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Fault Detection and Diagnosis of Manipulator Based on Probabilistic Production Rule
http://hdl.handle.net/2237/14985
http://hdl.handle.net/2237/149857a03b51f-139b-4699-89d2-d64eb7be2c07
名前 / ファイル | ライセンス | アクション |
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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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× HAYASHI, Koudai× SUZUKI, Tatsuya |
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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 |
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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 |