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	Gaining diagnostic information for fault isolation
	Tang Jun; Zhang Jun; Wang Xiaojun; Xia Zeyang; Hu Ying; Zhang Jianwei
	2013
会议名称	2013 IEEE International Conference on Information and Automation, ICIA 2013
会议地点	Yinchuan, China
英文摘要	Robots in dynamic and uncertain environments are vulnerable to mission failures due to external perturbation or internal malfunctions. Diagnosis is the process to detect, locate or even assess the fault. Since robots rely on their function modules to sense the external environment, it is difficult to locate the fault under uncertainties of robot components. The situation can be worse when there is also uncertainty about the environment. To resolve this issue, this paper proposes a new method to actively gain diagnostic information to locate the failure-cause more accurately under uncertainties. An integrated strategy of self-function-checking and diagnostic-plan is described. Validation using JSHOP2 planner showed that robots using this strategy was able to locate failure-cause with high autonomy.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/4572]
专题	深圳先进技术研究院_集成所
作者单位	2013
推荐引用方式 GB/T 7714	Tang Jun,Zhang Jun,Wang Xiaojun,et al. Gaining diagnostic information for fault isolation[C]. 见:2013 IEEE International Conference on Information and Automation, ICIA 2013. Yinchuan, China.

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