Title :
A wavelet-based approach to abrupt fault detection and diagnosis of angular measuring system of pipeline detection robot
Author :
Huiyu, Deng ; Xinli, Wang ; Peisun, Ma
Author_Institution :
Res. Inst. of Robot, Shanghai Jiao Tong Univ., China
Abstract :
This paper describes a novel wavelet-based approach to the abrupt fault detection of robot angular measuring system. The angular measuring system is an orientation system. By the use of wavelet transforms that accurately localize the characteristics of a signal both in time and frequency domains, the abnormal status of error signal of orientation system can be identified.
Keywords :
angular measurement; fault diagnosis; frequency-domain analysis; mobile robots; pipelines; signal detection; wavelet transforms; angular measuring system; fault detection; fault diagnosis; orientation system; pipeline detection robot; robot angular measuring system; robot sensing; singularity signal; wavelet transforms;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
