究和实施是一个不断发展的研究领域，特别是在自动系统和车辆上的应用。利用逆仿真技术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是新颖的。当然，将这种架构与更传统的方法进行比较将是该研究的另一个新颖部分。与研究委员会的战略和研究领域保持一致：尽管该项目与EPSRC的许多研究领域（如人工智能技术、控制工程、传感器和仪器仪表、人机交互）相关联，但它直接与EPSRC的机器人研究领域保持一致。该研究的预期结果与该领域的工业重点战略相一致，该战略已确定需要研究在极端环境中创造新功能，并确保安全/高效的车辆和制造系统。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，该工作涉及与空中客车公司和欧空局的直接合作。

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.