Evolutionary algorithms for practical sensor fault tolerant control

Abstract

The Shaky Hand is a multi-input, multi-output laboratory demonstrator which is modelled
on a village fete game. In the original, the aim is to guide, by hand, a wire loop along a wire
which has been bent to form a meandering track, 'without touching the loop to the wire. In
the original game, touching the hand-held loop against the wire track sets off a loud warning
bell and the player loses.
The thesis presents the research work associated with the quest for practical solutions to a
generic problem: the correct operation of a fallible system. The work covers three distinct
areas: modelling of the demonstrator, design and construction of a physical system, and
evoiution of algorithms for control of the demonstrator in practice in the presence of sensor
faults, using Cartesian Genetic Programming (CGP). The third area forms the core of the
thesis. The key challenges in creating the virtual environment to train for generic sensor fault
tolerant algorithms are considered and addressed. The evolved algorithms are analysed and
then verified using the demonstrator in practice. The practical results showed that sensor
fault tolerant control was successfully achieved.

Metadata

Awarding institution:	University of York
Academic Units:	The University of York > School of Physics, Engineering and Technology (York)
Academic unit:	Department of Electronics
Identification Number/EthosID:	uk.bl.ethos.485096
Depositing User:	EThOS Import (York)
Date Deposited:	28 Sep 2015 09:20
Last Modified:	21 Mar 2024 14:44
Open Archives Initiative ID (OAI ID):	oai:etheses.whiterose.ac.uk:9938

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Movie02_sensor_A_failure_case.MOV

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485096.pdf

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Movie03_sensor_B_failure_case.MOV

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contents.txt

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Movie06_sensors_A&D_failure_case.MOV

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Evolutionary algorithms for practical sensor fault tolerant control

Abstract

Metadata

Downloads

Movie12_sensors_A&B&C_failure_case.MOV

Movie05_sensor_D_failure_case.MOV

Movie13_sensors_A&B&D_failure_case.MOV

Movie01_no_sensor_failure_case.MOV

Movie11_sensors_B&D_failure_case.MOV

Movie10_sensors_A&C_failure_case.MOV

Movie04_sensor_C_failure_case.MOV

Movie02_sensor_A_failure_case.MOV

Movie14_sensors_A&C&D_failure_case.MOV

485096.pdf

Movie07_sensors_B&C_failure_case.MOV

Movie08_sensors_A&B_failure_case.MOV

Movie15_sensors_B&C&D_failure_case.MOV

Movie03_sensor_B_failure_case.MOV

contents.txt

Movie06_sensors_A&D_failure_case.MOV

Movie09_sensors_C&D_failure_case.MOV

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