Dissertations / Theses on the topic 'Robust fault diagnosis'
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Sun, Xiaoyu. "Unknown input observer approaches to robust fault diagnosis." Thesis, University of Hull, 2013. http://hydra.hull.ac.uk/resources/hull:8021.
Rajaraman, Srinivasan. "Robust model-based fault diagnosis for chemical process systems." Texas A&M University, 2003. http://hdl.handle.net/1969.1/3956.
Willcox, Simon Ware. "Robust sensor fault diagnosis for aircraft based on analytical redundancy." Thesis, University of York, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329855.
Chen, Jie. "Robust residual generation for model-based fault diagnosis of dynamic systems." Thesis, University of York, 1995. http://etheses.whiterose.ac.uk/2468/.
Sadrnia, Mohammad Ali. "Robust fault diagnosis observer design using H#infinity# optimisation and #mu# synthesis." Thesis, University of Hull, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.363208.
Odofin, Sarah. "Robust fault diagnosis by GA optimisation with applications to wind turbine systems and induction motors." Thesis, Northumbria University, 2016. http://nrl.northumbria.ac.uk/36111/.
Ablay, Gunyaz. "Sliding Mode Approaches for Robust Control, State Estimation, Secure Communication, and Fault Diagnosis in Nuclear Systems." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1354551858.
Kmelnitsky, Vitaly M. "Automated On-line Diagnosis and Control Configuration in Robotic Systems Using Model Based Analytical Redundancy." Digital WPI, 2002. https://digitalcommons.wpi.edu/etd-theses/167.
Xiong, Yi. "Robust fault diagnosis in linear and nonlinear systems based on unknown input, and sliding mode functional observer methodologies." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/NQ61696.pdf.
Wang, Ye. "Advances in state estimation, diagnosis and control of complex systems." Doctoral thesis, Universitat Politècnica de Catalunya, 2018. http://hdl.handle.net/10803/669680.
Esta tesis propone contribuciones de carácter teórico y aplicado para la estimación del estado, el diagnóstico y el control óptimo de sistemas dinámicos complejos en particular, para los sistemas descriptores, incluyendo la capacidad de tolerancia a fallos. La motivación de la tesis proviene de aplicaciones reales, como redes de agua y sistemas de energía, cuya naturaleza crítica requiere necesariamente un sistema de control para una gestión capaz de tener en cuenta sus características específicas y límites operativos en presencia de incertidumbres relacionadas con su funcionamiento, así como fallos de funcionamiento de los componentes. El objetivo es conseguir controladores que mejoren tanto la eficiencia como la fiabilidad de dichos sistemas. La estimación del estado es una herramienta esencial que puede usarse no solo para el diagnóstico de fallos sino también para el diseño del control. Con este fin, se ha decidido utilizar metodologías intervalares, o basadas en conjuntos, para construir un marco general para los sistemas de descriptores sujetos a incertidumbres desconocidas pero acotadas. Estas incertidumbres se propagan y delimitan mediante conjuntos que se pueden caracterizar explícitamente en cada instante. Por otra parte, también se proponen caracterizaciones basadas en conjuntos invariantes para sistemas de descriptores que permiten describir comportamientos estacionarios y resultan útiles para la detección de modos activos. Se estudian también nuevos desarrollos del control predictivo económico basado en modelos (EMPC) para tener en cuenta posibles comportamientos periódicos en la variación de parámetros o en las perturbaciones que afectan a estos sistemas. Además, se demuestra que el control EMPC propuesto garantiza la factibilidad recursiva, incluso frente a cambios repentinos en la función de coste económico y se garantiza la convergencia en lazo cerrado. Por otra parte, se utilizan técnicas de control robusto pata garantizar que las estrategias de control predictivo económico mantengan las prestaciones en lazo cerrado, incluso en presencia de incertidumbre. Los desarrollos de la tesis se ilustran con casos de estudio realistas. Para algunas de aplicaciones reales, se resuelven dificultades adicionales, como el uso de una estrategia de control de dos niveles para evitar incluir variables binarias en la optimización y el uso de la relajación de restricciones no lineales para tratar las ecuaciones algebraicas no lineales en el modelo descriptor en las redes de agua. Finalmente, se incluye también una contribución al diseño de estrategias de control con tolerancia a fallos para sistemas descriptores.
Zhuo, Shengrong. "Control of interleaved DC-DC converter with switch fault consideration for fuel cell application." Thesis, Bourgogne Franche-Comté, 2020. http://www.theses.fr/2020UBFCA018.
The relatively low voltage and the nonlinear volt-ampere curve of the fuel cell (FC) stack necessitate the interface with the DC-DC power converter, in order to boost and regulate a constant DC bus voltage to satisfy the load requirement. The multi-phase interleaved converter by associating basic converter units via parallel structure is an attractive choice. It features high reliability, and it enables a low input current ripple via phase interleaving, which is beneficial for the long-time operation of the FC stack. The converter for FC application suffers from the converter uncertainties (parasitic resistance and inductance / capacitance tolerance), the external disturbances (dynamic load demand on the output side and variable source voltage on the input side), and the device fault (e.g., switch fault) uncertainty. Aiming to improve the steady-state and dynamic performance under healthy and switch fault mode of the system, the control of the interleaved converter with switch fault consideration for FC application is studied in this thesis.To better deal with the converter uncertainty and external disturbance, a robust voltage controller based on extended state observer (ESO) within the framework of active disturbance rejection control (ADRC) algorithm is proposed and applied to an interleaved boost converter for FC application. The comparison with PI control shows that the proposed method can achieve better disturbance rejection ability without overshoot in step response. The application of the proposed method to another interleaved converter (i.e., floating interleaved boost converter, FIBC) validates again its feasibility.The switch fault generally leads to the loss of the phase of the interleaved converter, which has considerable adverse effects on the controller performance. Therefore, an improved adaptive controller is proposed and applied to a FIBC with switch fault consideration, based on the previously developed controller. The proposed controller adapts the parameter in real-time. It can maintain continuous operation and achieve good performance in both healthy and switch fault mode. Furthermore, a switch fault diagnosis method based on sliding mode observer is proposed and applied to the FIBC for FC application. The proposed approach can diagnose the switch fault effectively, and it shows strong robustness to the converter uncertainties and external disturbances. Finally, to optimize the undesired high input current ripple of the FIBC caused by the switch fault, a novel post-fault control method by applying uneven phase shift reconfiguration is proposed. In comparison with the even phase shift reconfiguration, the proposed one can achieve significant improvement in reducing the post-fault current ripple. The effectiveness of the proposed methods is validated by the simulation and experimental results
Saied, Majd. "Fault-tolerant control of an octorotor unmanned aerial vehicle under actuators failures." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2287.
With growing demands for safety and reliability, and an increasing awareness about the risks associated with system malfunction, dependability has become an essential concern in modern technological systems, particularly safety-critical systems such as aircrafts or railway systems. This has led to the design and development of fault tolerant control systems (FTC). The main objective of a FTC architecture is to maintain the desirable performance of the system in the event of faults and to prevent local faults from causing failures. The last years witnessed many developments in the area of fault detection and diagnosis and fault tolerant control for Unmanned Aerial rotary-wing Vehicles. In particular, there has been extensive work on stability improvements for quadrotors in case of partial failures, and recently, some works addressed the problem of a quadrotor complete propeller failure. However, these studies demonstrated that a complete loss of a quadrotor motor results in a vehicle that is not fully controllable. An alternative is then to consider multirotors with redundant actuators (octorotors or hexarotors). Inherent redundancy available in these vehicles can be exploited, in the event of an actuator failure, to redistribute the control effort among the remaining working actuators such that stability and complete controllability are retained. In this thesis, fault-tolerant control approaches for rotary-wing UAVs are investigated. The work focuses on developing algorithms for a coaxial octorotor UAV. However, these algorithms are designed to be applicable to any redundant multirotor under minor modifications. A nonlinear model-based fault detection and isolation system for motors failures is constructed based on a nonlinear observer and on the outputs of the inertial measurement unit. Motors speeds and currents given by the electronic speed controllers are also used in another fault detection and isolation module to detect actuators failures and distinguish between motors failures and propellers damage. An offline rule-based reconfigurable control mixing is designed in order to redistribute the control effort on the healthy actuators in case of one or more motors failures. A complete architecture including fault detection and isolation followed by system recovery is tested experimentally on a coaxial octorotor and compared to other architectures based on pseudo-inverse control allocation and a robust controller using second order sliding mode
Sood, Sumit. "Multiphysics modelling for online diagnosis and efficiency tracking : application to green H2 production." Thesis, Université de Lille (2018-2021), 2021. https://pepite-depot.univ-lille.fr/LIBRE/EDMADIS/2021/2021LILUB028.pdf.
Renewable Energy Sources (RES) have emerged as a sustainable alternative to carbon-based energy sources as the world is struggling in limiting the greenhouse effect in the coming years. The use of RES, such as solar and wind, alone is non-reliable due to their intermittent nature. The surplus electricity generated during off-peak hours must be stored to tackle the problem of the unavailability of energy. Green Hydrogen (GH$_2$) generation using electrolyser running on RES has seen an increase in recent years for the storage of this surplus energy due to its advantages over conventional methods (such as batteries and ultra-capacitors) for long term storage and transport. Proton Exchange Membrane (PEM) based electrolysers are better suited for the coupling with RES as compared to the alkaline electrolysers due to their faster start-up times and fast dynamic load changing capability. The intermittent nature of RES affects the performance and operation dynamics of the PEM electrolyser and must be analysed and studied in order to make these systems more reliable and safer to use. Mathematical modelling is one of the possible solutions for studying their behavior and developing supervision algorithms.Under the framework of the E2C project of the European Interreg 2-Seas program, a generic dynamic multi-physics model of a PEM electrolyser has been proposed in this work based on Bond Graph (BG) approach. Various components of the PEM electrolyser have been modelled in the form of BG capsules. These capsules can be connected based on the piping and instrumentation diagram of the PEM electrolyser system to have a global model of the system. The developed model is capable of representing different configurations of PEM electrolysers ranging from laboratory scale to industrial scale. The model is also capable of facilitating efficiency tracking in real-time. The developed model in the BG form has been converted into MATLAB® Simulink block diagram from the implementation point of view.The model was then validated using a single cell PEM electrolyser powered by a Hybrid Multi-source Platform (HMP) running on solar and wind energy at the University of Lille. The proposed model was also extended for the modelling and performance study of Anion Exchange Membrane (AEM) electrolysis cell, in collaboration with the University of Exeter of England, which shares a similar configuration and architecture.The developed model for the PEM electrolysis system is also suitable for the development of control, diagnosis, and prognosis algorithms. Therefore, a model-based robust fault diagnosis for PEM water electrolyser has been proposed in this work. The proposed diagnosis algorithms and model have been then utilized for developing the graphical user interface for online supervision
Al-Dujaili, Ayad. "Fault diagnosis and fault tolerant control design for physically linked 2WD mobile robots systems." Thesis, Lille 1, 2018. http://www.theses.fr/2018LIL1I047/document.
In harsh environments resulting from natural disasters or industrial accidents, reducing human interventions by increasing robotic operations is desirable. The main challenges to be considered are not only that the robots should be able to go over long distances and operate for relatively long periods, but also make the global system tolerant to actuators’ failures. In this thesis, to overcome these challenges, systems composed of multi-linked two-wheel drive (2WD) mobile robots are considered. The objective of these multi-robot systems is to asymptotically track a reference trajectory, despite the presence of actuator faults. In this thesis, we design original Fault Tolerant Control (FTC) schemes. Some of them are passive methods, i.e. robust control laws to given failures, and other ones are active FTC which include a Fault Diagnosis (FD) algorithm (nonlinear adaptive observer) that detects, localizes and estimates the faults, and finally adapt the control actions to the faulty situations. Simulation results are presented all along the thesis to verify the validity of the proposed control algorithms and to show the performance of the FTC schemes
Ichalal, Dalil. "Estimation et diagnostic de systèmes non linéaires décrits par un modèle de Takagi-Sugeno." Phd thesis, Institut National Polytechnique de Lorraine - INPL, 2009. http://tel.archives-ouvertes.fr/tel-00454793.
Lucouw, Alexander. "Distributed fault detection and diagnostics using artificial intelligence techniques / A. Lucouw." Thesis, North-West University, 2009. http://hdl.handle.net/10394/4110.
Thesis (M.Ing. (Computer and Electronic Engineering))--North-West University, Potchefstroom Campus, 2009.
Tharrault, Yvon. "Diagnostic de fonctionnement par analyse en composantes principales : application à une station de traitement des eaux usées." Phd thesis, Institut National Polytechnique de Lorraine - INPL, 2008. http://tel.archives-ouvertes.fr/tel-00364698.
1. Présence dans les données de valeurs aberrantes (valeurs obtenues durant des périodes de démarrage, d'arrêt, de fonctionnement dégradé, erreurs de mesure, ...) perturbant la construction d'un modèle ACP.
2. Présence de défauts multiples, ce qui entraîne une explosion combinatoire des scénarii de défauts à considérer.
Afin de résoudre le premier point, nous nous sommes intéressé aux variantes robustes de l'ACP. L'estimateur robuste MCD (Minimum Covariance Determinant), méthode de référence pour ses performances, nécessite un temps de calcul important, et une connaissance a priori de la quantité de valeurs aberrantes présente dans les données (inconnue). C'est la raison pour laquelle nous avons proposé une nouvelle méthode robuste, basée sur l'utilisation de MM-estimateur, nommée MMRPCA (MM-estimator Robust Principal Component Analysis). Concernant le point 2, une méthode d'analyse du modèle en terme de capacité de détection et de localisation a été appliquée afin de réduire le nombre de défauts à considérer. Les différentes méthodes développées ont été menées avec succès afin de valider les mesures issues des différents capteurs de la station d'épuration des eaux usées.
Gelso, Esteban Reinaldo. "A proposal for the diagnosis of uncertain dynamic systems based on interval models." Doctoral thesis, Universitat de Girona, 2009. http://hdl.handle.net/10803/7750.
EN
Las prestaciones de un sistema de diagnosis basado en modelos se pueden ver afectadas por fuentes de incertidumbre como los errores en el modelo,la incertidumbre en las medidas y las perturbaciones.Esta incertidumbre se puede tratar mediante modelos intervalares.Esta tesis propone una metodología de detección, aislamiento e identificación de fallos basada en modelos intervalares. La metodología incluye algoritmos para obtener de manera automática la expresión simbólica de los generadores de residuos mejorando la aislabilidad estructural de los fallos. Estos algoritmos se basan en el modelo estructural del sistema.Las etapas de detección, aislamiento, e identificación de fallos se representan como problemas de satisfacción de restricciones en dominios continuos y se resuelven por medio de técnicas de consistencia basadas en intervalos.Una mejora en el aislamiento cualitativo de los fallos se obtiene por razonamiento con los signos de los síntomas, que se obtienen de relaciones de redundancia analítica o de modelos bond graph del sistema.Esta tesis también presenta un análisis empírico inicial de las diferencias entre las técnicas basadas en intervalos y las basadas en técnicas estadísticas.Las prestaciones y la eficiencia de las contribuciones de la tesis se ilustran a través de unos cuantos ejemplos de aplicación, que cubren diferentes niveles de complejidad.
Almasri, Mahmoud. "Diagnostic de plateformes robotisées. Méthode hybride évolutive intégrant une interaction avec un opérateur expert." Thesis, Université Clermont Auvergne (2017-2020), 2020. http://www.theses.fr/2020CLFAC035.
Robotics is becoming increasingly important in a wide variety of sectors. Its development has been favored by the interest for Man to have autonomous entities capable of helping him to perform actions that are difficult or impossible for human being, either because of their painfulness or because of their dangerousness. The Mobile robotics, one of the sectors of robotics, pursues this objective thanks to technological and scientific advances in different areas such as mechanics, electronics, automation and computer science. These robots navigate autonomously in complex environments and over long periods of time. Their algorithms guarantee a certain robustness while dealing with foreseen situations.However, in some situations (malfunctioning of a physical component of the robot, loss in GPS signal while executing a trajectory tracking task, etc.), the appearance of a fault may cause the robot to fail in its mission.In order to avoid this type of situation, real-time fault diagnosis integrating a human operator in its fault detection and fault accommodation loops appears to be a possible and potentially effective solution. The work described is aimed at this objective. It offers, on the one hand, a fault diagnosis supervision system of a mobile robot and, on the other hand, a set of tools for modeling, parameterizing and applying for diagnosis methods to potential fault of a robot.The first part of the contributions is composed of two modules. The first module is a hybrid diagnostic method that implements several approaches and types of fault diagnosis approach. This method can diagnose a defined list of faults in real time. The second is a human/robot interaction module allowing the integration of the operator in the diagnostic loop by proposing/validating solutions and by correcting, if necessary, the decisions made by the proposed hybrid method. This module integrates a knowledge database and a case-based reasoning algorithm allowing to save the history of the decisions made by the operator, considered expert, in order to improve his performance continuously.The second part details the approach done off-line and upstream to the implementation of the hybrid diagnostic method. This approach includes the characterization of the considered faults, the definition and the adaptation of the diagnosis methods making it possible to diagnose the identified faults. The adaptation consists of defining the models, adjusting the parameters and, in some cases, collecting training data. From experimental point of view, the theoretical developments are validated on data coming from a real skid-steering robot and from simulations.Literally, this document details these works in five chapters. The first chapter introduces the context of the thesis. The second defines the problem statement, the proposed hypotheses and describes the state of the literature of fault diagnosis methods. Theoretical developments concerning fault diagnosis supervision system of mobile robotics and the tools leading to its configuration are described in two chapters that follow. The application results of the theoretical developments in simulation and on a real robot case are shown and discussed in the fifth chapter. Finally, a conclusion and the possible perspectives of this work are presented
Easwaran, Sri Navaneethakrishnan [Verfasser], and Robert [Gutachter] Weigel. "Fault Tolerant Design Techniques for Smart Power Drivers and Diagnostic Circuits / Sri Navaneethakrishnan Easwaran ; Gutachter: Robert Weigel." Erlangen : Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), 2017. http://d-nb.info/1136785825/34.
Simon, Pascal. "Détection robuste et précoce des pannes oscillatoires dans les systèmes de commandes de vol." Thesis, Bordeaux 1, 2011. http://www.theses.fr/2011BOR14377/document.
The research work done in this PhD has been caried out in the frame of an industrial convention (CIFRE) between the IMS laboratory and Airbus Operations S.A.S. The thesis deals with robust and early detection of oscillatory failures (OFC: Oscillatory Failure Case) in the Electrical Flight Control System. An oscillatory failure is an abnormal oscillation of a control surface due to component malfunction in control surface servoloops. OFCs have an influence on structural loads, aeroelasticity and controllability when located within the actuator bandwidth. The ability to detect these failures is very important because they have an impact on the structural design of the aircraft. Usual monitoring techniques cannot always guarantee to remain within an envelope with acceptable robustness. In this work, we develop a model based strategy to detect such failures with small amplitude at a very early stage. The monitoring strategy is based on dedicated non linear local filtering for on-line joint parameter/state estimation, allowing for model parameter variations during A/C flight. This strategy is associated with the same decision making rules as currently used for in-service Airbus A380. We propose a method for adjusting the tuning parameters so that various design goals and trades-off can be easily formulated and managed. The performance of the proposed fault detection scheme is measured by its detection delay, its propensity to issue false alarms and whether it permits a failure to go undetected. The proposed technique has been implemented and tested with success on Airbus test facilities including an A380 flight simulator
Khalili, Mohsen. "Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Multi-Agent Systems." Wright State University / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=wright1503622016617833.
Orjuela, Rodolfo. "Contribution à l'estimation d'état et au diagnostic des systèmes représentés par des multimodèles." Phd thesis, Institut National Polytechnique de Lorraine - INPL, 2008. http://tel.archives-ouvertes.fr/tel-00359631.
Les travaux présentés dans cette thèse portent sur les problèmes soulevés par l'identification, l'estimation d'état et le diagnostic de systèmes non linéaires représentés à l'aide d'un multimodèle découplé. Ce dernier, composé de sous-modèles qui peuvent être de dimensions différentes, est doté d'un haut degré de généralité et de flexibilité et s'adapte particulièrement bien à la modélisation des systèmes complexes à structure variable. Cette caractéristique le démarque des approches multimodèles plus conventionnelles qui ont recours à des sous-modèles de même dimension.
Après une brève introduction à l'approche multimodèle, le problème de l'estimation paramétrique du multimodèle découplé est abordé. Puis sont présentés des algorithmes de synthèse d'observateurs d'état robustes vis-à-vis des perturbations, des incertitudes paramétriques et des entrées inconnues affectant le système. Ces algorithmes sont élaborés à partir de trois types d'observateurs dits à gain proportionnel, à gain proportionnel-intégral et à gain multi-intégral. Enfin, les différentes phases d'identification, de synthèse d'observateurs et de génération d'indicateurs de défauts sont illustrées au moyen d'un exemple académique de diagnostic du fonctionnement d'un bioréacteur.
Tinós, Renato. "Detecção e diagnóstico de falhas em robôs manipuladores via redes neurais artificiais." Universidade de São Paulo, 1999. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-04022002-162950/.
In this work, a new approach for fault detection and diagnosis in robotic manipulators is presented. A faulty robot could cause serious damages and put in risk the people involved. Usually, researchers have proposed fault detection and diagnosis schemes based on the mathematical model of the system. However, modeling errors could obscure the fault effects and could be a false alarm source. In this work, two artificial neural networks are employed in a fault detection and diagnosis system to robotic manipulators. A multilayer perceptron trained with backpropagation algorithm is employed to reproduce the robotic manipulator dynamical behavior. The perceptron outputs are compared with the real measurements, generating the residual vector. A radial basis function network is utilized to classify the residual vector, generating the fault isolation. Four different algorithms have been employed to train this network. The first utilizes regularization to reduce the flexibility of the model. The second employs regularization too, but instead of only one penalty term, each radial unit has a individual penalty term. The third employs subset selection to choose the radial units from the training patterns. The forth algorithm employs the Kohonens self-organizing map to fix the radial unit center near to the cluster centers. Simulations employing a two link manipulator and a Puma 560 manipulator are presented, demonstrating that the system can detect and isolate correctly faults that occur in nontrained pattern sets.
Liu, Li Cartes David. "Robust fault detection and diagnosis for permanent magnet synchronous motors." 2006. http://etd.lib.fsu.edu/theses/available/07032006-181534.
Advisor: David A. Cartes, Florida State University, College of Engineering, Dept. of Mechanical Engineering. Title and description from dissertation home page (viewed Sept. 18, 2006). Document formatted into pages; contains xii, 133 pages. Includes bibliographical references.
Choi, Seungdeog. "Robust Condition Monitoring and Fault Diagnosis of Variable Speed Induction Motor Drives." Thesis, 2010. http://hdl.handle.net/1969.1/ETD-TAMU-2010-12-8726.
Hongyang, Y. "Development of advanced fault diagnosis techniques for complex industrial processes." Thesis, 2016. https://eprints.utas.edu.au/23141/1/Yu_whole_thesis.pdf.
Weng, Mao-Chiao, and 翁茂樵. "Control and Actuator Fault Diagnosis of Robot Manipulators." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/50706624928481976171.
國立交通大學
電機與控制工程系所
97
This study experimentally evaluates the performance of various kinds of controllers and actuator fault diagnosis system on a two-joint robotic manipulator. On the part of controllers, we use UKF(Unscented Kalman Filter) to estimate (angular) velocities, and compare the performance of the computed-torque controllers with velocities estimated by UKF and backward difference filters respectively. Moreover, we propose a new control method which only requires position feedback. On the part of actuator fault diagnosis system, we combine UKF , GPB-2(General Pseudo Bayesian of Order 2) and IMM(Interacting Multiple Model) algorithms to detect and identify actuator failures of the robotic manipulator. The experimental results show that the new control method has better performance than other controllers. The results also show that the fault diagnosis system can correctly detect and isolate actuator failures in a short time.
Kannan, Balajee. "LeaF a learning-based fault diagnostic system for multi-robot teams /." 2007. http://etd.utk.edu/2007/KannanBalajee.pdf.