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Title: Prediction of multiple failures for a mobile robot steering system
Authors: Yu, Ming
Wang, Danwei
Chen, Qijun
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2012
Source: Yu, M., Wang, D., & Chen, Q. (2012). Prediction of multiple failures for a mobile robot steering system. 2012 IEEE 21st International Symposium on Industrial Electronics (ISIE), pp.1240-1245.
Abstract: Fault diagnosis and failure prognosis are critical techniques to improve the safety and reliability of modern complex electromechanical systems. In this paper, a model-based prognosis method is developed to deal with multiple incipient faults in a mobile robot steering system. This method utilizes the concept of Augmented Global Analytical Redundancy Relations (AGARRs) to handle failures with both parametric and non-parametric nature. In order to realize multiple failures prediction, a multiple Hybrid Particle Swarm Optimization (HPSO) algorithm is proposed. Simulation results verify the effectiveness of the proposed method in a front steering system of a CyCab mobile robot.
DOI: 10.1109/ISIE.2012.6237267
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Conference Papers

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