{"id":"https://openalex.org/W2165364848","doi":"https://doi.org/10.1109/cca.2009.5280696","title":"Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise","display_name":"Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise","publication_year":2009,"publication_date":"2009-07-01","ids":{"openalex":"https://openalex.org/W2165364848","doi":"https://doi.org/10.1109/cca.2009.5280696","mag":"2165364848"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2009.5280696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051897223","display_name":"Saeed Mohseni","orcid":"https://orcid.org/0009-0005-8410-322X"},"institutions":[{"id":"https://openalex.org/I133529467","display_name":"Sharif University of Technology","ror":"https://ror.org/024c2fq17","country_code":"IR","type":"education","lineage":["https://openalex.org/I133529467"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Saeed Mohseni","raw_affiliation_strings":["Department of Electrical Engineering, Sharif University of Technology, P.O.Box 11155-8639, Tehran, Iran","Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Sharif University of Technology, P.O.Box 11155-8639, Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]},{"raw_affiliation_string":"Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054679873","display_name":"Mehrzad Namvar","orcid":"https://orcid.org/0000-0001-8614-3608"},"institutions":[{"id":"https://openalex.org/I133529467","display_name":"Sharif University of Technology","ror":"https://ror.org/024c2fq17","country_code":"IR","type":"education","lineage":["https://openalex.org/I133529467"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mehrzad Namvar","raw_affiliation_strings":["Department of Electrical Engineering, Sharif University of Technology, P.O.Box 11155-8639, Tehran, Iran","Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Sharif University of Technology, P.O.Box 11155-8639, Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]},{"raw_affiliation_string":"Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051897223"],"corresponding_institution_ids":["https://openalex.org/I133529467"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.1355542,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1750","last_page":"1755"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.7934823036193848},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6968720555305481},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6908129453659058},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6075822114944458},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.559059202671051},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5360375642776489},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5051410794258118},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4960218369960785},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48493483662605286},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4210345149040222},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40713751316070557},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3107752799987793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24983596801757812},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09005951881408691}],"concepts":[{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.7934823036193848},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6968720555305481},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6908129453659058},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6075822114944458},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.559059202671051},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5360375642776489},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5051410794258118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4960218369960785},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48493483662605286},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4210345149040222},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40713751316070557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3107752799987793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24983596801757812},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09005951881408691},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2009.5280696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1482540049","https://openalex.org/W1509235676","https://openalex.org/W1510918013","https://openalex.org/W1533525061","https://openalex.org/W1964729920","https://openalex.org/W2007036372","https://openalex.org/W2008325098","https://openalex.org/W2020872118","https://openalex.org/W2067603665","https://openalex.org/W2081989379","https://openalex.org/W2123555578","https://openalex.org/W2124244980","https://openalex.org/W2133746172","https://openalex.org/W2150005359","https://openalex.org/W2154946532","https://openalex.org/W2160153971","https://openalex.org/W2161086413","https://openalex.org/W2169824022","https://openalex.org/W2618600208"],"related_works":["https://openalex.org/W2391397427","https://openalex.org/W2615359698","https://openalex.org/W1996341361","https://openalex.org/W4307653427","https://openalex.org/W2919815400","https://openalex.org/W2159353126","https://openalex.org/W2093621301","https://openalex.org/W849053048","https://openalex.org/W2517515794","https://openalex.org/W2078127841"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"introduce":[4],"a":[5,22],"new":[6,23],"approach":[7,39],"to":[8,77],"fault":[9,34],"detection":[10,35,70],"and":[11,43],"isolation":[12],"for":[13],"robot":[14],"manipulators.":[15],"Our":[16],"technique":[17],"is":[18,44,55,65,75],"based":[19],"on":[20],"using":[21],"simplified":[24],"Euler-Lagrange":[25],"(EL)":[26],"equation":[27],"that":[28,57],"reduces":[29],"complexity":[30],"of":[31,46,60],"the":[32,41,48,58,69,79],"proposed":[33,38],"method.":[36],"The":[37],"isolates":[40],"faults":[42],"capable":[45],"handling":[47],"uncertainty":[49],"in":[50,68],"manipulator":[51],"gravity":[52],"vector.":[53],"It":[54],"shown":[56],"effect":[59],"uncalibrated":[61],"torque":[62],"sensor":[63],"measurement":[64],"asymptotically":[66],"rejected":[67],"process.":[71],"A":[72],"simulation":[73],"example":[74],"presented":[76],"illustrate":[78],"results.":[80]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-03-21T06:30:42.041108","created_date":"2025-10-10T00:00:00"}