A Sensor Fault Detection Simulation Tool

A Sensor Fault Detection Simulation Tool

Bibliographic Details
Main Author: Smith, Jason
Language:English
Published: Miami University / OhioLINK 2007
Subjects:
robots
IMM
FAULT
SFD
SENSOR FAULT
SENSOR
linear velocity
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=miami1193282225
id ndltd-OhioLink-oai-etd.ohiolink.edu-miami1193282225
record_format oai_dc
spelling ndltd-OhioLink-oai-etd.ohiolink.edu-miami11932822252021-08-03T05:40:15Z A Sensor Fault Detection Simulation Tool Smith, Jason robots IMM FAULT SFD SENSOR FAULT SENSOR linear velocity As the demand for fault detection of sensors increases in the field of autonomous mobile robots, a tool is needed to easily allow sensor fault detection algorithms to be compared and analyzed. The focus of this thesis is on the development of such a tool. More specifically, this work presents a demonstration of the tool by comparing two sensor fault detection algorithms: the interacting multiple model (IMM) estimator and the simple fault detector (SFD). The IMM is a well known algorithm and is highly regarded in literature. The SFD is a novel algorithm. The simulation tool was written in C# and was used to simulate a four-wheeled robot with four navigation sensors. The user interface allows the user to select a predefined path type for the robot to traverse, specify its length, and cause any sensor to fail during a simulation run. 2007-10-29 English text Miami University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=miami1193282225 http://rave.ohiolink.edu/etdc/view?acc_num=miami1193282225 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic robots
IMM
FAULT
SFD
SENSOR FAULT
SENSOR
linear velocity
spellingShingle robots
IMM
FAULT
SFD
SENSOR FAULT
SENSOR
linear velocity
Smith, Jason
A Sensor Fault Detection Simulation Tool
author Smith, Jason
author_facet Smith, Jason
author_sort Smith, Jason
title A Sensor Fault Detection Simulation Tool
title_short A Sensor Fault Detection Simulation Tool
title_full A Sensor Fault Detection Simulation Tool
title_fullStr A Sensor Fault Detection Simulation Tool
title_full_unstemmed A Sensor Fault Detection Simulation Tool
title_sort sensor fault detection simulation tool
publisher Miami University / OhioLINK
publishDate 2007
url http://rave.ohiolink.edu/etdc/view?acc_num=miami1193282225
work_keys_str_mv AT smithjason asensorfaultdetectionsimulationtool
AT smithjason sensorfaultdetectionsimulationtool
_version_ 1719423341426638848

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