Abstract:
Fault diagnosis (FD) of industrial robots (IRs) plays an increasingly indispensable role in modern manufacturing. Fault-related component obscurity by strong noise, featu...Show MoreMetadata
Abstract:
Fault diagnosis (FD) of industrial robots (IRs) plays an increasingly indispensable role in modern manufacturing. Fault-related component obscurity by strong noise, feature exploitation insufficiency with scarce fault samples, and limited physical interpretation hinder existing diagnostic models’ application to IRs. A deep, complex wavelet denoising network (DCWDN) is, thus, proposed to achieve high-performance and interpretable FD with robustness against noise and class-imbalanced data. Hereinto, a dual-tree cascade autoencoder with trainable convolutional filters is constructed. Significantly, complex wavelet conditions such as orthogonality, approximate analyticity, and sparsity are imposed on the filters to structure their optimization. Meanwhile, shrinkage-based denoising with learnable thresholds is integrated to suppress noise-related components. The proposed DCWDN organically combines the data adaptivity of deep learning (DL) and wavelets’ time-frequency representation ability. Its interpretability is embodied through the explainable structure, learned scientifically meaningful filters, and extracted coefficients with explicit fault indications. Case studies on real IR datasets and experimental drivetrain benchmarks are conducted to demonstrate the effectiveness and superiority of the proposed method.
Published in: IEEE Transactions on Instrumentation and Measurement ( Volume: 74)
Funding Agency:
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Rourou Li received the B.S. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 2021, where she is currently pursuing the Ph.D. degree in mechanical engineering (industrial engineering) with the School of Mechanical Engineering.
Her research interests include fault diagnosis and prognostics and health management of industrial equipment using deep learning.
Rourou Li received the B.S. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 2021, where she is currently pursuing the Ph.D. degree in mechanical engineering (industrial engineering) with the School of Mechanical Engineering.
Her research interests include fault diagnosis and prognostics and health management of industrial equipment using deep learning.View more
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Tangbin Xia (Member, IEEE) received the Ph.D. degree in mechanical engineering (industrial engineering) from Shanghai Jiao Tong University, Shanghai, China, in 2014.
He is currently an Associate Professor and the Vice Dean of School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests are intelligent maintenance systems and prognostics and health management.
Dr. Xia is a member of ASME, IISE, and...Show More
Tangbin Xia (Member, IEEE) received the Ph.D. degree in mechanical engineering (industrial engineering) from Shanghai Jiao Tong University, Shanghai, China, in 2014.
He is currently an Associate Professor and the Vice Dean of School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests are intelligent maintenance systems and prognostics and health management.
Dr. Xia is a member of ASME, IISE, and...View more
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Yimin Jiang received the B.S. degree in mechanical engineering from Xi’an Jiaotong University, Xi’an, China, in 2019. He is currently pursuing the Ph.D. degree in mechanical engineering (industrial engineering) with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.
His research interests include prognostic and health management using deep learning and transfer learning.
Yimin Jiang received the B.S. degree in mechanical engineering from Xi’an Jiaotong University, Xi’an, China, in 2019. He is currently pursuing the Ph.D. degree in mechanical engineering (industrial engineering) with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.
His research interests include prognostic and health management using deep learning and transfer learning.View more
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Jianhua Wu (Member, IEEE) received the B.E. degree in engineering mechanics and the Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2002 and 2007, respectively.
He is currently an Associate Professor with the School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests include high-precision motion control, robot identification and control, and human-robot coo...Show More
Jianhua Wu (Member, IEEE) received the B.E. degree in engineering mechanics and the Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2002 and 2007, respectively.
He is currently an Associate Professor with the School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests include high-precision motion control, robot identification and control, and human-robot coo...View more
Edward P. Fitts Department of Industrial and Systems Engineering, North Carolina State University, Raleigh, NC, USA
Xiaolei Fang received the Ph.D. degree in industrial engineering from the H. Milton Stewart School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA, in 2018.
He is currently an Associate Professor with Edward P. Fitts Department of Industrial and Systems Engineering, North Carolina State University, Raleigh, NC, USA. His research interests are data analytics on high-dimensional signa...Show More
Xiaolei Fang received the Ph.D. degree in industrial engineering from the H. Milton Stewart School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA, in 2018.
He is currently an Associate Professor with Edward P. Fitts Department of Industrial and Systems Engineering, North Carolina State University, Raleigh, NC, USA. His research interests are data analytics on high-dimensional signa...View more
H. Milton Stewart School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA
Nagi Gebraeel (Member, IEEE) received the Ph.D. degree in industrial engineering from Purdue University, West Lafayette, IN, USA, in 2003.
He is currently a Professor with the Stewart School of Industrial and Systems Engineering, Georgia Tech, Atlanta, GA, USA. He is currently an Associate Director of Georgia Tech’s Strategic Energy Institute, Atlanta, and the Director of the Analytics and Prognostics Systems Laboratory, G...Show More
Nagi Gebraeel (Member, IEEE) received the Ph.D. degree in industrial engineering from Purdue University, West Lafayette, IN, USA, in 2003.
He is currently a Professor with the Stewart School of Industrial and Systems Engineering, Georgia Tech, Atlanta, GA, USA. He is currently an Associate Director of Georgia Tech’s Strategic Energy Institute, Atlanta, and the Director of the Analytics and Prognostics Systems Laboratory, G...View more
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Lifeng Xi received the Ph.D. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 1995.
He is currently a Professor and the Executive Vice President of Shanghai Jiao Tong University. He has published more than 200 papers in international journals. His research interests are production system design and planning, quality management, and reliability engineering.
Prof. Xi is a fellow of the ...Show More
Lifeng Xi received the Ph.D. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 1995.
He is currently a Professor and the Executive Vice President of Shanghai Jiao Tong University. He has published more than 200 papers in international journals. His research interests are production system design and planning, quality management, and reliability engineering.
Prof. Xi is a fellow of the ...View more
Contents School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Rourou Li received the B.S. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 2021, where she is currently pursuing the Ph.D. degree in mechanical engineering (industrial engineering) with the School of Mechanical Engineering.
Her research interests include fault diagnosis and prognostics and health management of industrial equipment using deep learning.
Rourou Li received the B.S. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 2021, where she is currently pursuing the Ph.D. degree in mechanical engineering (industrial engineering) with the School of Mechanical Engineering.
Her research interests include fault diagnosis and prognostics and health management of industrial equipment using deep learning.View more
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Tangbin Xia (Member, IEEE) received the Ph.D. degree in mechanical engineering (industrial engineering) from Shanghai Jiao Tong University, Shanghai, China, in 2014.
He is currently an Associate Professor and the Vice Dean of School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests are intelligent maintenance systems and prognostics and health management.
Dr. Xia is a member of ASME, IISE, and INFORMS. He is an Editorial Board Member of Shock and Variation.
Tangbin Xia (Member, IEEE) received the Ph.D. degree in mechanical engineering (industrial engineering) from Shanghai Jiao Tong University, Shanghai, China, in 2014.
He is currently an Associate Professor and the Vice Dean of School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests are intelligent maintenance systems and prognostics and health management.
Dr. Xia is a member of ASME, IISE, and INFORMS. He is an Editorial Board Member of Shock and Variation.View more
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Yimin Jiang received the B.S. degree in mechanical engineering from Xi’an Jiaotong University, Xi’an, China, in 2019. He is currently pursuing the Ph.D. degree in mechanical engineering (industrial engineering) with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.
His research interests include prognostic and health management using deep learning and transfer learning.
Yimin Jiang received the B.S. degree in mechanical engineering from Xi’an Jiaotong University, Xi’an, China, in 2019. He is currently pursuing the Ph.D. degree in mechanical engineering (industrial engineering) with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.
His research interests include prognostic and health management using deep learning and transfer learning.View more
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Jianhua Wu (Member, IEEE) received the B.E. degree in engineering mechanics and the Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2002 and 2007, respectively.
He is currently an Associate Professor with the School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests include high-precision motion control, robot identification and control, and human-robot cooperation.
Jianhua Wu (Member, IEEE) received the B.E. degree in engineering mechanics and the Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2002 and 2007, respectively.
He is currently an Associate Professor with the School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests include high-precision motion control, robot identification and control, and human-robot cooperation.View more
Edward P. Fitts Department of Industrial and Systems Engineering, North Carolina State University, Raleigh, NC, USA
Xiaolei Fang received the Ph.D. degree in industrial engineering from the H. Milton Stewart School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA, in 2018.
He is currently an Associate Professor with Edward P. Fitts Department of Industrial and Systems Engineering, North Carolina State University, Raleigh, NC, USA. His research interests are data analytics on high-dimensional signals.
Xiaolei Fang received the Ph.D. degree in industrial engineering from the H. Milton Stewart School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA, in 2018.
He is currently an Associate Professor with Edward P. Fitts Department of Industrial and Systems Engineering, North Carolina State University, Raleigh, NC, USA. His research interests are data analytics on high-dimensional signals.View more
H. Milton Stewart School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA
Nagi Gebraeel (Member, IEEE) received the Ph.D. degree in industrial engineering from Purdue University, West Lafayette, IN, USA, in 2003.
He is currently a Professor with the Stewart School of Industrial and Systems Engineering, Georgia Tech, Atlanta, GA, USA. He is currently an Associate Director of Georgia Tech’s Strategic Energy Institute, Atlanta, and the Director of the Analytics and Prognostics Systems Laboratory, Georgia Tech’s Manufacturing Institute, Atlanta. He was the Former President of the Institute of Industrial Engineers Quality and Reliability Engineering Division, and he is currently a Member of the Institute for Operations Research and the Management Sciences. His research interests include the intersection of industrial predictive analytics and decision optimization models for large-scale power generation applications.
Nagi Gebraeel (Member, IEEE) received the Ph.D. degree in industrial engineering from Purdue University, West Lafayette, IN, USA, in 2003.
He is currently a Professor with the Stewart School of Industrial and Systems Engineering, Georgia Tech, Atlanta, GA, USA. He is currently an Associate Director of Georgia Tech’s Strategic Energy Institute, Atlanta, and the Director of the Analytics and Prognostics Systems Laboratory, Georgia Tech’s Manufacturing Institute, Atlanta. He was the Former President of the Institute of Industrial Engineers Quality and Reliability Engineering Division, and he is currently a Member of the Institute for Operations Research and the Management Sciences. His research interests include the intersection of industrial predictive analytics and decision optimization models for large-scale power generation applications.View more
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Lifeng Xi received the Ph.D. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 1995.
He is currently a Professor and the Executive Vice President of Shanghai Jiao Tong University. He has published more than 200 papers in international journals. His research interests are production system design and planning, quality management, and reliability engineering.
Prof. Xi is a fellow of the State Key Laboratory of Mechanical System and Vibration and the Executive Director of the Chinese Quality Association. He serves as the Deputy Editor for Industrial Engineering and Management.
Lifeng Xi received the Ph.D. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 1995.
He is currently a Professor and the Executive Vice President of Shanghai Jiao Tong University. He has published more than 200 papers in international journals. His research interests are production system design and planning, quality management, and reliability engineering.
Prof. Xi is a fellow of the State Key Laboratory of Mechanical System and Vibration and the Executive Director of the Chinese Quality Association. He serves as the Deputy Editor for Industrial Engineering and Management.View more
