Modeling and fault tolerant control of an electro-hydraulic actuator

In the modern industry, electro-hydraulic actuators (EHAs) have been applied to various applications for precise position pressure/ force control tasks. However, operating EHAs under sensor faults is one of the critical challenges for the control engineers. For its enormous nonlinear characteristics, sensor fault could lead the catastrophic failure to the overall system or even put human life in danger. Thus in this paper, a study on mathematical modeling and fault tolerant control (FTC) of a typical EHA for tracking control under sensor-fault conditions has been carried out. In the proposed FTC system, the extended Kalman-Bucy unknown input observer (EKBUIO) -based robust sensor fault detection and identification (FDI) module estimates the system states and the time domain fault information. Once a fault is detected, the controller feedback is switched from the faulty sensor to the estimated output from the EKBUIO owing to mask the sensor fault swiftly and retains the system stability. Additionally, considering the tracking accuracy of the EHA system, an efficient brain emotional learning based intelligent controller (BELBIC) is suggested as the main control unit. Effectiveness of the proposed FTC architecture has been investigated by experimenting on a test bed using an EHA in sensor failure conditions

Designing an Energy Efficient Network Using Integration of KSOM, ANN and Data Fusion Techniques

Energy in a wireless sensor network (WSN) is rendered as the major constraint that affects the overall feasibility and performance of a network. With the dynamic and demanding requirements of diverse applications, the need for an energy efficient network persists. Therefore, this paper proposes a mechanism for optimizing the energy consumption in WSN through the integration of artificial neural networks (ANN) and Kohonen self-organizing map (KSOM) techniques. The clusters are formed and re-located after iteration for effective distribution of energy and reduction of energy depletion at individual nodes. Furthermore, back propagation algorithm is used as a supervised learning method for optimizing the approach and reducing the loss function. The simulation results show the effectiveness of the proposed energy efficient network

Inferential Modeling and Independent Component Analysis for Redundant Sensor Validation

The calibration of redundant safety critical sensors in nuclear power plants is a manual task that consumes valuable time and resources. Automated, data-driven techniques, to monitor the calibration of redundant sensors have been developed over the last two decades, but have not been fully implemented. Parity space methods such as the Instrumentation and Calibration Monitoring Program (ICMP) method developed by Electric Power Research Institute and other empirical based inferential modeling techniques have been developed but have not become viable options. Existing solutions to the redundant sensor validation problem have several major flaws that restrict their applications. Parity space method, such as ICMP, are not robust for low redundancy conditions and their operation becomes invalid when there are only two redundant sensors. Empirical based inferential modeling is only valid when intrinsic correlations between predictor variables and response variables remain static during the model training and testing phase. They also commonly produce high variance results and are not the optimal solution to the problem. This dissertation develops and implements independent component analysis (ICA) for redundant sensor validation. Performance of the ICA algorithm produces sufficiently low residual variance parameter estimates when compared to simple averaging, ICMP, and principal component regression (PCR) techniques. For stationary signals, it can detect and isolate sensor drifts for as few as two redundant sensors. It is fast and can be embedded into a real-time system. This is demonstrated on a water level control system. Additionally, ICA has been merged with inferential modeling technique such as PCR to reduce the prediction error and spillover effects from data anomalies. ICA is easy to use with, only the window size needing specification. The effectiveness and robustness of the ICA technique is shown through the use of actual nuclear power plant data. A bootstrap technique is used to estimate the prediction uncertainties and validate its usefulness. Bootstrap uncertainty estimates incorporate uncertainties from both data and the model. Thus, the uncertainty estimation is robust and varies from data set to data set. The ICA based system is proven to be accurate and robust; however, classical ICA algorithms commonly fail when distributions are multi-modal. This most likely occurs during highly non-stationary transients. This research also developed a unity check technique which indicates such failures and applies other, more robust techniques during transients. For linear trending signals, a rotation transform is found useful while standard averaging techniques are used during general transients

Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system

A fault detection and isolation system for cooperative manipulators

The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamics of the fault-free robot. The outputs of each MLP are compared to the actual joint velocities in order to generate a residual vector which is then classified by an RBF network. The remaining faults are isolated based on the kinematic constraints imposed on the cooperative system. Results obtained via simulations and via an actual cooperative manipulator robot are presented

AI and OR in management of operations: history and trends

The last decade has seen a considerable growth in the use of Artificial Intelligence (AI) for operations management with the aim of finding solutions to problems that are increasing in complexity and scale. This paper begins by setting the context for the survey through a historical perspective of OR and AI. An extensive survey of applications of AI techniques for operations management, covering a total of over 1200 papers published from 1995 to 2004 is then presented. The survey utilizes Elsevier's ScienceDirect database as a source. Hence, the survey may not cover all the relevant journals but includes a sufficiently wide range of publications to make it representative of the research in the field. The papers are categorized into four areas of operations management: (a) design, (b) scheduling, (c) process planning and control and (d) quality, maintenance and fault diagnosis. Each of the four areas is categorized in terms of the AI techniques used: genetic algorithms, case-based reasoning, knowledge-based systems, fuzzy logic and hybrid techniques. The trends over the last decade are identified, discussed with respect to expected trends and directions for future work suggested

Innovative Solutions for Navigation and Mission Management of Unmanned Aircraft Systems

The last decades have witnessed a significant increase in Unmanned Aircraft Systems (UAS) of all shapes and sizes. UAS are finding many new applications in supporting several human activities, offering solutions to many dirty, dull, and dangerous missions, carried out by military and civilian users. However, limited access to the airspace is the principal barrier to the realization of the full potential that can be derived from UAS capabilities. The aim of this thesis is to support the safe integration of UAS operations, taking into account both the user's requirements and flight regulations. The main technical and operational issues, considered among the principal inhibitors to the integration and wide-spread acceptance of UAS, are identified and two solutions for safe UAS operations are proposed: A. Improving navigation performance of UAS by exploiting low-cost sensors. To enhance the performance of the low-cost and light-weight integrated navigation system based on Global Navigation Satellite System (GNSS) and Micro Electro-Mechanical Systems (MEMS) inertial sensors, an efficient calibration method for MEMS inertial sensors is required. Two solutions are proposed: 1) The innovative Thermal Compensated Zero Velocity Update (TCZUPT) filter, which embeds the compensation of thermal effect on bias in the filter itself and uses Back-Propagation Neural Networks to build the calibration function. Experimental results show that the TCZUPT filter is faster than the traditional ZUPT filter in mapping significant bias variations and presents better performance in the overall testing period. Moreover, no calibration pre-processing stage is required to keep measurement drift under control, improving the accuracy, reliability, and maintainability of the processing software; 2) A redundant configuration of consumer grade inertial sensors to obtain a self-calibration of typical inertial sensors biases. The result is a significant reduction of uncertainty in attitude determination. In conclusion, both methods improve dead-reckoning performance for handling intermittent GNSS coverage. B. Proposing novel solutions for mission management to support the Unmanned Traffic Management (UTM) system in monitoring and coordinating the operations of a large number of UAS. Two solutions are proposed: 1) A trajectory prediction tool for small UAS, based on Learning Vector Quantization (LVQ) Neural Networks. By exploiting flight data collected when the UAS executes a pre-assigned flight path, the tool is able to predict the time taken to fly generic trajectory elements. Moreover, being self-adaptive in constructing a mathematical model, LVQ Neural Networks allow creating different models for the different UAS types in several environmental conditions; 2) A software tool aimed at supporting standardized procedures for decision-making process to identify UAS/payload configurations suitable for any type of mission that can be authorized standing flight regulations. The proposed methods improve the management and safe operation of large-scale UAS missions, speeding up the flight authorization process by the UTM system and supporting the increasing level of autonomy in UAS operations