In this paper we apply a method for diagnosing faults on hybrid systems to a model of a camera mounted on a mobile robot. A hybrid system is a system mixing continuous and discrete behaviors that cannot be faithfully modeled neither by using a formalism with continuous dynamics only nor by a formalism including only discrete dynamics. We use the well known framework of hybrid automata for modeling hybrid systems, and try do detect faults exploiting a Fault Diagnosis Game on them, with two players: the environment and the diagnoser. The environment controls the evolution of the system and chooses whether and when a fault occurs. The diagnoser observes the external behavior of the system and announces whether a fault has occurred or not. The case study we introduce here is a simplified model of a camera mounted on a mobile rover that has to take pictures of some defined locations of the environment. We add the possibility of a stuck fault on the camera motor to apply the theory and show its effectiveness.

Fault Diagnosis of Hybrid Systems: an Onboard Camera Model

BRESOLIN, Davide;CAPILUPPI, Marta
2012-01-01

Abstract

In this paper we apply a method for diagnosing faults on hybrid systems to a model of a camera mounted on a mobile robot. A hybrid system is a system mixing continuous and discrete behaviors that cannot be faithfully modeled neither by using a formalism with continuous dynamics only nor by a formalism including only discrete dynamics. We use the well known framework of hybrid automata for modeling hybrid systems, and try do detect faults exploiting a Fault Diagnosis Game on them, with two players: the environment and the diagnoser. The environment controls the evolution of the system and chooses whether and when a fault occurs. The diagnoser observes the external behavior of the system and announces whether a fault has occurred or not. The case study we introduce here is a simplified model of a camera mounted on a mobile rover that has to take pictures of some defined locations of the environment. We add the possibility of a stuck fault on the camera motor to apply the theory and show its effectiveness.
2012
Hybrid Systems; Fault Diagnosis; Fault Identification
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/473692
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact