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. In: Control 2018, Sheffield, UK, 05-07 Sep 2018, ISBN 9781538628645 (doi: 10.1109/CONTROL.2018.8516893)

170347.pdf - Accepted Version



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 Proceedings
Additional Information:This project is funded by the European Union’s Horizon 2020 Framework Programme for Research and Innovation under grant agreement no 731968.
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, Professor 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 > Autonomous Systems and Connectivity
College of Science and Engineering > School of Engineering > Systems Power and Energy
Copyright Holders:Copyright © 2018 IEEE
First Published:First published in 2018 UKACC 12th International Conference on Control (CONTROL)
Publisher Policy:Reproduced in accordance with the publisher copyright policy
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