| 1. Identity statement | |
| Reference Type | Book Section |
| Site | mtc-m16.sid.inpe.br |
| Holder Code | isadg {BR SPINPE} ibi 8JMKD3MGPCW/3DT298S |
| Repository | sid.inpe.br/marciana/2004/09.14.14.20 |
| Last Update | 2004:09.16.03.00.00 (UTC) administrator |
| Metadata Repository | sid.inpe.br/marciana/2004/09.14.14.20.42 |
| Metadata Last Update | 2021:02.11.20.56.20 (UTC) administrator |
| Secondary Key | INPE-11305-PRE/6742 |
| ISBN/ISSN | 85-17-00012-9 |
| Citation Key | SilvaSouzScha:2004:IdSeFa |
| Title | Identification and sensor failure detection algorithms applied to space robotic joint.  |
| Project | Controle de Satélites |
| Year | 2004 |
| Access Date | 2024, May 19 |
| Secondary Type | PRE LI |
| Number of Files | 1 |
| Size | 393 KiB |
| 2. Context | |
| Author | 1 Silva, Adenilson Roberto da 2 Souza, Luiz Carlos Gadelha de 3 Schaefer, Bernd |
| Resume Identifier | 1 8JMKD3MGP5W/3C9JGGA 2 8JMKD3MGP5W/3C9JHN3 |
| Group | 1 DSE-INPE-MCT-BR 2 DMC-INPE-MCT-BR |
| Affiliation | 1 Instituto Nacional de Pesquisas Espaciais. Divisão de Sistemas Espaciais (INPE.DSE) 2 Instituto Nacional de Pesquisas Espaciais. Divisão de Mecânica Espacial e Controle (INPE.DMC) 3 German Aerospace Centers, Institute of Robotics and Mechatronics (DLR) |
| Editor | Kuga, Hélio Koiti |
| e-Mail Address | Adenilson.Silva@dss.inpe.br |
| Book Title | Advances in space dynamics 4: celestial mechanics and astronautics |
| Publisher | INPE |
| City | São José dos Campos |
| Pages | 269-279 |
| History (UTC) | 2005-07-26 16:02:37 :: jefferson -> administrator :: 2021-02-11 20:56:20 :: administrator -> marciana :: 2004 |
| 3. Content and structure | |
| Is the master or a copy? | is the master |
| Content Stage | completed |
| Transferable | 1 |
| Keywords | SPACE MECHANICS AND CONTROL Failure Robotics Sensors MECÂNICA ESPACIAL E CONTROLE Falha Robótica Sensores |
| Abstract | The space environment imposes hard constraints in the design and control of robots because the dynamic behavior of the robot is quite different from its on-ground behavior. The modeling task becomes very complicated (or almost impossible) if one wants to take into account all the environmental conditions, which are present in the real environment. Therefore, in-flight dynamics data are required, with primary goals to update and validate mathematical models and gain confidence in the modeling process. Thus, the identification process is a very suitable choice to obtain a model with a high degree of fidelity. The failure detection task is very important in any engineering system. In space experiments, the knowledge of the sensor is almost crucial, because (normally) these experiments are very expensive. The loss of a sensor shall not jeopardize the whole experiment. In this paper, the robotic joint modeling and a integrated parameters identification failure detection strategy is presented. The modeling process is carried out by using the Newtonian approach and the on-line identification is based in a modified version of RLS (Recursive Least Squares) algorithm. The analytical sensor failure detection uses the MOESP (Multi Output State Space Identification) algorithm as a baseline for the failure detection strategy. The developed strategy has been tested by using the real measurements taken from IRJ (Intelligent Robotic Joint) Experiment built at DLR Oberpfaffenhofen. Several tests have been performed which represent the situation where a single (and multiple) sensor failure is simulated and presented. In the tests, the integrated strategy has proved its desired performance, and it presented remarkable results in both: failure detection and on-line parameters identification. |
| Area | ETES |
| Arrangement 1 | urlib.net > BDMCI > Fonds > Produção anterior à 2021 > DIDMC > Identification and sensor... |
| Arrangement 2 | urlib.net > BDMCI > Fonds > Produção anterior à 2021 > DIDSE > Identification and sensor... |
| doc Directory Content | access |
| source Directory Content | there are no files |
| agreement Directory Content | there are no files |
| 4. Conditions of access and use | |
| data URL | http://urlib.net/ibi/sid.inpe.br/marciana/2004/09.14.14.20 |
| zipped data URL | http://urlib.net/zip/sid.inpe.br/marciana/2004/09.14.14.20 |
| Language | en |
| Target File | Identification and sensor.pdf |
| User Group | administrator jefferson |
| Visibility | shown |
| Copy Holder | SID/SCD |
| 5. Allied materials | |
| Next Higher Units | 8JMKD3MGPCW/446AF4B 8JMKD3MGPCW/446AUSL |
| Citing Item List | sid.inpe.br/bibdigital/2021/02.11.18.06 2 sid.inpe.br/bibdigital/2021/02.11.20.54 2 sid.inpe.br/mtc-m21/2012/07.13.14.54.10 1 |
| Dissemination | NTRSNASA, BNDEPOSITOLEGAL. |
| Host Collection | sid.inpe.br/banon/2003/08.15.17.40 |
| 6. Notes | |
| Empty Fields | archivingpolicy archivist callnumber contenttype copyright creatorhistory descriptionlevel documentstage doi edition electronicmailaddress format identifier isbn issn label lineage mark mirrorrepository nextedition notes numberofvolumes orcid parameterlist parentrepositories previousedition previouslowerunit progress readergroup readpermission rightsholder schedulinginformation secondarydate secondarymark serieseditor seriestitle session shorttitle sponsor subject tertiarymark tertiarytype translator url versiontype volume |
| 7. Description control | |
| e-Mail (login) | marciana |
| update | |