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EnglishIn this paper we apply a method for diagnosing faults on hybrid systems to a model of a camera mounted on a mobile robot. A hybrid system is a system mixing continuous and discrete behaviors that cannot be faithfully modeled neither by using a formalism with continuous dynamics only nor by a formalism including only discrete dynamics. We use the well known framework of hybrid automata for modeling hybrid systems, and try do detect faults exploiting a Fault Diagnosis Game on them, with two players: the environment and the diagnoser. The environment controls the evolution of the system and chooses whether and when a fault occurs. The diagnoser observes the external behavior of the system and announces whether a fault has occurred or not. The case study we introduce here is a simplified model of a camera mounted on a mobile rover that has to take pictures of some defined locations of the environment. We add the possibility of a stuck fault on the camera motor to apply the theory and show its effectiveness.
| Titolo: | Fault Diagnosis of Hybrid Systems: an Onboard Camera Model | |
| Autore/i: | BRESOLIN, DAVIDE; CAPILUPPI, MARTA | |
| Autore/i Unibo: | ||
| Anno: | 2012 | |
| Serie: | ||
| Titolo del libro: | 8th IFAC Symposium SAFEPROCESS-2012: Fault Detection, Supervision and Safety for Technical Processes | |
| Pagina iniziale: | 714 | |
| Pagina finale: | 719 | |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.3182/20120829-3-MX-2028.00200 | |
| Abstract: | In this paper we apply a method for diagnosing faults on hybrid systems to a model of a camera mounted on a mobile robot. A hybrid system is a system mixing continuous and discrete behaviors that cannot be faithfully modeled neither by using a formalism with continuous dynamics only nor by a formalism including only discrete dynamics. We use the well known framework of hybrid automata for modeling hybrid systems, and try do detect faults exploiting a Fault Diagnosis Game on them, with two players: the environment and the diagnoser. The environment controls the evolution of the system and chooses whether and when a fault occurs. The diagnoser observes the external behavior of the system and announces whether a fault has occurred or not. The case study we introduce here is a simplified model of a camera mounted on a mobile rover that has to take pictures of some defined locations of the environment. We add the possibility of a stuck fault on the camera motor to apply the theory and show its effectiveness. | |
| Data prodotto definitivo in UGOV: | 12-nov-2014 | |
| Appare nelle tipologie: | 4.01 Contributo in Atti di convegno |
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