相关论文: Orthogonal Fault Tolerance for Dynamically Adaptiv…

This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…

In this paper, we review some recent results about the use of dynamic observers for fault diagnosis of discrete event systems. Fault diagnosis consists in synthesizing a diagnoser that observes a given plant and identifies faults in the…

An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…

In this paper we investigate the design of an active fault tolerant control system applicable to autonomous flight. The system comprises a nonlinear model predictive based controller integrated with an unscented Kalman filter for fault…

Tolerancing of assembly mechanisms is a major interest in the product life cycle. One can distinguish several models with growing complexity, from 1-dimensional (1D) to 3-dimensional (3D) (including form deviations), and two main…

Features in product lines and highly configurable systems can interact in ways that are contrary to developers' intent. Current methods to identify such unanticipated feature interactions are costly and inadequate. To address this problem…

This research paper investigates how machine learning-driven data replication strategies can enhance fault tolerance in large-scale distributed systems. Traditional replication methods, which rely on static configurations, often struggle to…

This paper develops a new active fault tolerant control system based on the concept of analytical redundancy. The novel design consists of an observation filter based fault detection and identification system integrated with a nonlinear…

This paper considers the problem of simultaneous sensor fault detection, isolation, and networked estimation of linear full-rank dynamical systems. The proposed networked estimation is a variant of single time-scale protocol and is based on…

Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…

This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…

This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between…

This paper addresses the problem of estimating multiplicative fault signals in linear time-invariant systems by processing its input and output variables, as well as designing an input signal to maximize the accuracy of such estimates. The…

A self-adaptive system can modify its own structure and behavior at runtime based on its perception of the environment, of itself and of its requirements. To develop a self-adaptive system, software developers codify knowledge about the…

Learning-based navigation systems are widely used in autonomous applications, such as robotics, unmanned vehicles and drones. Specialized hardware accelerators have been proposed for high-performance and energy-efficiency for such…

Deep optics has emerged as a promising approach by co-designing optical elements with deep learning algorithms. However, current research typically overlooks the analysis and optimization of manufacturing and assembly tolerances. This…

We develop data-driven algorithms to fully automate sensor fault detection in systems governed by underlying physics. The proposed machine learning method uses a time series of typical behavior to approximate the evolution of measurements…

Ensuring reliable performance in situations outside the Operational Design Domain (ODD) remains a primary challenge in devising resilient autonomous systems. We explore this challenge by introducing an approach for adapting probabilistic…

With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is…

A novel approach is suggested for improving the accuracy of fault detection in distribution networks. This technique combines adaptive probability learning and waveform decomposition to optimize the similarity of features. Its objective is…