Multiple robots data association with fault diagnosis in explosion test

Abstract

In ground explosion test, due to the high temperature and pressure as well as the high shock wave current, it is required to be assisted by multiple robots to collect the data and survey the dangerous environment. A method making use of robot sensors to survey the test ground environment data and tracking propagation of shock wave through mobile robots is presented. Besides, an approach of multiple sensors data association is used to track diffraction propagation of shock waves at multi-explosive points. Due to the explosion shake, the measurement devices are easy to have faults, influencing the accuracy of measurement, therefore, to make use of robots implement the fault diagnosis is another important task. An explosion tunnel measurement system is taken as an example, by setting up a fault tree to assist the fault diagnosis. In addition, the process of knowledge base building is illustrated in the example.