Journal ArticleDOI
Transmissibility-Based Fault Detection for Robotic Applications With Time-Varying Parameters
TLDR
In this article , an algorithm to identify time-varying transmissibilities using recursive least squares and non-causal finite impulse response models was proposed for fault detection in three different systems.Abstract:
This article investigates transmissibility operators for time-variant systems with bounded nonlinearities. Transmissibility operators are mathematical objects that characterize the relationship between two subsets of responses of an underlying system. The underlying system parameters and nonlinearities are assumed to be unknown. Time-domain transmissibility operators are independent of the system inputs and initial conditions. In this article, we propose an algorithm to identify time-varying transmissibilities using recursive least-squares and noncausal finite impulse response models. The identified transmissibilities are then used for fault detection in three different systems. The first system is an autonomous multirobotic system formulated to emulate connected autonomous vehicle platoons, where the varying parameters are the robot mass and the ground friction coefficient. The second system is a flexible structure with unknown excitation, where the variant parameter is the location of the excitation. Finally, the third system is a robotic manipulator that picks objects with different mass values. read more
Citations
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Journal ArticleDOI
Output Estimation and Failure Detection in Cantilever Bimorph Actuator using Transmissibility Operators
TL;DR: In this article , the authors investigate how to identify faulty sensors in piezoelectric actuators used for precise positioning and suggest using transmissibility operators, which are mathematical estimators that estimate sensor measurements based on another set of sensor measurements within the same system.
References
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Journal ArticleDOI
Identification of modal parameters from transmissibility measurements
TL;DR: In this paper, a new OMA approach to identify modal parameters from output-only transmissibility measurements is introduced, which does not make any assumption about the nature of the excitations to the system.
Journal ArticleDOI
Extended-State-Observer-Based Adaptive Control of Electrohydraulic Servomechanisms Without Velocity Measurement
Wenxiang Deng,Jianyong Yao +1 more
TL;DR: The proposed ESO-based adaptive controller theoretically achieves an excellent asymptotic tracking performance when time-invariant modeling uncertainties exist and preserves the performance results of both control methods while overcoming their practical performance limitations.
Journal ArticleDOI
The transmissibility concept in multi-degree-of-freedom systems
TL;DR: In this paper, a transmissibility matrix between two sets of response functions of a structure is built in either of two ways: (i) from the mobility matrix of the structure or (ii) from test-measured responses only.
Journal ArticleDOI
Time varying and condition adaptive hidden Markov model for tool wear state estimation and remaining useful life prediction in micro-milling
Weijian Li,Tongshun Liu +1 more
TL;DR: An improved HMM is proposed in this paper to monitor tool wear under switching cutting conditions, and Multilayer perceptron (MLP) which is powerful in approximating a nonlinear function is adopted to compute the observation probability.
Journal ArticleDOI
An optimal fault detection threshold for early detection using Kullback-Leibler Divergence for unknown distribution data
TL;DR: An incipient fault detection method that does not need any a priori information on the signals distribution or the changed parameters is proposed and an analytical model of the fault detection performances (False Alarm Probability and Missed Detection Probability) is developed.
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