Model based fault diagnosis and prognosis of nonlinear systems

Rapid technological advances have led to more and more complex industrial systems with significantly higher risk of failures. Therefore, in this dissertation, a model-based fault diagnosis and prognosis framework has been developed for fast and reliable detection of faults and prediction of failures in nonlinear systems. In the first paper, a unified model-based fault diagnosis scheme capable of detecting both additive system faults and multiplicative actuator faults, as well as approximating the fault dynamics, performing fault type determination and time-to-failure determination, is designed. Stability of the observer and online approximator is guaranteed via an adaptive update law. Since outliers can degrade the performance of fault diagnostics, the second paper introduces an online neural network (NN) based outlier identification and removal scheme which is then combined with a fault detection scheme to enhance its performance. Outliers are detected based on the estimation error and a novel tuning law prevents the NN weights from being affected by outliers. In the third paper, in contrast to papers I and II, fault diagnosis of large-scale interconnected systems is investigated. A decentralized fault prognosis scheme is developed for such systems by using a network of local fault detectors (LFD) where each LFD only requires the local measurements. The online approximators in each LFD learn the unknown interconnection functions and the fault dynamics. Derivation of robust detection thresholds and detectability conditions are also included. The fourth paper extends the decentralized fault detection from paper III and develops an accommodation scheme for nonlinear continuous-time systems. By using both detection and accommodation online approximators, the control inputs are adjusted in order to minimize the fault effects. Finally in the fifth paper, the model-based fault diagnosis of distributed parameter systems (DPS) with parabolic PDE representation in continuous-time is discussed where a PDE-based observer is designed to perform fault detection as well as estimating the unavailable system states. An adaptive online approximator is incorporated in the observer to identify unknown fault parameters. Adaptive update law guarantees the convergence of estimations and allows determination of remaining useful life --Abstract, page iv

Development of a quantitative health index and diagnostic method for efficient asset management of power transformers

Power transformers play a very important role in electrical power networks and are frequently operated longer than their expected design life. Therefore, to ensure their best operating performance in a transmission network, the fault condition of each transformer must be assessed regularly. For an accurate fault diagnosis, it is important to have maximum information about an individual transformer based on unbiased measurements. This can best be achieved using artificial intelligence (AI) that can systematically analyse the complex features of diagnostic measurements. Clustering techniques are a form of AI that is particularly well suited to fault diagnosis. To provide an assessment of transformers, a hybrid k-means algorithm, and probabilistic Parzen window estimation are used in this research. The clusters they form are representative of a single or multiple fault categories. The proposed technique computes the maximum probability of transformers in each cluster to determine their fault categories. The main focus of this research is to determine a quantitative health index (HI) to characterize the operating condition of transformers. Condition assessment tries to detect incipient faults before they become too serious, which requires a sensitive and quantified approach. Therefore, the HI needs to come from a proportionate system that can estimate health condition of transformers over time. To quantify this condition, the General Regression Neural Network (GRNN), a type of AI, has been chosen in this research. The GRNN works well with small sets of training data and avoids the needs to estimate large sets of model parameters, following a largely non-parametric approach. The methodology used here regards transformers as a collection of subsystems and summarizes their individual condition into a quantified HI based on the existing agreed benchmarks drawn from IEEE and CIGRE standards. To better calibrate the HI, it may be mapped to a failure probability estimate for each transformer over the coming year. Experimental results of the research show that the proposed methods are more effective than previously published approaches when diagnosing critical faults. Moreover, this novel HI approach can provide a comprehensive assessment of transformers based on the actual condition of their individual subsystems

Development of a quantitative health index and diagnostic method for efficient asset management of power transformers

Power transformers play a very important role in electrical power networks and are frequently operated longer than their expected design life. Therefore, to ensure their best operating performance in a transmission network, the fault condition of each transformer must be assessed regularly. For an accurate fault diagnosis, it is important to have maximum information about an individual transformer based on unbiased measurements. This can best be achieved using artificial intelligence (AI) that can systematically analyse the complex features of diagnostic measurements. Clustering techniques are a form of AI that is particularly well suited to fault diagnosis. To provide an assessment of transformers, a hybrid k-means algorithm, and probabilistic Parzen window estimation are used in this research. The clusters they form are representative of a single or multiple fault categories. The proposed technique computes the maximum probability of transformers in each cluster to determine their fault categories. The main focus of this research is to determine a quantitative health index (HI) to characterize the operating condition of transformers. Condition assessment tries to detect incipient faults before they become too serious, which requires a sensitive and quantified approach. Therefore, the HI needs to come from a proportionate system that can estimate health condition of transformers over time. To quantify this condition, the General Regression Neural Network (GRNN), a type of AI, has been chosen in this research. The GRNN works well with small sets of training data and avoids the needs to estimate large sets of model parameters, following a largely non-parametric approach. The methodology used here regards transformers as a collection of subsystems and summarizes their individual condition into a quantified HI based on the existing agreed benchmarks drawn from IEEE and CIGRE standards. To better calibrate the HI, it may be mapped to a failure probability estimate for each transformer over the coming year. Experimental results of the research show that the proposed methods are more effective than previously published approaches when diagnosing critical faults. Moreover, this novel HI approach can provide a comprehensive assessment of transformers based on the actual condition of their individual subsystems

Sensors Fault Diagnosis Trends and Applications

Fault diagnosis has always been a concern for industry. In general, diagnosis in complex systems requires the acquisition of information from sensors and the processing and extracting of required features for the classification or identification of faults. Therefore, fault diagnosis of sensors is clearly important as faulty information from a sensor may lead to misleading conclusions about the whole system. As engineering systems grow in size and complexity, it becomes more and more important to diagnose faulty behavior before it can lead to total failure. In the light of above issues, this book is dedicated to trends and applications in modern-sensor fault diagnosis

Increasing the robustness of autonomous systems to hardware degradation using machine learning

Autonomous systems perform predetermined tasks (missions) with minimum supervision. In most applications, the state of the world changes with time. Sensors are employed to measure part or whole of the world’s state. However, sensors often fail amidst operation; feeding as such decision-making with wrong information about the world. Moreover, hardware degradation may alter dynamic behaviour, and subsequently the capabilities, of an autonomous system; rendering the original mission infeasible. This thesis applies machine learning to yield powerful and robust tools that can facilitate autonomy in modern systems. Incremental kernel regression is used for dynamic modelling. Algorithms of this sort are easy to train and are highly adaptive. Adaptivity allows for model adjustments, whenever the environment of operation changes. Bayesian reasoning provides a rigorous framework for addressing uncertainty. Moreover, using Bayesian Networks, complex inference regarding hardware degradation can be answered. Specifically, adaptive modelling is combined with Bayesian reasoning to yield recursive estimation algorithms that are robust to sensor failures. Two solutions are presented by extending existing recursive estimation algorithms from the robotics literature. The algorithms are deployed on an underwater vehicle and the performance is assessed in real-world experiments. A comparison against standard filters is also provided. Next, the previous algorithms are extended to consider sensor and actuator failures jointly. An algorithm that can detect thruster failures in an Autonomous Underwater Vehicle has been developed. Moreover, the algorithm adapts the dynamic model online to compensate for the detected fault. The performance of this algorithm was also tested in a real-world application. One step further than hardware fault detection, prognostics predict how much longer can a particular hardware component operate normally. Ubiquitous sensors in modern systems render data-driven prognostics a viable solution. However, training is based on skewed datasets; datasets where the samples from the faulty region of operation are much fewer than the ones from the healthy region of operation. This thesis presents a prognostic algorithm that tackles the problem of imbalanced (skewed) datasets

Fault Tolerance of Self Organizing Maps

International audienceAs the quest for performance confronts resource constraints, major breakthroughs in computing efficiency are expected to benefit from unconventional approaches and new models of computation such as brain-inspired computing. Beyond energy, the growing number of defects in physical substrates is becoming another major constraint that affects the design of computing devices and systems. Neural computing principles remain elusive, yet they are considered as the source of a promising paradigm to achieve fault-tolerant computation. Since the quest for fault tolerance can be translated into scalable and reliable computing systems, hardware design itself and the potential use of faulty circuits have motivated further the investigation on neural networks, which are potentially capable of absorbing some degrees of vulnerability based on their natural properties. In this paper, the fault tolerance properties of Self Organizing Maps (SOMs) are investigated. To asses the intrinsic fault tolerance and considering a general fully parallel digital implementations of SOM, we use the bit-flip fault model to inject faults in registers holding SOM weights. The distortion measure is used to evaluate performance on synthetic datasets and under different fault ratios. Additionally, we evaluate three passive techniques intended to enhance fault tolerance of SOM during training/learning under different scenarios

Decentralized Fault Diagnosis and Prognosis Scheme for Interconnected Nonlinear Discrete-Time Systems

This paper deals with the design of a decentralized fault diagnosis and prognosis scheme for interconnected nonlinear discrete-time systems which are modelled as the interconnection of several subsystems. For each subsystem, a local fault detector (LFD) is designed based on the dynamic model of the local subsystem and the local states. Each LFD consists of an observer with an online neural network (NN)-based approximator. The online NN approximators only use local measurements as their inputs, and are always turned on and continuously learn the interconnection as well as possible fault function. A fault is detected by comparing the output of each online NN approximator with a predefined threshold instead of using the residual. Derivation of robust detection thresholds and fault detectability conditions are also included. Due to interconnected nature of the overall system, the effect of faults propagate to other subsystems, thus a fault might be detected in more than one subsystem. Upon detection, faults local to the subsystem and from other subsystems are isolated by using a central fault isolation unit which receives detection time information from all LFDs. The proposed scheme also provides the time-to-failure or remaining useful life information by using local measurements. Simulation results provide the effectiveness of the proposed decentralized fault detection scheme