A Scenario 1: Wheel monitoring for planetary rovers Continuous variables: linear and angular velocity o( Discrete variable: wheel failed (if any) D Normal trajectory and trajectories ith fault at each Courtesy NASA JPL Courtesy of Vandi verma. Used with permission Hybrid Mode Estimation and Gaussian Filtering with Hybrid HMM Models 16412/6.834 Lecture,15 March2004 A Scenario 2: Diagnosing subtle faults [Haw 2002 Discrete variables: operational mode closed, open, stuck-closed, stuck-open) Continuous variables: CO2 flow, CO2& O2 conc./courtesy NASA JSC BIO-Plex plant growth chamber Hybrid Mode Estimation and Gaussian Filtering with Hybrid HMM Models 6. 412/6.834 Lecture, 15 March 2004Hybrid Mode Estimation and Gaussian Filtering with Hybrid HMM Models 16.412 / 6.834 Lecture, 15 March 2004 5 Scenario 1: Wheel monitoring for planetary rovers Discrete variable: wheel failed (if any) Continuous variables: linear and angular velocity Normal trajectory and trajectories with fault at each wheel Courtesy NASA JPL Courtesy of Vandi Verma. Used with permission. Hybrid Mode Estimation and Gaussian Filtering with Hybrid HMM Models 16.412 / 6.834 Lecture, 15 March 2004 6 Scenario 2: Diagnosing subtle faults [H&W 2002] Discrete variables: operational mode Continuous variables: CO2 flow, CO2 & O2 conc. {closed, open, stuck-closed, stuck-open} Courtesy NASA JSC