Research On Fault Detection On High Throughput Screening Robots

With the development of high-speed computer technology and automation equipment,especially the wide application of robots,a new class of discrete event system has emerged—high-throughput screening system.The system combines advanced technologies such as chemistry,genome research,biological information,automated instruments and robots into a highly programmed and automated new technology system,and creates a new process for screening compounds or biological substances.Because the technology has an automatic operating system,it can be controlled by computer instead of manual operation such as automatic feeding,dilution,transfer,incubation and detection,so that the laboratory can follow the procedure and reduce the manual error,so it is usually called high throughput screening robots.In order to improve the reliability,security and efficiency of the system,fault detection and fault diagnosis are increasingly important in discrete event systems.Usually the methods of fault diagnosis are based on the Grafcet model,Petri nets model,the finite state automata model,state diagram model and so on.In order to improve the efficiency of analysis and control of HTS system and reduce the complexity of the model and calculation,this paper uses the method of fault detection based on dioid algebra from the time domain and the event domain at the same time.The basic idea of the fault detection for the high-throughput screening system based on the dioid algebra is as follows: firstly,the system model is established by using the dioid algebra to describe the system behavior;secondly,monitoring the output information of system operation;then the observed outputs are matched synchronously with the expected output of the system to infer whether there is a fault in the system.In this paper,from the perspective of system output,a fault function is established to describe the fault information of the system,and fault information from the comparison between expected outputs and real outputs of the system by using residuation theory.Because some faults of HTS system can be compensated by synchronization phenomenon,so that they might totally be silent from a global point of view.Therefore,we can study more state information of system by adding observer is necessary,so that describe more details such as number of faults and fault location.Finally,two examples are given to verify the effectiveness of the two fault detection methods.