FDIR for a Biologically Inspired Trenchless Drilling Device

Flessa, T., Worrall, K. J., Firstbrook, D. , McGookin, E. , Thomson, D. and Harkness, P. (2018) FDIR for a Biologically Inspired Trenchless Drilling Device. Control 2018, Sheffield, UK, 05-07 Sep 2018.

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Publisher's URL: https://whova.com/embedded/subsession/contr_201809/426711/427943/

Abstract

Failure Detection, Isolation and Recovery (FDIR) of autonomous systems working in hazardous conditions is essential. Methods of detection and recovery without intervention are required. This work describes the failure modes currently identified with an autonomous biologically inspired trenchless drilling robotic system. Inverse Simulation is used for detecting failures and is demonstrated on a simulation model of the robotic system. Results from the experiments, show that Inverse Simulation can be used to detect and identify system failures.

Item Type:Conference or Workshop Item
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Worrall, Dr Kevin and Firstbrook, David George and McGookin, Dr Euan and Flessa, Ms Thaleia and Thomson, Dr Douglas and Harkness, Dr Patrick
Authors: Flessa, T., Worrall, K. J., Firstbrook, D., McGookin, E., Thomson, D., and Harkness, P.
College/School:College of Science and Engineering > School of Engineering > Aerospace Sciences
College of Science and Engineering > School of Engineering > Systems Power and Energy
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