Title :
3D spectral analysis for UGV in analyzing vibration signal
Author :
Yavanarani, K. ; Raj, G. S Simon Sundara ; Sekar, K. ; Christabel, S. Sheena
Author_Institution :
CVRDE, Defence R&D Organ., Chennai, India
Abstract :
Unmanned Ground vehicles (UGV) are robotic platforms that are capable of operating outdoors over a wide variety of terrain. They form an autonomous navigation system used in Defense Applications. This paper clearly explains the online monitoring of UGV by vibration measurement and analysis. The real-world vibration signal is captured using Mobile Dynamic Signal Analyzer (DSA) with ICP Accelerometers and interfaced with PC using TCP/IP protocol. Efficient diagnostic software is used for post-analysis of the acquired vibration data. The vehicle dynamics of the UGV is monitored for all terrain conditions at varying speed In order to extract useful information, wavelet analysis was employed for data mining of the vibration signal observed from accelerometers. The 3D spectral Analysis using Wavelet Transform is helpful to get a clear view of both Time and Frequency characteristics of vibration signals.
Keywords :
accelerometers; computerised monitoring; data mining; mobile robots; navigation; remotely operated vehicles; road vehicles; spectral analysis; transport protocols; vibration measurement; vibrations; wavelet transforms; 3D spectral analysis; ICP accelerometer; TCP-IP protocol; UGV; autonomous navigation system; data mining; defense application; diagnostic software; frequency characteristics; information extraction; mobile dynamic signal analyzer; online monitoring; unmanned ground vehicle; vehicle dynamics; vibration measurement; vibration signal analysis; wavelet transform; Resonant frequency; Three dimensional displays; Time frequency analysis; Vibrations; Wavelet analysis; Wavelet transforms; 3D Spectral Analysis; Data Mining; ICP; TCP/IP; UGV; Wavelet Transform;
Conference_Titel :
Emerging Trends in Robotics and Communication Technologies (INTERACT), 2010 International Conference on
Conference_Location :
Chennai
Print_ISBN :
978-1-4244-9004-2
DOI :
10.1109/INTERACT.2010.5706212