Natural Environment Modeling & Fault-Diagnosis for Automated Agricultural Vehicle
نویسندگان
چکیده
This paper presents results for an automatic navigation system for agricultural vehicles. The system uses stereo-vision, inertial sensors and GPS. Special emphasis has been placed on modeling the natural environment in conjunction with a fault-tolerant navigation system. The results are exemplified by an agricultural vehicle following cut grass (swath). It is demonstrated how faults in the system can be detected and diagnosed using state of the art techniques from fault-tolerant literature. Results in performing fault-diagnosis and fault accomodation are presented using real data. Copyright c ©2008 IFAC
منابع مشابه
Diagnosis by Algebraic Modeling and Fault-Tree Induction
We outline relevant characteristics of the vehicle diagnosis domain and requirements for diagnosis support. We argue that a combination of a model-based and a fault-tree approach will meet the requirements. We motivate and specify the task of automated modeling and develop a method to derive linear algebraic models of a given device. Models are derived by performing series-parallel analysis and...
متن کاملDetailed Modeling and Novel Scheduling of Plug-in Electric Vehicle Energy Storage Systems for Energy Management of Multi-microgrids Considering the Probability of Fault Occurrence
As an effective means of displacing fossil fuel consumption and reducing greenhouse gas emissions, plug-in electric vehicles (PEVs) and plug-in hybrid electric vehicles (PHEVs) have attracted more and more attentions. From the power grid perspective, PHEVs and PEVs equipped with batteries can also be used as energy storage facilities, due to the fact that, these vehicles are parked most of the ...
متن کاملEccentricity Fault Diagnosis Studying for a Round Rotor Synchronous Machine
The paper presents a mathematical base modeling combined to Modified-Winding -Function-Approach (MWFA) for eccentricity fault detection of a round-rotor synchronous machine. For this aim, a 6-pole machine is considered, and the machine inductances are computed by MWFA in healthy and also under eccentricity fault. A numerical discrete-time method has been proposed to machine modeling in voltage-...
متن کاملFault Detection and Isolation of Vehicle Driveline System
Vehicle driveline system and its working accuracy play an important role in the performance of car. The purpose of this study is to provide an appropriate mechanism for investigating, identifying and determining the position and size of defects in the vehicle power transmission system. This is based on the patterns of the residual signal, obtained from a simulated model of the system. Neuro-...
متن کاملExact Modeling and Simulation of Saturated Induction Motors with Broken Rotor Bars Fault using Winding Function Approach
Winding function method (WFM) provides a detailed and rather simple analytical modeling and simulation technique for analyzing performance of faulty squirrel-cage induction motors (SCIMs). Such analysis is mainly applicable for designing on-line fault diagnosis techniques. In this paper, WFM is extended to include variable degree of magnetic saturation by applying an appropriate air gap functio...
متن کامل