Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm

碩士 === 國立交通大學 === 電機與控制工程系所 === 96 === This thesis has a great contribution on detection and identification of the robot's actuator failures by combining UKF(Unscented Kalman Filter), GPB-2 algorithm, EM algorithm and pre-classification of fault models. Simulation results show that the proposed...

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Bibliographic Details
Main Authors:	Huei-jyun Haung, 黃暉鈞
Other Authors:	Te-Sheng Hsiao
Format:	Others
Language:	zh-TW
Published:	2008
Online Access:	http://ndltd.ncl.edu.tw/handle/16197213851508703516

id	ndltd-TW-096NCTU5591093
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spelling	ndltd-TW-096NCTU55910932015-10-13T13:51:50Z http://ndltd.ncl.edu.tw/handle/16197213851508703516 Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm 使用快速GPB-2演算法的即時機器人致動器錯誤偵測與識別 Huei-jyun Haung 黃暉鈞碩士國立交通大學電機與控制工程系所 96 This thesis has a great contribution on detection and identification of the robot's actuator failures by combining UKF(Unscented Kalman Filter), GPB-2 algorithm, EM algorithm and pre-classification of fault models. Simulation results show that the proposed FDI(fault detection and identification) algorithm is better than conventional GPB-2 algorithm in terms of computational efficiency and accuracy of fault detection. Te-Sheng Hsiao 蕭得聖 2008 學位論文 ; thesis 114 zh-TW
collection	NDLTD
language	zh-TW
format	Others
sources	NDLTD
description	碩士 === 國立交通大學 === 電機與控制工程系所 === 96 === This thesis has a great contribution on detection and identification of the robot's actuator failures by combining UKF(Unscented Kalman Filter), GPB-2 algorithm, EM algorithm and pre-classification of fault models. Simulation results show that the proposed FDI(fault detection and identification) algorithm is better than conventional GPB-2 algorithm in terms of computational efficiency and accuracy of fault detection.
author2	Te-Sheng Hsiao
author_facet	Te-Sheng Hsiao Huei-jyun Haung 黃暉鈞
author	Huei-jyun Haung 黃暉鈞
spellingShingle	Huei-jyun Haung 黃暉鈞 Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm
author_sort	Huei-jyun Haung
title	Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm
title_short	Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm
title_full	Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm
title_fullStr	Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm
title_full_unstemmed	Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm
title_sort	real-time detection and identification of robot actuator failures with fast gpb-2 algorithm
publishDate	2008
url	http://ndltd.ncl.edu.tw/handle/16197213851508703516
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Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm

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