A Python implementation of SFDD, the sensor-based fault detection method described in
E. Khalastchi and M. Kalech, "A sensor-based approach for fault detection and diagnosis for robotic systems," Autonomous Robots, vol. 42, no. 6, pp. 1231-1248, Dec. 2017. Available: https://link.springer.com/article/10.1007/s10514-017-9688-z