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Notice of Violation of IEEE Publication Principles
"Design of ARM-Based Inverter Electrostatic Dehydrator for Crude Oil Emulsions" Fault Evaluation of Relative-Coupled BLDC Drives for Multi-Facet Mobile Robot with Distributed Speed Factors

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5 Author(s)
R. Letchmanan ; Department of Aerospace, Power and Sensors, Cranfield University-DCMT, Shrivenham, Swindon, Wiltshire SN6 8LA, England, United Kingdom ; J. T. Economou ; A. Tsourdos ; I. A. Ashokaraj
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Notice of Violation of IEEE Publication Principles

"Fault Evaluation of Relative-Coupled BLDC Drives for Multi-Facet Mobile Robot with Distributed Speed Factors"
by R. Letchmanan, J.T. Economou, A. Tsourdos, I.A. Ashokaraj, and B.A. White in the Proceedings of the 2006 IEEE Vehicle Power and Propulsion Conference (VPPC)

After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles.

This paper contains substantial duplication of original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission.

Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article:

"Fault Types and Reliability Estimates in PMAC Machines,"
by John David Neely
M.S. thesis, Michigan State University, 2005.

This paper presents the evaluation of possible fault incidences between two identical brushless direct-current (BLDC) drives applied as front and rear in-wheels in a complex multi-actuated mobile robot. The independent drives are relatively coupled to provide information on relative speed errors between actuators without the need of universal master speed references. Such advance decentralized coupling strategy enables flexible distributed control of the BLDC drives, therefore enabling smooth synchronization actions to achieve the performance of various multi-motion robot constraints. Detection of faults is critical for electric drives (and machines) in high-risk robotic applications. As actuator drives become more complex, the probability of failure increases. Failure is unacceptable and may lead to unprecedented downturn in robot performance. Advances in actuat- r and controller design have led to the ability to detect faults as they occur and likelihood of mitigating the faults, thus allowing actuator reconfiguration. An investigation into instantaneous primary failures of short and open circuit drives is carried out to evaluate successive dual speed responses of distributed synchronization. Markov state models are developed to show the various state fault transitions of twin actuator scenarios in mobile robot. The normal operation reliability of an actuator drive is determined using baseline failure rates of major components. Failure state diagrams (with remedial strategies) are used to measure reliability of drive under normal operation after a fault has occurred. The co-simulation of speed behaviors between actuator drives are achieved by using Matlab/Simulink and Simplorer. The results are analyzed and an investigation into individual drive faults is carried out to study the possibility of drive catastrophic failures. Such an analysis would allow the possibility of developing future fault diagnosis and curative operating strategies, which together will enable- the adaptive fault-tolerant operation of multifaceted mobile robots

Published in:

2006 IEEE Vehicle Power and Propulsion Conference

Date of Conference:

6-8 Sept. 2006