This paper presents the design and real-time experimental results of a fault diagnosis scheme for inertial measurement unit (IMU) measurements of quadrotor unmanned air vehicles (UAVs). The objective is to detect, isolate, and estimate sensor bias fault in accelerometer and gyroscope measurements. Based on the quadrotor dynamics and sensor models under consideration, the effects of sensor fault...

To satisfy the robust requirement when designing fault identifying method, this paper proposes a novel method to identify sensor fault. Conventional fault identifying method could only classify fault into explicit set. Yet, when a novel faulty pattern occurs, the conventional method can not identify this new pattern and will classify it into a set known ahead of time. For the purpose of robustn...

Wireless Sensor Networks (WSNs) consists of large number of energy constrained sensor nodes that are randomly deployed. Sensor nodes have the ability to sense and send data towards the base station (BS). Sensor nodes require large amount of energy for data transmission. So while transmission, some nodes die because of energy depletion. In this case, chance of data loss increases. In order to re...

To improve fault detection reliability, sensor location should be designed according to an optimization criterion with constraints imposed by issues of detectability and identifiability. Reliability requires the minimization of undetectability and false alarm probability due to random factors on sensor readings, which is not only related with sensor readings but also affected by fault propagati...

As the wireless sensor network emerges as a revolution in all aspects of our life like health monitoring, wildlife monitoring, search and rescue, so it is desirable to have a reliable routing protocol for dealing with the routing issues of mobile sensor nodes. There exist a problem of battery which is also the main constraint for sensor nodes so routing protocol should be energy efficient. Also...

This paper proposed an observer based fault-tolerant control approach for the fuzzy T-S systems with sensors and actuators faults. By establishing the actuator fault and sensor fault models, an observer based fuzzy output feedback fault tolerant controller is developed and new stabilization conditions of the fuzzy fault tolerant control systems are given, which are formulated in terms of linear...

This paper presents DE/IFT, a new fault diagnosis engine which is based on the authors’ IFT algorithm for induction of fault trees. It learns from an examples database comprising sensor recordings, all of which have been classified as corresponding to either the normal behaviour of the system or to one or more fault states. The fault trees generated by IFT are translated into functions in the C...

---------------------------------------------------------------------***--------------------------------------------------------------------Abstract In Wireless Sensor Networks (WSN’s) fault tolerance is one of the most important critical issues. The difficulty of missing communication link, Node and data are ineluctably foreordained in WSN’s and due to assorted factors such as power drain, env...

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...