Development of Monitoring and Diagnostic Methods for Robots Used in Remediation of Waste Sites 1999 Technical Progress Report
The final assembly of the test rig was completed in January 1999 (see Figure 1). The test rig incorporated a wheel motor typical of those used for hydraulic robots, and allowed wheel motor loading at expected operating conditions. The rig included instrumentation, as shown in Figure 2, for acquisition of key parameters for both unfaulted baseline and inserted fault runs. Checkout of the test rig was accomplished in two phases. In the first phase, only the wheel motor was connected to the hydraulic supply and the driven pump disconnected. With the rig in this configuration, operation of the wheel motor control loop and the monitoring and diagnostic (M&D) data acquisition system was verified. In the second phase, the driven pump was connected to the wheel motor and the operation of the rig under load was confirmed and unfaulted baseline data were acquired. A list of 13 faults was developed (see Table 1). All faults were inserted and data were acquired. The data files were electronically transmitted to Rice University for analysis using Analytical Redundancy (AR), a model-based static space technique that derives the maximum number of independent tests of the consistency of sensor data with the linearized system model and past sensor and control inputs.
- Research Organization:
- Foster-Miller Technologies, Inc. (US)
- Sponsoring Organization:
- USDOE Office of Environmental Management (EM) (US)
- DOE Contract Number:
- FG07-97ER14830
- OSTI ID:
- 828490
- Report Number(s):
- EMSP-60040-1999; R&D Project: EMSP 60040; TRN: US0404001
- Resource Relation:
- Other Information: PBD: 1 Jun 1999
- Country of Publication:
- United States
- Language:
- English
Similar Records
Phase I Report: DARPA Exoskeleton Program
Thermal Hydraulic Experimental Test Article (FY21 Final Report)