{"id":"https://openalex.org/W2130596700","doi":"https://doi.org/10.1109/iros.2007.4399092","title":"Model-based fault diagnosis and reconfiguration of robot drives","display_name":"Model-based fault diagnosis and reconfiguration of robot drives","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2130596700","doi":"https://doi.org/10.1109/iros.2007.4399092","mag":"2130596700"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5043933501","display_name":"Mathias Brandst\u00f6tter","orcid":"https://orcid.org/0000-0001-9544-2626"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Mathias Brandstotter","raw_affiliation_strings":["Institute for Automation and Control, Graz University of Technology, Graz, Austria","Graz University of Technology, Graz#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Automation and Control, Graz University of Technology, Graz, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"Graz University of Technology, Graz#TAB#","institution_ids":["https://openalex.org/I4092182"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080612158","display_name":"Michael Hofbaur","orcid":"https://orcid.org/0000-0002-4550-0709"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Michael W. Hofbaur","raw_affiliation_strings":["Institute for Automation and Control, Graz University of Technology, Graz, Austria","Graz University of Technology, Graz#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Automation and Control, Graz University of Technology, Graz, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"Graz University of Technology, Graz#TAB#","institution_ids":["https://openalex.org/I4092182"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027029105","display_name":"Gerald Steinbauer","orcid":null},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Gerald Steinbauer","raw_affiliation_strings":["Institute for Software Technology, Graz University of Technology, Graz, Austria","Institute for Software Technology, Graz University of Technology, Inffeldgasse 16b, A-8010 Graz, Austria#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Software Technology, Graz University of Technology, Graz, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"Institute for Software Technology, Graz University of Technology, Inffeldgasse 16b, A-8010 Graz, Austria#TAB#","institution_ids":["https://openalex.org/I4092182"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011388533","display_name":"Franz Wotawa","orcid":"https://orcid.org/0000-0002-0462-2283"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Franz Wotawa","raw_affiliation_strings":["Institute for Software Technology, Graz University of Technology, Graz, Austria","Institute for Software Technology, Graz University of Technology, Inffeldgasse 16b, A-8010 Graz, Austria#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Software Technology, Graz University of Technology, Graz, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"Institute for Software Technology, Graz University of Technology, Inffeldgasse 16b, A-8010 Graz, Austria#TAB#","institution_ids":["https://openalex.org/I4092182"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4092182"],"apc_list":null,"apc_paid":null,"fwci":1.7811,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.86595241,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1203","last_page":"1209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9914000034332275,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.9360002279281616},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8223617076873779},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7222967147827148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6344632506370544},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5965304374694824},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.5167069435119629},{"id":"https://openalex.org/keywords/autonomous-robot","display_name":"Autonomous robot","score":0.5047136545181274},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.4292987585067749},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4020424485206604},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38404300808906555},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24585393071174622},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.09113815426826477}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.9360002279281616},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8223617076873779},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7222967147827148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6344632506370544},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5965304374694824},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.5167069435119629},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.5047136545181274},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.4292987585067749},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4020424485206604},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38404300808906555},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24585393071174622},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.09113815426826477},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/W1484387568","https://openalex.org/W1495862233","https://openalex.org/W1497135880","https://openalex.org/W1519683110","https://openalex.org/W1536954047","https://openalex.org/W1555623254","https://openalex.org/W1592367452","https://openalex.org/W2015295856","https://openalex.org/W2043135362","https://openalex.org/W2049934619","https://openalex.org/W2134911466","https://openalex.org/W2145546780","https://openalex.org/W2304536053","https://openalex.org/W2972922984","https://openalex.org/W3178395628","https://openalex.org/W6629695537","https://openalex.org/W6631874685","https://openalex.org/W6635317106","https://openalex.org/W6766876952"],"related_works":["https://openalex.org/W2081411406","https://openalex.org/W2646501791","https://openalex.org/W4317826762","https://openalex.org/W1594557686","https://openalex.org/W287737911","https://openalex.org/W2382415423","https://openalex.org/W3108829104","https://openalex.org/W2090014568","https://openalex.org/W977459492","https://openalex.org/W2995625713"],"abstract_inverted_index":{"Modern":[0],"drives":[1,35],"of":[2,9,15,19],"mobile":[3],"robots":[4,39],"are":[5],"complex":[6],"machines.":[7],"Because":[8],"this":[10,76],"complexity,":[11],"as":[12,14],"well":[13],"wear":[16],"and":[17,59,70,83,93],"aging":[18],"components,":[20],"faults":[21,73,95,127],"occurs":[22],"in":[23,36,62,96,128],"such":[24,34,52,72],"systems":[25],"quite":[26],"frequently":[27],"at":[28],"runtime.":[29],"In":[30,75],"order":[31,63],"to":[32,48,51,64,67,91,122],"use":[33],"truly":[37],"autonomous":[38,89],"it":[40],"is":[41,46,120],"desirable":[42],"that":[43,116],"the":[44,55,117,129],"robot":[45,56,90,107],"able":[47,66,121],"automatically":[49],"react":[50],"faults.":[53],"Therefore,":[54],"needs":[57],"reasoning":[58],"reconfiguration":[60,84],"capabilities":[61],"be":[65],"detect,":[68],"localize":[69],"repair":[71],"on-line.":[74],"paper":[77],"we":[78,100,110],"propose":[79],"a":[80,105],"model-based":[81],"diagnosis":[82],"framework":[85,119],"which":[86,114],"allows":[87],"an":[88,102],"detect":[92],"compensate":[94],"its":[97],"drive.":[98],"Moreover,":[99],"present":[101],"implementation":[103],"for":[104],"real":[106],"platform.":[108],"Finally,":[109],"report":[111],"experimental":[112],"results":[113],"shows":[115],"proposed":[118],"correctly":[123],"cope":[124],"with":[125],"injected":[126],"drive":[130],"hardware,":[131],"like":[132],"broken":[133],"motors.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4}],"updated_date":"2026-08-09T07:27:16.801131","created_date":"2025-10-10T00:00:00"}
