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This paper studies the derivation of kinematic and dynamic models of a newly developed active ankle foot orthosis (AFO) that was designated for testing gait-assistive compliance control algorithms. The AFO is characterized with a closed-loop chain structure and powered by a linear ServoTube motor making it very fast and responsive. The paper first derives kinematic and dynamic models for the AFO....
This paper presents a novel integrated hybrid approach for fault diagnosis (FD) of nonlinear systems taking advantage of both the system’s mathematical model and the adaptive nonlinear approximation capability of computational intelligence techniques. Unlike most FD techniques, the proposed solution simultaneously accomplishes fault detection, isolation, and identification (FDII) within a unified...
The main idea of this paper is the real-time implementation of the Fault Detection Kalman Filter Estimators (FDKFE) in a satellite's Reaction Wheels during its scientific mission. We assume that the satellite's reaction wheels are subjected to several failures due to the abnormal changes in power distribution, motor torque, windings current as well as the temperature caused by a motor current increase...
This paper presents a novel hybrid fault diagnosis approach to detect and estimate component faults in general nonlinear systems with full-state measurement. Unlike most existing fault diagnosis techniques, the proposed solution provides an integrated framework to simultaneously detect, isolate, and estimate the severity of faults in system components. The proposed solution consists of a bank of adaptive...
The main objective of the research investigated in this paper is the detection and isolation of partial (soft) and total (hard) failures in the reaction wheel (RW) actuators of the satellite attitude control system (ACS) during its mission operation. The fault detection and isolation (FDI) is accomplished using the interactive multiple models (IMM) scheme developed based on the unscented Kalman filter...
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