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Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
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Fault Diagnosis in Robotic and Industrial Systems (Paperback)
Loot Price: R2,088
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Fault Diagnosis in Robotic and Industrial Systems (Paperback)
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Fault detection and isolation is an important topic for researchers
in the area of robotics and for industrial systems engineers. The
need for a systematic method that will permit preventive
maintenance through the diagnosis of incipient faults is obvious.
At the same time it is desirable to reduce the false alarms rate so
as to avoid unnecessary and costly interruptions of industrial
processes and robotic tasks. The proposed book aims at analyzing
recent advances in the area of fault diagnosis for robotic and
industrial systems. There are totally 9 chapters in this book.
Chapter 1 deals with supervision for the safe navigation of
autonomous robots in a natural environment. Fault diagnosis and
natural environment perception are used at different levels within
a supervisor architecture and real operation is demonstrated on an
autonomous tractor driving in an orchard. Chapter 2 gives an
introduction to fault tolerant sensor systems which is based on the
Failure Modes and Effects Analysis (FMEA) method. Chapter 3 aims at
analyzing and implementing new solutions for the problem of
distributed estimation for condition monitoring of nonlinear
dynamical systems (e.g. automatic ground vehicles, unmanned surface
or underwater vessels and unmanned aerial vehicles), so as to
enable early detection of faults and the take up of efficient
restoration measures. To this end, the development of distributed
nonlinear state estimation and distributed fault detection and
isolation (FDI) tools is proposed. Chapter 4 proposes so-called
logic-dynamic approach for fault diagnosis in industrial systems
described by nonlinear dynamic models with non-differentiable
nonlinearities. The approach allows solving the problem of fault
diagnosis is nonlinear systems using well-known linear methods. In
Chapter 5, observer design for nonlinear systems described by a
Takagi-Sugeno model with unmeasurable premise variables is
proposed. Furthermore, a fault tolerant controller is proposed for
such a system in order to preserve some performances of the system
by trajectory tracking in faulty situations. Chapter 6 explains and
demonstrates the utilization of different nonlinear-dynamics-based
procedures for the purposes of structural health monitoring as well
as for monitoring of robot joints based on Vibration-based Health
Monitoring (VHM) methods In Chapter 7, vibrations picked from
spalled defective rolling element bearings is presented. It uses a
four stage processing algorithm to detect and diagnose the
defective component in rolling element. In Chapter 8, the problem
of fault diagnosis with parity equations is considered for
nonlinear dynamic systems whose models are taken in the form of
ordinary differential equations. The active and passive approaches
are involved to achieve the robustness of the diagnostic procedure
Finally, Chapter 9 proposes a graphical method for diagnosis of
nonlinear systems. The proposed method is based on a 2D signature
obtained by measurements projection over some moving time-window.
This projection highlights what happens inside the system and
enables the diagnosis of abnormal behaviors. This book is suitable
for advanced undergraduate students and postgraduate students. It
takes a practical approach rather than a conceptual approach. It
offers a truly reader-friendly way to get to the subject related to
the semantic web, making it the ideal resources for any student who
is new to this subject and providing a definitive guide to anyone
in this vibrant and evolving discipline. This book is an invaluable
companion for students from their first encounter with the subject
to more advanced studies, while the high quality artworks are
designed to present the key concepts with simplicity, clarity and
consistency.
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