Fault tolerance is increasingly important in industrial robots. The ability to detect and tolerate failures allows robots to effectively cope with internal failures and continue performing designated tasks without the need for immediate human intervention. To tolerate hardware failures, a set of fault tolerance algorithms are written for each component. These processes are responsible for detecting faults in their respective component and minimising the impact of the failure on the robot's performance. This work presents new intelligent neuro-fuzzy fault detection algorithms, which detect failures in robot components using analytical redundancy relations. An intelligent fault tolerance framework is proposed in which a fault component database or rule base and the detection algorithms work together to detect and tolerate sensor or motor failures in a robot system. Motor faults as well as sensor faults are considered. The Scorbot ER 5u plus model was simulated in robotics toolbox for MATLAB using the neuro-fuzzy algorithms.
- Inderscience Publishers
- A neuro-fuzzy-based fault detection and fault tolerance methods ...
The benefits of a Force-Balanced Sensor
Your projectneeds the precision to monitor movement as fine as 1 µG or µradian, but there will also be a lot surrounding noise and vibration that you don’t want to interfere with your readings. If you’re working on somethinglike this, a sensor with force-balanced technology is the answer and here is why. Benefits of Force-Balanced Sensors Force-balanced sensors have a strong dynamic response (as much at 200 Hz for some models) and diverse measuring ranges, up to +/-90° for inclinomet...
Determining the Right Cable Length and Output for a Sensor
If you’re monitoring a bridge or automating a machine, a high precision sensor is a great solution, but it’s no good if the output signal can’t reach the data logger. Depending on what you need to measure and what environment you’re in, determining how long your cable must run can be crucial. High precision sensors offer three common output types: analog, digital and current and each one can serve a certain purpose based on your application Capabilities of Voltage Output Analog output...
How to Select an LED Motion Sensor Security System
Commercial garages that store expensive vehicles and machinery need to be well guarded in order to deter thieves and burglars from doing what they do best. Installing LED motion sensors in the facility is one of the best ways to streamline security measures for such locations. Read on to find out how to choose the right LED motion sensor security system for your business. Motion-sensing Technology Options There are several types of motion sensors available in the market today; and understanding the...
Senix Water Level Sensors Drive Irrigation Automation Project
Australia’s Water Crisis Irrigation management is serious business in Australia especially within the Murray-Darling Basin, a 1,000,000 square kilometer watershed that is home to Australia’s most productive agricultural land. The basin’s 23 rivers have some of the lowest and most variable flows in theworld. A massive system of dams, lakes and canals stores water from mountain snowmelt and seasonal rains and distributes it to farms and communities throughout the growing season. The Murray-Dar...
Total solution: Gas and particulate analysis in Cement industry
Cement plants are increasingly required to install continuous emission monitoring systems (CEMS). While these represent a significant financial outlay, a range of other factors also need to be considered when selecting a suitable CEMS. To the inexperienced, selecting a suitable CEM can mistakenly be considered as simply ensuring that the applicable national regulations (eg MACT in the USA, Industrial Emissions Directive in Europe) are adhered to, with the necessary international quality assurances for the...