| EPSRC Reference: |
GR/S10773/01 |
| Title: |
Model based methods for kinematic fault diagnosis and remediation |
| Principal Investigator: |
Coghill, Professor GM |
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| Department: |
Computing Science |
| Organisation: |
University of Aberdeen |
| Scheme: |
Standard Research (Pre-FEC) |
| Starts: |
28 April 2003 |
Ends: |
27 October 2006 |
Value (£): |
194,968
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| No relevance to Underpinning Sectors |
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Summary on Grant Application Form |
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We propose to investigate problems that are likely to occur during future remote robot missions, such as a Mars sample return. The traditional approach to space vehicle operations is for humans to carry out on the ground, a large number of functions. This approach will no longer be viable in the future due to: a) increased communication delay for 'hands-on' operations to be effective, and b) a desire to limit the operations team and space communications costs. In short, future robots operating in remote harmful environments such as space, will require greater autonomy. However, this ability will apply not only to the control of the robot, but will require that such devices are capable of detecting internal error states, diagnosing their causal faults, and where possible, recovering from such conditions, all without human intervention. We intend to focus the research upon revolute, serial link, kinematic devices, such as anthropomorhic robot arms, and address the problem area of robot arm fault diagnosis and recovery. We will focus upon the area of mechanical damage: its detection, diagnosis, and where possible, its remediation. We seek to deliver results that are of generic value to the science areas qualitative kinematics and model based diagnosis and remediation. The aim is to investigate how model-based reasoning methods can be used for kinematic modelling so as to facilitate fault diagnosis, and fault remediation. Specifically, we seek to develop an autonomous software system that is capable of both model-based diagnosis, and formulating kinematic model 'repair' strategies to compensate for these faults.
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Key Findings |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Potential use in non-academic contexts |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Impacts |
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| Description |
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk |
| Summary |
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| Date Materialised |
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Sectors submitted by the Researcher |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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| Project URL: |
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| Further Information: |
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| Organisation Website: |
http://www.abdn.ac.uk |