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Fault Detection, Isolation and Recovery in the MMX Rover Locomotion Subsystem

Skibbe, Juliane and Aitier, Elise and Barthelmes, Stefan and Bihler, Markus and Brusq, Gabriel and Hacker, Franz and Sedlmayr, Hans-Jürgen (2023) Fault Detection, Isolation and Recovery in the MMX Rover Locomotion Subsystem. In: 2023 IEEE Aerospace Conference, AERO 2023. IEEE. 2023 IEEE Aerospace Conference, 2023-03-04 - 2023-03-11, Big Sky, Montana, USA. doi: 10.1109/AERO55745.2023.10115791. ISBN 978-166549032-0. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/10115791


In any mechatronic system, faults can occur. Likewise also in the MMX rover, which is a wheeled rover mutually developed by CNES (Centre national d'études spatiales) and DLR (German Aerospace Center), intended to land on Phobos. An essential part of the MMX rover is the locomotion subsystem which includes several sensors and eight motors actuating the four legs and the four wheels. In each of these components and their interfaces, there is a possibility that faults arise and lead to subsystem failures, which would mean that the rover cannot move anymore. To reduce this risk, the possible faults of the MMX locomotion subsystem were identified in a FMECA study and their criticality was classified, which is presented in here. During this examination, the criticality was graded depending on different mission phases. With the help of this study, the hardware, firmware and software design were enhanced. Fur- ther, certain fault detection, isolation and recovery strategies were implemented in the locomotion firmware and software as well as in the full rover software.

Item URL in elib:https://elib.dlr.de/194430/
Document Type:Conference or Workshop Item (Speech)
Title:Fault Detection, Isolation and Recovery in the MMX Rover Locomotion Subsystem
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Skibbe, JulianeUNSPECIFIEDhttps://orcid.org/0000-0003-3194-4330UNSPECIFIED
Aitier, EliseUNSPECIFIEDhttps://orcid.org/0000-0001-9619-5639UNSPECIFIED
Barthelmes, StefanUNSPECIFIEDhttps://orcid.org/0000-0001-9619-5639UNSPECIFIED
Hacker, FranzUNSPECIFIEDhttps://orcid.org/0000-0003-1913-8379UNSPECIFIED
Sedlmayr, Hans-JürgenUNSPECIFIEDhttps://orcid.org/0000-0003-1180-3960UNSPECIFIED
Date:15 May 2023
Journal or Publication Title:2023 IEEE Aerospace Conference, AERO 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:FDIR, rover, MMX, FMECA
Event Title:2023 IEEE Aerospace Conference
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Start Date:4 March 2023
Event End Date:11 March 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Project MMX [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Skibbe, Juliane
Deposited On:17 May 2023 12:44
Last Modified:24 Apr 2024 20:55

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