Distributed Cooperative Fault Diagnosis for Internal Electrical Components of Robot System

Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama
2015 The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM  
Robot systems have recently been studied for realworld situations such as space exploration, under water inspection, and disaster response. In extreme environments, a robot system has a probability of fault. Therefore, considering fault tolerance is important for success of missions. In prior research, we proposed a distributed cooperative fault diagnosis method for internal components of robot system. This method consists of some diagnosis devices called diagnosers' which observe the state of
more » ... serve the state of a electrical component. Some diagnosers execute the diagnosis independently and in parallel, and we assume that they are connected using wireless communication. In this paper, we propose a technique which involves gathering the diagnosis results. Further we confirmed that this method can detect the faults of components in simplified fault situations by conducting computer simulations.
doi:10.1299/jsmeicam.2015.6.235 fatcat:hzwkfavsabf35ny73xrmshy5na