• Advances in robotics research
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• 제2권1호
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• pp.99-112
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• 2018

The main contribution of this work is the design of a field programmable gate array (FPGA) based ARX-Laguerre proportional-integral observation (PIO) system for fault detection and identification (FDI) in a multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. An ARX-Laguerre method was used in this study to dynamic modeling the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, fault detection, isolation, and estimation the proposed FPGA-based PI observer was applied to the ARX-Laguerre robot model. The effectiveness and accuracy of FPGA based ARX-Laguerre PIO was tested by first three degrees of the freedom PUMA robot manipulator, yielding 6.3%, 10.73%, and 4.23%, average performance improvement for three types of faults (e.g., actuator fault, sensor faults, and composite fault), respectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.272-275
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• 1992

A novel fault diagnosis method based on likelihood decomposition is proposed for linear stochastic systems described by autoregressive (AR) model. Assuming that at some time instant .tau. the fault of one of the following two types is occurs: innovation fault (actuator fault); and observation fault (sensor fault), the log-likelihood function is decomposed into two components based on the observations before and after .tau., respectively, Then, the type of the fault is determined by comparing the log-likelihoods corresponding two types of faults. Numerical examples demonstrate the usefulness of the proposed diagnosis method.

• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.306-319
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• 2008

Reaching fault tolerance in technological systems requires to detect malfunctions. This paper presents a diagnostic method that is robust with respect to unknown-but-bounded uncertainties of the dynamical model and the measurements. By using models of the faultless and the faulty behaviours, a state-set observer computes polyhedral sets from which the consistency of the models with the interval measurements is determined. The diagnostic result is proven to be complete, i.e., the set of faults obtained by the diagnostic algorithm includes the actual fault. The algorithm is illustrated by an application example.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.669-672
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• 2012

This paper investigates an algorithm for robust fault diagnosis in robot manipulators. The TOSM (Third Order Sliding Mode observer) provides both theoretically exact observation and unknown fault identification without filtration. The EOI (Equivalent Output Injections) of the TOSM observers can be used as residuals for the problem of fault diagnosis and to identify the unknown faults. The obtained fault information can be used for fault detection, isolation as well as fault accommodation to the self-correcting failure system. The computer simulation results for a PUMA 560 robot are shown to verify the effectiveness of the proposed strategy.

• 한국정밀공학회지
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• 제14권5호
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• pp.66-75
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• 1997

A fault diagnosis system for a variable speed rotating shaft probably demands a huge database, which makes it diffcult to be realized. This stuydy presents an effective method of fault diagnosis for variable speed rotating shafts. The proposed method is based upon a fuzzy reasoning and it includes a stepwize strategy to reduce the size of database in a diagnosis system. A computer program is developed to show the procedure of the diagnosis, and four cases of faults are applied to the program to illustarate the effectiveness of the proposed method. The propsed method is found to be useful in reducing the size of database from observation of the data files of the dianosis system. The case studies show that the proposed method can be useful for the diagnosis of variable speed rotating shafts.

• Journal of Information Processing Systems
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• 제16권3호
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• pp.530-540
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• 2020

In order to solve the problem of low tracking accuracy caused by complex noise in the fault diagnosis of complex nonlinear system, a fault diagnosis method of high precision cost reference particle filter (CRPF) is proposed. By optimizing the low confidence particles to replace the resampling process, this paper improved the problem of sample impoverishment caused by the sample updating based on risk and cost of CRPF algorithm. This paper attempts to improve the accuracy of state estimation from the essential level of obtaining samples. Then, we study the correlation between the current observation value and the prior state. By adjusting the density variance of state transitions adaptively, the adaptive ability of the algorithm to the complex noises can be enhanced, which is expected to improve the accuracy of fault state tracking. Through the simulation analysis of a fuel unit fault diagnosis, the results show that the accuracy of the algorithm has been improved obviously under the background of complex noise.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1127-1132
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• 2000

Impulsive acoustic and vibration signals within rotating machinery are often induced by irregular impacting. The detection of these impulses can be useful for fault diagnosis purposes. Recently there has been an increasing trend towards the use of higher order statistics for fault detection within mechanical systems based on the observation that impulsive signals tend to increase the kurtosis values. This paper considers the use of the third and fourth order Wigner moment spectra, called the Wigner bi- and tri- spectra receptively, for analysing such signals. Expressions for the auto-and cross-terms in these distributions are presented and discussed. It is shown that the Wigner trispectrum is a more suitable analysis tool and it performance is compared to its second order counterpart for detecting impulsive signals. These methods are also applied to measured data sets from an industrial gearbox.

• 한국안전학회지
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• 제20권3호
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• pp.19-26
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• 2005

There are three reasoning method in fault diagnosis process. The shallow reasoning is based on the experiential knowledge and deep reasoning is based on physical model. Hybrid reasoning is mixing two type reasoning. This study describes about fault train embodiment of screw type air compressor that is used widely in industrial facilities by using various experimental method and shallow reasoning. We investigate macroscopic failure cause of air compressor through naked eye observation and then microscopic failure cause by various experimental method. We composed fault train with fault knowledge based on empirical data and scientific data that is acquired through several experiments. It is possible to analysis system reliability and failure rate with these fault train.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1216-1221
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• 1990

An algorithm for multiple fault diagnosis of linear dynamic systems is proposed. The algorithm is constructed by using of the geometric approach based on observation that, when the number of faulty units of the system is known, the set of faulty units can be differentiated from other sets by checking linear varieties in the measurement data space. It is further shown that the system with t number of faults can be diagnosed within (t+1) sample-time units if the input-output measurements are rich and that the algorithm can be used for diagnosis even when the number of faults is not known in advance.

• 한국자동차공학회논문집
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• 제7권5호
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• pp.268-277
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• 1999

Impulsive acoustic and vibration signals within gear are often induced by impacting of fault tooths in gear. Thus the detection of these impulses can be useful for fault diagnosis. Recently there is an increasing trend towards the use of higher order statistics for fault detection within mechanical systems based on the observation that impulsive signals then to increase the kurtosis values. We show that the fourth order Wigner Moment Spectrum, called the Wigner Trispectrum, has found superior detection performance to second order Wigner distribution for typical impulsive signals in a condition monitoring application. These methods are also applied to data sets measured within an industrial gear box.