Functionability Analysis of Redundant Mechatronic Systems in Bond Graph Framework

Bensekrane, Ismail; Conrard, Blaise; Toguyéni, Armand

doi:10.1109/tmech.2019.2951945

Cited by 5 publications

(2 citation statements)

References 29 publications

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“…Furthermore, bond graph modeling can implement fault detection and isolation schemes by employing Analytical Redundancy Relations (ARRs), a redundant equation that verifies the coherence between the system model in the normal operation and the real process measurements [5,31]. As convincing research results, [32,33] applied the bond graph technique for functionality analysis and multiple fault diagnosis in mechatronic systems. The bond graph technique was also used in fault accommodation and reconfiguration for rigid robots [6,7].…”

Section: Introductionmentioning

confidence: 94%

Dynamic Modeling and Fault-Tolerant Reconfiguration Strategies for PneumaticallyActuated Soft Snake Robot: Enabling Robust Locomotion in the Presence of Air Leakage

Bhandari

Yang

Pathak

2023

Preprint

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Recently, the study of soft robots has become quite popular for their flexibility, safer interaction with humans, and low-cost adaptability to complex and uncertain environments. This paper presents a bond graph model of a pneumatically actuated soft snake robot and novel reconfiguration strategies for the soft snake robot to accommodate the faults caused by air leakage. With the proposed recon-figuration strategies, the soft snake robot can have robust locomotion along the desired trajectory even if an air leakage fault occurs during the locomotion. An efficient procedure of fault detection and isolation is also incorporated into the bond graph model of the robot. We conduct in-depth numerical experiments to validate the proposed robot model’s performance and reconfiguration strategies. Experimental results demonstrate that the soft snake robot, aided with reconfig-uration strategies, achieves straight-line locomotion with the lateral undulation gait despite air leakage faults.

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Section: Introductionmentioning

confidence: 94%

Dynamic Modeling and Fault-Tolerant Reconfiguration Strategies for PneumaticallyActuated Soft Snake Robot: Enabling Robust Locomotion in the Presence of Air Leakage

Bhandari

Yang

Pathak

2023

Preprint

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“…Unlike the data-driven approach, the model-based approach utilizes a precise physical or mathematical model which can capture the dynamic characteristics of the system to obtain relatively accurate diagnostic results [9][10][11][12]. Among the various modeling approaches, the bond graph (BG) is an effective tool for modeling the complex continuous system across multiple energy domains [13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Sensor fault diagnosis for uncertain dissimilar redundant actuation system of more electric aircraft via bond graph and improved principal component analysis

Yu¹,

Meng²,

Jiang³

et al. 2022

Meas. Sci. Technol.

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This paper develops a sensor condition monitoring method integrating model-based bond graph technique and data-driven principal component analysis (PCA) for dissimilar redundant actuation system of more electric aircraft with uncertain parameters. The uncertain dissimilar redundant actuation system is modeled by bond graph in linear fractional transformation form. After that, the analytical redundancy relations containing the nominal part and uncertain part can be derived, based on which the adaptive thresholds and the fault signature matrix can be obtained for robust fault detection and fault isolation. To improve the fault isolation performance under multiple faults condition, a new fault isolation method integrating fault signature matrix and improved principal component analysis (IPCA) is developed, where the possible fault set generated from the fault signature matrix is further refined by the IPCA module with improved reconstruction algorithm and cyclic PCA monitoring model to achieve more efficient fault isolation result. The effectiveness of proposed approach is validated by simulation investigations

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Reconfiguration Strategy for a Heavy Mobile Robot with Multiple Steering Configurations

Bensekrane¹,

Lakhal

2020

IFAC-PapersOnLine

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Functionability Analysis of Redundant Mechatronic Systems in Bond Graph Framework

Cited by 5 publications

References 29 publications

Dynamic Modeling and Fault-Tolerant Reconfiguration Strategies for PneumaticallyActuated Soft Snake Robot: Enabling Robust Locomotion in the Presence of Air Leakage

Dynamic Modeling and Fault-Tolerant Reconfiguration Strategies for PneumaticallyActuated Soft Snake Robot: Enabling Robust Locomotion in the Presence of Air Leakage

Sensor fault diagnosis for uncertain dissimilar redundant actuation system of more electric aircraft via bond graph and improved principal component analysis

Reconfiguration Strategy for a Heavy Mobile Robot with Multiple Steering Configurations

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