Academic Journal
Fault Diagnosis of a Reconfigurable Crawling–Rolling Robot Based on Support Vector Machines
| العنوان: | Fault Diagnosis of a Reconfigurable Crawling–Rolling Robot Based on Support Vector Machines |
|---|---|
| المؤلفون: | Karthikeyan Elangovan, Yokhesh Krishnasamy Tamilselvam, Rajesh Elara Mohan, Masami Iwase, Nemoto Takuma, Kristin L. Wood |
| المصدر: | Applied Sciences, Vol 7, Iss 10, p 1025 (2017) |
| بيانات النشر: | MDPI AG, 2017. |
| سنة النشر: | 2017 |
| المجموعة: | LCC:Technology LCC:Engineering (General). Civil engineering (General) LCC:Biology (General) LCC:Physics LCC:Chemistry |
| مصطلحات موضوعية: | fault diagnosis, machine learning, Support Vector Machines, statistical features, reconfigurable robotics, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999 |
| الوصف: | As robots begin to perform jobs autonomously, with minimal or no human intervention, a new challenge arises: robots also need to autonomously detect errors and recover from faults. In this paper, we present a Support Vector Machine (SVM)-based fault diagnosis system for a bio-inspired reconfigurable robot named Scorpio. The diagnosis system needs to detect and classify faults while Scorpio uses its crawling and rolling locomotion modes. Specifically, we classify between faulty and non-faulty conditions by analyzing onboard Inertial Measurement Unit (IMU) sensor data. The data capture nine different locomotion gaits, which include rolling and crawling modes, at three different speeds. Statistical methods are applied to extract features and to reduce the dimensionality of original IMU sensor data features. These statistical features were given as inputs for training and testing. Additionally, the c-Support Vector Classification (c-SVC) and nu-SVC models of SVM, and their fault classification accuracies, were compared. The results show that the proposed SVM approach can be used to autonomously diagnose locomotion gait faults while the reconfigurable robot is in operation. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2076-3417 |
| Relation: | https://www.mdpi.com/2076-3417/7/10/1025; https://doaj.org/toc/2076-3417 |
| DOI: | 10.3390/app7101025 |
| URL الوصول: | https://doaj.org/article/2421bdd0806a4d35a4d892e4a2ce7f3d |
| رقم الانضمام: | edsdoj.2421bdd0806a4d35a4d892e4a2ce7f3d |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 20763417 |
|---|---|
| DOI: | 10.3390/app7101025 |