The purpose of this project is to assess the feasibility of a Kalman Filter approach for fault detection in a highly unstable system, specifically the heart pump currently under development at RIT. Simulations and experimental work were completed to determine the effects of possible position sensor fault conditions on the system; that information was then used in conjunction with a pair of Kalman filters to create a method of detecting faults and providing fault-tolerant operation. The heart pump system was modeled using Simulink and then the fault diagnosis and tolerance system was added to the model and tested via simulation in SIMULINK TM. The simulations showed the filters were able to calculate and remove bias caused by any type of position sensor error, provided the estimated plant model is nearly identical to the actual plant model. Sensitivity analysis showed that the fault detection/fault-tolerance method is extremely sensitive to discrepancies between the estimated plant model and actual pump behavior. Because of this, it is considered unfeasible for implementation on a real system. Experimental results confirmed these findings, demonstrating the drawbacks of model-based fault detection and tolerance methods.

Library of Congress Subject Headings

Fault location (Engineering); Fault tolerance (Engineering); Kalman filtering; Cardiovascular instruments, Implanted--Evaluation; Blood--Circulation, Artificial; Biomedical engineering

Publication Date


Document Type


Department, Program, or Center

Mechanical Engineering (KGCOE)


Walter, Wayne

Advisor/Committee Member

Crassidis, Agamemnon

Advisor/Committee Member

Day, Steven


Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: TA169.9 .G45 2009


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