Author: Publisher:
ISBN:
Category :
Languages : en
Pages : 154
Book Description
Immune-inspired Fault Diagnosis for a Robotic System
Author: Immune-inspired Fault Diagnosis for Robot Swarms
Author: James O'KeeffeTowards Autonomous Robotic Systems
Author: Fumiya IidaPublisher: Springer Nature
ISBN: 3031433602
Category : Computers
Languages : en
Pages : 506
Book Description
This book constitutes the refereed proceedings of the 24th Annual Conference Towards Autonomous Robotic Systems, TAROS 2023, held in Cambridge, UK, during September 13–15, 2023. The 40 full papers presented in this book were carefully reviewed and selected from 70 submissions. They cover a wide range of different topics such as: agri-food robotics; autonomy; collaborative and service robotics; locomotion and manipulation; machine vision; multi-robot systems; soft robotics; tactile sensing; and teleoperation.
Towards Autonomous Robotic Systems
Author: Yang GaoPublisher: Springer
ISBN: 3319641077
Category : Computers
Languages : en
Pages : 719
Book Description
This book constitutes the refereed proceedings of the 18th Annual Conference on Towards Autonomous Robotics, TAROS 2017, held in Guildford, UK, in July 2017. The 43 revised full papers presented together with 13 short papers were carefully reviewed and selected from 66 submissions. The papers discuss robotics research drawn from a wide and diverse range of topics, such as swarm and multi-robotic systems; human-robot interaction; robotic learning and imitation; robot navigation, planning and safety; humanoid and bio-inspired robots; mobile robots and vehicles; robot testing and design; detection and recognition; learning and adaptive behaviours; interaction; soft and reconfigurable robots; and service and industrial robots.
Artificial immune systems applied to fault detection
Author: Publisher:
ISBN:
Category :
Languages : pt-BR
Pages :
Book Description
Este trabalho investiga métodos de detecção de falhas baseados em sistemasimunológicos artificiais, especificamente aqueles baseados no algoritmo deseleção negativa (NSA) e em outras técnicas de reconhecimento próprio/nãopróprio. Inicialmente, foi proposto um esquema de representação baseado emhiperesferas com centros e raios variáveis e três modelos capazes de gerardetectores, com esta representação, de forma eficiente. O primeiro modelo utilizaalgoritmos genéticos onde cada gene do cromossomo contém um índice para umponto de uma distribuição quasi-aleatória que servirá como centro do detector euma função decodificadora responsável por determinar os raios apropriados. Aaptidão do cromossomo é dada por uma estimativa do volume coberto atravésuma integral de Monte Carlo. O segundo modelo utiliza o particionamentoQuadtree para gerar o posicionamento dos detectores e o valor dos raios. Estemodelo pode realizar o particionamento a partir de uma função de detecção ouatravés de divisões recursivas de um detector inicial que ocupa todo o espaço. Oterceiro modelo é inspirado nas redes imunológicas. Neste modelo, as células Brepresentam os detectores e a rede formada por eles dá a posição e o raio de cadadetector. Experimentos com dados sintéticos e reais demonstram a capacidade dosalgoritmos propostos e que eles apresentam melhorias nos aspectos deescalabilidade e desempenho na detecção de falhas.
Fault Diagnosis in Robotic and Industrial Systems
Author: Gerasimos G. RigatosPublisher: Createspace Independent Pub
ISBN: 9781461098744
Category : Technology & Engineering
Languages : en
Pages : 210
Book Description
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.
Biologically Inspired Intelligent Fault Diagnosis for Power Distribution Systems
Author: Le XuPublisher:
ISBN: 9781109855845
Category :
Languages : en
Pages : 154
Book Description
In this work, logistic regression and artificial neural network are firstly compared on their capability in fault diagnosis; then an existing fuzzy classification algorithm is extended to E-algorithm to alleviate the effect of data imbalance; afterwards, the immune system based Artificial Immune Recognition System (AIRS) algorithm is investigated for its capability in fault diagnosis using real-world data; lastly, a hybrid algorithm based on E-algorithm and AIRS is proposed to embed the rule extraction capability while performing satisfactory fault cause identification.
Artificial Immune Systems
Author: Pietro LioPublisher: Springer
ISBN: 3642223710
Category : Computers
Languages : en
Pages : 449
Book Description
This book constitutes the refereed proceedings of the 10th International Conference on Artificial Immune Systems, ICARIS 2011, held in Cambridge, UK, in July 2011. The 37 revised full papers were carefully reviewed and selected from numerous submissions. The papers are organized in topical sections on immunoinformatics and computational immunology; theory of immunological computation; and applied immunological computation.
Immunological Computation
Author: Dipankar DasguptaPublisher: CRC Press
ISBN: 1420065467
Category : Computers
Languages : en
Pages : 298
Book Description
Clearly, nature has been very effective in creating organisms that are capable of protecting themselves against a wide variety of pathogens such as bacteria, fungi, and parasites. The powerful information-processing capabilities of the immune system, such as feature extraction, pattern recognition, learning, memory, and its distributive nature prov
Swarm Intelligence
Author: Heiko HamannPublisher: Springer Nature
ISBN: 3031709322
Category :
Languages : en
Pages : 268
Book Description