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Health Monitoring of a Planetary Rover Using Hybrid Particle Petri Nets

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Application and Theory of Petri Nets and Concurrency (PETRI NETS 2016)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 9698))

Abstract

This paper focuses on the application of a Petri Net-based diagnosis method on a planetary rover prototype. The diagnosis is performed by using a model-based method in the context of health management of hybrid systems. In system health management, the diagnosis task aims at determining the current health state of a system and the fault occurrences that lead to this state. The Hybrid Particle Petri Nets (HPPN) formalism is used to model hybrid systems behavior and degradation, and to define the generation of diagnosers to monitor the health states of such systems under uncertainty. At any time, the HPPN-based diagnoser provides the current diagnosis represented by a distribution of beliefs over the health states. The health monitoring methodology is demonstrated on the K11 rover. A hybrid model of the K11 is proposed and experimental results show that the approach is robust to real system data and constraints.

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Authors and Affiliations

  1. LAAS-CNRS, Université de Toulouse, CNRS, INSA, UPS, Toulouse, France

    Quentin Gaudel, Pauline Ribot & Elodie Chanthery

  2. NASA Ames Research Center, Moffett Field, CA, 94035, USA

    Matthew J. Daigle

Authors
  1. Quentin Gaudel
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  2. Pauline Ribot
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  3. Elodie Chanthery
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  4. Matthew J. Daigle
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Corresponding author

Correspondence to Elodie Chanthery .

Editor information

Editors and Affiliations

  1. Université Pierre and Marie Curie, Paris, France

    Fabrice Kordon

  2. Department Informatik, Universität Hamburg Department Informatik, Hamburg, Germany

    Daniel Moldt

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© 2016 Springer International Publishing Switzerland

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Gaudel, Q., Ribot, P., Chanthery, E., Daigle, M.J. (2016). Health Monitoring of a Planetary Rover Using Hybrid Particle Petri Nets. In: Kordon, F., Moldt, D. (eds) Application and Theory of Petri Nets and Concurrency. PETRI NETS 2016. Lecture Notes in Computer Science(), vol 9698. Springer, Cham. https://doi.org/10.1007/978-3-319-39086-4_13

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  • DOI: https://doi.org/10.1007/978-3-319-39086-4_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-39085-7

  • Online ISBN: 978-3-319-39086-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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