Robot Fault Detection: At the Analog-Digital Boundary
2022 Annual Reliability and Maintainability Symposium (RAMS)(2022)
摘要
Robots are complex electromechanical systems which often exhibit rapid, unpredictable, and potentially dangerous behavior in the presence of faults. In this paper, we present a novel quantum-inspired approach to fault detection within robot systems. The approach is based on a new fault detection model termed Quantum Analytical Redundancy (QAR) within a Fault Tree framework. The QAR method evolves quantum states with the ability to represent the internal dependencies of data within a provably complete set of fault detection tests. Our research centers on simulation of the approach, with testing and evaluation planned on rigid-link robot manipulator hardware.
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关键词
robotics,fault detection,quantum computing,fault trees
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