Title :
Diagnostic and predictive maintenance systems for abnormal behavior of power scheduling loading and its application to robotics systems
Author :
Huang, Han-Pang ; Wu, Shih-Hsien
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
Through development of intelligent robots, batteries supplied to robots discharge too quickly. In order to save power and promote efficiency, steady power supply depends on power loading management and abnormal behavior diagnosis to construct suitable supply of power system. This paper aims to construct a diagnosing and analyzing system for the robotic power management. We collect the data of each motor´s operating condition through assigned scheduling until rescheduling is triggered. The collected data are classified by two methods: CART and SOM. The second aim of the paper is to construct a predictive maintenance system that uses fuzzy inference to predict the battery power supply level using the collected information of residual power and temperature, and considering the power loss of using cycle and rising temperature of battery. The administrator can easily observe the operating condition of operating robot and battery through the constructed GMPP service to conduct management and repair of the robot´s motors and battery. The experiments justify the proposed methodology.
Keywords :
fuzzy set theory; intelligent robots; load management; maintenance engineering; power supplies to apparatus; scheduling; CART; GMPP service; SOM; abnormal behavior diagnosis; fuzzy inference; intelligent robots; power loading management; power loss; power scheduling loading; predictive maintenance systems; robotic power management; robotics systems; steady power supply; Batteries; Leg; Monitoring; Neurons; Power demand; Predictive maintenance; Robots; Abnormal Behaviors; Battery Management; Classification Tree; Intelligent Robot; Optimization of Battery Combination; Power Management System; Predictive maintenance;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location :
Taipei
Print_ISBN :
978-1-61284-698-9
DOI :
10.1109/WCICA.2011.5970648