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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Fault Detection and Diagnosis of Manipulator Based on Probabilistic Production Rule

http://hdl.handle.net/2237/14985
http://hdl.handle.net/2237/14985
7a03b51f-139b-4699-89d2-d64eb7be2c07
名前 / ファイル ライセンス アクション
416.pdf 416.pdf (959.6 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2011-06-29
タイトル
タイトル Fault Detection and Diagnosis of Manipulator Based on Probabilistic Production Rule
言語 en
著者 INAGAKI, Shinkichi

× INAGAKI, Shinkichi

WEKO 41193

en INAGAKI, Shinkichi

Search repository
HAYASHI, Koudai

× HAYASHI, Koudai

WEKO 41194

en HAYASHI, Koudai

Search repository
SUZUKI, Tatsuya

× SUZUKI, Tatsuya

WEKO 41195

en SUZUKI, Tatsuya

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
権利
言語 en
権利情報 Copyright (C) 2007 IEICE
キーワード
主題Scheme Other
主題 probabilistic production rule
キーワード
主題Scheme Other
主題 fault detection
キーワード
主題Scheme Other
主題 fault diagnosis
キーワード
主題Scheme Other
主題 manipulator
抄録
内容記述 This paper presents a new strategy to detect and diagnose fault of a manipulator based on the expression with a Probabilistic Production Rule (PPR). Production Rule (PR) is widely used in the field of computer science as a tool of formal verification. In this work, first of all, PR is used to represent the mapping between highly quantized input and output signals of the dynamical system. By using PR expression, the fault detection and diagnosis algorithm can be implemented with less computational effort. In addition, we introduce a new system description with Probabilistic PR (PPR) wherein the occurrence probability of PRs is assigned to them to improve the robustness with small computational burden. The probability is derived from the statistic characteristics of the observed input and output signals. Then, the fault detection and diagnosis algorithm is developed based on calculating the log-likelihood of the measured data for the designed PPR. Finally, some experiments on a controlled manipulator are demonstrated to confirm the usefulness of the proposed method.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 Institute of Electronics, Information and Communication Engineers
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
関連情報
関連タイプ isVersionOf
識別子タイプ URI
関連識別子 http://www.ieice.org/jpn/trans_online/index.html
ISSN
収録物識別子タイプ PISSN
収録物識別子 0916-8508
書誌情報 en : IEICE transactions on fundamentals of electronics, communications and computer sciences

巻 E90-A, 号 11, p. 2488-2495, 発行日 2007-11-01
著者版フラグ
値 publisher
URI
識別子 http://www.ieice.org/jpn/trans_online/index.html
識別子タイプ URI
URI
識別子 http://hdl.handle.net/2237/14985
識別子タイプ HDL
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