Abstract
The design of a fault detection device represents one of the major challenges that manufacturers of robotic systems face today. The detection process requires the use of a number of sensors to monitor the operation of these systems. However, the implementation costs and constraints of these sensors often lead designers to optimize the number used. This could accordingly induce a lack of necessary measures for the optimal detection of failures. One way to bridge this gap consists of realizing model-based estimations of non-measurable state variables describing the dynamics of the real system. This paper presents an approach based on mixed data (measured data and estimated data) for the detection of faults in robotic systems. The proposed fault detection approach is performed using a decision tree classifier. The data used to build this learning stage are obtained from the available measurements of the real system, according to its standard actions. Then, to improve the database classification with unmeasurable data, a linear observer is designed from an analytical model. From the estimations provided by the linear observer, new attributes are built, with the aim of enriching the knowledge used by the classifier and thus improving the rate of fault detection. Finally, an experiment on a robotized actuated seat is presented to illustrate the proposed combined linear observer and classifier approach.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Weka is a collection of machine learning algorithms for data mining tasks.
- 2.
- 3.
References
Bouckaert, R. R. (2004). Bayesian network classifiers in weka. Technical report, University of Waikato, New-Zealand.
Bouibed, K., Seddiki, L., Guelton, K., & Akdag, H. (2014). Actuator and sensor fault detection and isolation of an actuated seat via nonlinear multi-observers. Systems Science & Control Engineering: An Open Access Journal, 2(1), 150–160.
Ding, S. X. (2013). Model-Based Fault Diagnosis Techniques: Design Schemes. Algorithms and Tools: Springer Science & Business Media.
Fürnkranz, J., & Widmer, G. (1994). Incremental reduced error pruning. In W. W. Cohen & H. Hirsh (Eds.), Machine learning, proceedings of the eleventh international conference, Rutgers University, New Brunswick, NJ, USA, July 10–13, 1994 (pp. 70–77). Morgan Kaufmann.
Isermann, R. (1984). Process fault detection based on modeling and estimation methods–A survey. Automatica, 20(4), 387–404.
Isermann, R. (2011). Fault-diagnosis applications: model-based condition monitoring: actuators, drives, machinery, plants, sensors, and fault-tolerant systems. Springer Science & Business Media.
Khalil, W., & Dombre, E. (1999). Modélisation, identification et commande des robots. Hermès science publ.
Kohavi, R. (1995). The power of decision tables. In Proceedings of the European conference on machine learning (pp. 174–189). Springer.
Liu, B. (2011). Web Data Mining: Exploring Hyperlinks, Contents, and Usage Data. Data-Centric Systems and Applications (2nd ed.). Springer.
Luenberger, D. G. (1964). Observing the state of a linear system. IEEE Transactions on Military Electronics, 8(2), 74–80.
Narasimhan, S., Roychoudhury, I., Balaban, E., & Saxena, A. (2010). Combining model-based and feature-driven diagnosis approaches—A case study on electromechanical actuators. In 21st international workshop on principles of diagnosis (pp. 1–8).
Narvaez, C. V. I. (2007). Diagnostic par techniques d’apprentissage floues: concept d’une méthode de validation et d’optimisation des partitions. PhD thesis, INSA de Toulouse.
Ondel, O. (2006). Diagnostic par reconnaissance des formes: Application à un ensemble convertisseur-machine asynchrone. Ph.D. thesis, Ecole Centrale de Lyon.
Quinlan, J. R. (1993). C4.5: Programs for machine learning. San Francisco, CA: Morgan Kaufmann Publishers Inc.
Schubert, U., Kruger, U., Arellano-Garcia, H., de Sá Feital, T., & Wozny, G. (2011). Unified model-based fault diagnosis for three industrial application studies. Control Engineering Practice, 19(5), 479–490.
Siciliano, B., & Khatib, O. (2008). Springer handbook of robotics. Springer Science & Business Media.
Vaija, P., Järveläinen, M., & Dohnal, M. (1986). Failure diagnosis of complex systems by a network of expert bases. Reliability Engineering, 16(3), 237–251.
Venkatasubramanian, V., Rengaswamy, R., & Kavuri, S. N. (2003a). A review of process fault detection and diagnosis: Part II: Qualitative models and search strategies. Computers & Chemical Engineering, 27(3), 313–326.
Venkatasubramanian, V., Rengaswamy, R., Kavuri, S. N., & Yin, K. (2003b). A review of process fault detection and diagnosis: Part III: Process history based methods. Computers & Chemical Engineering, 27(3), 327–346.
Venkatasubramanian, V., Rengaswamy, R., Yin, K., & Kavuri, S. N. (2003c). A review of process fault detection and diagnosis: Part I: Quantitative model-based methods. Computers & Chemical Engineering, 27(3), 293–311.
Witten, I. H., & Frank, E. (2005). Data mining: Practical machine learning tools and techniques (Morgan Kaufmann series in data management systems) (2nd ed.). San Francisco, CA: Morgan Kaufmann Publishers Inc.
Witten, I. H., Frank, E., & Hall, M. A. (2011). Data mining: Practical machine learning tools and techniques (3rd ed.). San Francisco, CA: Morgan Kaufmann Publishers Inc.
Zhang, Y., & Jiang, J. (2008). Bibliographical review on reconfigurable fault-tolerant control systems. Annual Reviews in Control, 32(2), 229–252.
Acknowledgements
The authors would like to acknowledge the contributions of their colleagues and collaborators at Zodiac Seat Actuation & Control (ZSAC). Financial support for this work was provided by ZSAC.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this chapter
Cite this chapter
Taleb, R., Mazouzi, R., Seddiki, L., de Runz, C., Guelton, K., Akdag, H. (2018). A Fault Detection Approach for Robotic Systems Combining the Data Obtained from Sensor Measurements and Linear Observer-Based Estimations. In: Pinaud, B., Guillet, F., Cremilleux, B., de Runz, C. (eds) Advances in Knowledge Discovery and Management. Studies in Computational Intelligence, vol 732. Springer, Cham. https://doi.org/10.1007/978-3-319-65406-5_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-65406-5_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-65405-8
Online ISBN: 978-3-319-65406-5
eBook Packages: EngineeringEngineering (R0)