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In this paper we demonstrate the online applicability of the fault detection and diagnosis approach which we previously developed and published in [1]. In our former work we showed that a purely data driven fault detection approach can be successfully built based on monitored inter-component communication data of a robotic system and used for a-posteriori fault detection. Here we propose an extension...
In this paper we demonstrate the online applicability of the fault detection and diagnosis approach which we previously developed and published in [1]. In our former work we showed that a purely data driven fault detection approach can be successfully built based on monitored inter-component communication data of a robotic system and used for a-posteriori fault detection. Here we propose an extension...
In order to address the problem of failure detection in the robotics domain, we present in this contribution a so-called self-awareness model, based on the system's internal data exchange and the inherent dynamics of inter-component communication. The model is strongly data driven and provides an anomaly detector for robotics systems both applicable in-situ at runtime as well as a-posteriori in post-mortem...
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