A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems

This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.

Actuator and sensor fault isolation in a class of nonlinear dynamical systems

Fault isolation in dynamical systems is a challenging task due to modeling uncertainty and measurement noise,interactive effects of multiple faults and fault propagation.This paper proposes a unified approach for isolation of multiple actuator or sensor faults in a class of nonlinear uncertain dynamical systems.Actuator and sensor fault isolation are accomplished in two independent modules,that monitor the system and are able to isolate the potential faulty actuator(s)or sensor(s).For the sensor fault isolation(SFI)case,a module is designed which monitors the system and utilizes an adaptive isolation threshold on the output residuals computed via a nonlinear estimation scheme that allows the isolation of single/multiple faulty sensor(s).For the actuator fault isolation(AFI)case,a second module is designed,which utilizes a learning-based scheme for adaptive approximation of faulty actuator(s)and,based on a reasoning decision logic and suitably designed AFI thresholds,the faulty actuator(s)set can be determined.The effectiveness of the proposed fault isolation approach developed in this paper is demonstrated through a simulation example.

Deep-large faults controlling on the distribution of the venting gas hydrate system in the middle of the Qiongdongnan Basin, South China Sea

Many locations with concentrated hydrates at vents have confirmed the presence of abundant thermogenic gas in the middle of the Qiongdongnan Basin(QDNB).However,the impact of deep structures on gasbearing fluids migration and gas hydrates distribution in tectonically inactive regions is still unclear.In this study,the authors apply high-resolution 3D seismic and logging while drilling(LWD)data from the middle of the QDNB to investigate the influence of deep-large faults on gas chimneys and preferred gasescape pipes.The findings reveal the following:(1)Two significant deep-large faults,F1 and F2,developed on the edge of the Songnan Low Uplift,control the dominant migration of thermogenic hydrocarbons and determine the initial locations of gas chimneys.(2)The formation of gas chimneys is likely related to fault activation and reactivation.Gas chimney 1 is primarily arises from convergent fluid migration resulting from the intersection of the two faults,while the gas chimney 2 benefits from a steeper fault plane and shorter migration distance of fault F2.(3)Most gas-escape pipes are situated near the apex of the two faults.Their reactivations facilitate free gas flow into the GHSZ and contribute to the formation of fracture‐filling hydrates.

Practical prescribed-time fuzzy tracking control for uncertain nonlinear systems with time-varying actuators faults

The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.

Optimizing Bearing Fault Detection:CNN-LSTM with Attentive TabNet for Electric Motor Systems

Electric motor-driven systems are core components across industries,yet they’re susceptible to bearing faults.Manual fault diagnosis poses safety risks and economic instability,necessitating an automated approach.This study proposes FTCNNLSTM(Fine-Tuned TabNet Convolutional Neural Network Long Short-Term Memory),an algorithm combining Convolutional Neural Networks,Long Short-Term Memory Networks,and Attentive Interpretable Tabular Learning.The model preprocesses the CWRU(Case Western Reserve University)bearing dataset using segmentation,normalization,feature scaling,and label encoding.Its architecture comprises multiple 1D Convolutional layers,batch normalization,max-pooling,and LSTM blocks with dropout,followed by batch normalization,dense layers,and appropriate activation and loss functions.Fine-tuning techniques prevent over-fitting.Evaluations were conducted on 10 fault classes from the CWRU dataset.FTCNNLSTM was benchmarked against four approaches:CNN,LSTM,CNN-LSTM with random forest,and CNN-LSTM with gradient boosting,all using 460 instances.The FTCNNLSTM model,augmented with TabNet,achieved 96%accuracy,outperforming other methods.This establishes it as a reliable and effective approach for automating bearing fault detection in electric motor-driven systems.

Decadal Forecasts of Large Earthquakes along the Northern San Andreas Fault System, California: Increased Activity on Regional Creeping Faults Prior to Major and Great Events

The three largest earthquakes in northern California since 1849 were preceded by increased decadal activity for moderate-size shocks along surrounding nearby faults. Increased seismicity, double-difference precise locations of earthquakes since 1968, geodetic data and fault offsets for the 1906 great shock are used to re-examine the timing and locations of possible future large earthquakes. The physical mechanisms of regional faults like the Calaveras, Hayward and Sargent, which exhibit creep, differ from those of the northern San Andreas, which is currently locked and is not creeping. Much decadal forerunning activity occurred on creeping faults. Moderate-size earthquakes along those faults became more frequent as stresses in the region increased in the latter part of the cycle of stress restoration for major and great earthquakes along the San Andreas. They may be useful for decadal forecasts. Yearly to decadal forecasts, however, are based on only a few major to great events. Activity along closer faults like that in the two years prior to the 1989 Loma Prieta shock needs to be examined for possible yearly forerunning changes to large plate boundary earthquakes. Geodetic observations are needed to focus on identifying creeping faults close to the San Andreas. The distribution of moderate-size earthquakes increased significantly since 1990 along the Hayward fault but not adjacent to the San Andreas fault to the south of San Francisco compared to what took place in the decades prior to the three major historic earthquakes in the region. It is now clear from a re-examination of the 1989 mainshock that the increased level of moderate-size shocks in the one to two preceding decades occurred on nearby East Bay faults. Double-difference locations of small earthquakes provide structural information about faults in the region, especially their depths. The northern San Andreas fault is divided into several strongly coupled segments based on differences in seismicity.

A novel mitigation measure for normal fault-induced deformations on pile-raft systems

Evidence from recent earthquakes has shown destructive consequences of fault-induced permanent ground movement on structures.Such observations have increased the demand for improvements in the design of structures that are dramatically vulnerable to surface fault ruptures.In this study a novel connection between the raft and the piles is proposed to mitigate the hazards associated with a normal fault on pile-raft systems by means of 3D finite element(FE)modeling.Before embarking on the parametric study,the strain-softening constitutive law used for numerical modeling of the sand has been validated against centrifuge test results.The exact location of the fix-head and unconnected pile-raft systems relative to the outcropping fault rupture in the free-field is parametrically investigated,revealing different failure mechanisms.The performance of the proposed connection for protecting the pile-raft system against normal fault-induced deformations is assessed by comparing the geotechnical and structural responses of both types of foundation.The results indicate that the pocket connection can relatively reduce the cap rotation and horizontal and vertical displacements of the raft in most scenarios.The proposed connection decreases the bending moment response of the piles to their bending moment capacity,verging on a fault offset of 0.6 m at bedrock.

Distributed Fault Estimation for Nonlinear Systems With Sensor Saturation and Deception Attacks Using Stochastic Communication Protocols

This paper is aimed at the distributed fault estimation issue associated with the potential loss of actuator efficiency for a type of discrete-time nonlinear systems with sensor saturation.For the distributed estimation structure under consideration,an estimation center is not necessary,and the estimator derives its information from itself and neighboring nodes,which fuses the state vector and the measurement vector.In an effort to cut down data conflicts in communication networks,the stochastic communication protocol(SCP)is employed so that the output signals from sensors can be selected.Additionally,a recursive security estimator scheme is created since attackers randomly inject malicious signals into the selected data.On this basis,sufficient conditions for a fault estimator with less conservatism are presented which ensure an upper bound of the estimation error covariance and the mean-square exponential boundedness of the estimating error.Finally,a numerical example is used to show the reliability and effectiveness of the considered distributed estimation algorithm.

The seismicity in the middle section of the Altyn Tagh Fault system revealed by a dense nodal seismic array

The left-lateral Altyn Tagh Fault(ATF) system is the northern boundary of the Qinghai-Xizang Plateau, separating the Tarim Basin and the Qaidam Basin. The middle section of ATF has not recorded any large earthquakes since1598 AD, so the potential seismic hazard is unclear. We develope an earthquake catalog using continuous waveform data recorded by the Tarim-Altyn-Qaidam dense nodal seismic array from September 17 to November23, 2021 in the middle section of ATF. With the machine learning-based picker, phase association, location, match and locate workflow, we detecte 233 earthquakes with M_L-1–3, far more than 6 earthquakes in the routine catalog. Combining with focal mechanism solutions and the local fault structure, we find that seismic events are clustered along the ATF with strike-slip focal mechanisms and on the southern secondary faults with thrusting focal mechanisms. This overall seismic activity in the middle section of the ATF might be due to the northeastward transpressional motion of the Qinghai-Xizang Plateau block at the western margin of the Qaidam Basin.

Simulation and Analysis of Cascading Faults in Integrated Heat and Electricity Systems Considering Degradation Characteristics

Cascading faults have been identified as the primary cause of multiple power outages in recent years.With the emergence of integrated energy systems(IES),the conventional approach to analyzing power grid cascading faults is no longer appropriate.A cascading fault analysis method considering multi-energy coupling characteristics is of vital importance.In this study,an innovative analysis method for cascading faults in integrated heat and electricity systems(IHES)is proposed.It considers the degradation characteristics of transmission and energy supply com-ponents in the system to address the impact of component aging on cascading faults.Firstly,degradation models for the current carrying capacity of transmission lines,the water carrying capacity and insulation performance of thermal pipelines,as well as the performance of energy supply equipment during aging,are developed.Secondly,a simulation process for cascading faults in the IHES is proposed.It utilizes an overload-dominated development model to predict the propagation path of cascading faults while also considering network islanding,electric-heating rescheduling,and load shedding.The propagation of cascading faults is reflected in the form of fault chains.Finally,the results of cascading faults under different aging levels are analyzed through numerical examples,thereby verifying the effectiveness and rationality of the proposed model and method.

Automatic Monitoring System for 3-D Deformation of Crustal Fault Based on Laser and Machine Vision

An automatic monitoring method of the 3-D deformation is presented for crustal fault based on laser and machine vision. The laser source and screen are independently set up in the headwall and footwall, the collimated laser beam creates a circular spot on the screen, meanwhile, the industrial camera captures the tiny deformation of the crustal fault by monitoring the change of the spot position. This method significantly reduces the cost of equipment and labor, provides daily sampling to ensure high continuity of data. A prototype of the automatic monitoring system is developed, and a repeatability test indicates that the error of spot jitter can be minimized by consecutive samples. Meanwhile, the environmental correction model is determined to ensure that environmental changes do not disturb the system. Furthermore, the automatic monitoring system has been applied at the deformation monitoring station(KJX02) of China Beishan underground research laboratory, where continuous deformation monitoring is underway.

Distributed Adaptive Predefined-Time Bipartite Containment Algorithm for Nonlinear Multi-Agent Systems with Actuator Faults

Distributed adaptive predefined-time bipartite containment for a class of second-order nonlinear multi-agent systems are studied with actuator faults.The communication topology of multi-agent systems is fixed and directed.To ensure that followers can reach the convex hull spanned by leaders under the conditions of actuator faults,the sliding mode method is introduced.Control protocol for multi-agent systems demonstrates its effectiveness.Finally,simulations are provided to verify the effectiveness of the proposed algorithm.

Hi-Z fault location identification on low voltage distribution systems using IoT-based digital twin model computation

Distribution feeders carry and supply power to industrial,commercial and residential loads from the point where sub-transmission(33 kV level)ends after stepping down to suitable voltages,such as 11 kV and further down to 400/230 V.In recent times,high impedance(Hi-Z)faults on distribution systems are creating unique challenges to utilities both from operational and safety perspectives.Most of these Hi-Z faults occur at dis-tribution voltages of 15 kV or below,with the problem being worse at lower voltages.Hi-Z fault detection technologies emerged and were developed and incorporated on embedded platforms,such as relays,reclosers and sensors,which protect and monitor distribution systems.Although these technologies can detect Hi-Z fault on feeders,most of them cannot identify the exact location of the fault.Specifically,there is no solution available in literature for detecting Hi-Z fault location on low voltage(LV)circuits like 3-phase 4-wire 400 V distribution network.In this paper,we introduce a novel and a unique algorithm to identify the location of Hi-Z faults using proposed smart metres IoT data-based distribution system load flow and digital twin model representation of the network.Furthermore,a case study on the standard 33 bus LV system clearly depicts the func-tionality of the proposed algorithm.

A novel multi-resolution network for the open-circuit faults diagnosis of automatic ramming drive system

The open-circuit fault is one of the most common faults of the automatic ramming drive system(ARDS),and it can be categorized into the open-phase faults of Permanent Magnet Synchronous Motor(PMSM)and the open-circuit faults of Voltage Source Inverter(VSI). The stator current serves as a common indicator for detecting open-circuit faults. Due to the identical changes of the stator current between the open-phase faults in the PMSM and failures of double switches within the same leg of the VSI, this paper utilizes the zero-sequence voltage component as an additional diagnostic criterion to differentiate them.Considering the variable conditions and substantial noise of the ARDS, a novel Multi-resolution Network(Mr Net) is proposed, which can extract multi-resolution perceptual information and enhance robustness to the noise. Meanwhile, a feature weighted layer is introduced to allocate higher weights to characteristics situated near the feature frequency. Both simulation and experiment results validate that the proposed fault diagnosis method can diagnose 25 types of open-circuit faults and achieve more than98.28% diagnostic accuracy. In addition, the experiment results also demonstrate that Mr Net has the capability of diagnosing the fault types accurately under the interference of noise signals(Laplace noise and Gaussian noise).

New model of linkage evolution for the transtensional fault systems in the Nanpu Sag of Bohai Bay Basin:Insight from seismic interpretation and analogue modelling

The evolution of faults within the same stress field is frequently influenced by numerous factors,involving the reactivation of pre-existing structures,stress transmission through ductile detachment layers,and the growth,interaction,as well as linkage of new fault segments.This study analyses a complex multi-phase oblique extension fault system in the Nanpu Sag(NPS)of the Bohai Bay Basin(BBB),China.High-resolution three-dimensional(3D)seismic data and analogue modelling indicate that the oblique extensional reactivation of pre-existing structures governs the sequential arrangement of fault segments in the caprock,and they dip synthetically to the reactivated fault at depth.During the NW-SE extension in the Eocene,the predominant movement of the pre-existing fault is strike-slip.Subsequently,during the N-S extension since the Oligocene,inclined at 20.to the pre-existing fault,forming splay fault segments and ultimately creating large en-echelon arcuate faults linked by relay ramps.Using fault throw-distance(T-D)and laser scanning,we reconstructed the fault evolution model of oblique extension reactivation in the presence of a ductile detachment basement.Our study illustrates that the arcuate faults can be categorized into linear master fault segments controlled by pre-existing structures,bending splay faults in the termination zone,and normal fault segments responding to the regional stress field.The interaction between faults occurs among normal faults and strike-slip faults,and the kinematic unification of the two fault systems is accomplished in the intersection zone.As the faults continue to evolve,the new fault segments tend to relinquish the control of pre-existing structures and concentrate more on the development of planar and continuous major faults.The ductile detachment layer significantly contributes to the uniform distribution of strain,resulting in narrow shear zones and discontinuous normal faults in its absence.

A Fault Detection Method for Electric Vehicle Battery System Based on Bayesian Optimization SVDD Considering a Few Faulty Samples

Accurate and reliable fault detection is essential for the safe operation of electric vehicles.Support vector data description(SVDD)has been widely used in the field of fault detection.However,constructing the hypersphere boundary only describes the distribution of unlabeled samples,while the distribution of faulty samples cannot be effectively described and easilymisses detecting faulty data due to the imbalance of sample distribution.Meanwhile,selecting parameters is critical to the detection performance,and empirical parameterization is generally timeconsuming and laborious and may not result in finding the optimal parameters.Therefore,this paper proposes a semi-supervised data-driven method based on which the SVDD algorithm is improved and achieves excellent fault detection performance.By incorporating faulty samples into the underlying SVDD model,training deals better with the problem of missing detection of faulty samples caused by the imbalance in the distribution of abnormal samples,and the hypersphere boundary ismodified to classify the samplesmore accurately.The Bayesian Optimization NSVDD(BO-NSVDD)model was constructed to quickly and accurately optimize hyperparameter combinations.In the experiments,electric vehicle operation data with four common fault types are used to evaluate the performance with other five models,and the results show that the BO-NSVDD model presents superior detection performance for each type of fault data,especially in the imperceptible early and minor faults,which has seen very obvious advantages.Finally,the strong robustness of the proposed method is verified by adding different intensities of noise in the dataset.

Active Fault Tolerant Nonsingular Terminal Sliding Mode Control for Electromechanical System Based on Support Vector Machine

Effective fault diagnosis and fault-tolerant control method for aeronautics electromechanical actuator is concerned in this paper.By borrowing the advantages of model-driven and data-driven methods,a fault tolerant nonsingular terminal sliding mode control method based on support vector machine(SVM)is proposed.A SVM is designed to estimate the fault by off-line learning from small sample data with solving convex quadratic programming method and is introduced into a high-gain observer,so as to improve the state estimation and fault detection accuracy when the fault occurs.The state estimation value of the observer is used for state reconfiguration.A novel nonsingular terminal sliding mode surface is designed,and Lyapunov theorem is used to derive a parameter adaptation law and a control law.It is guaranteed that the proposed controller can achieve asymptotical stability which is superior to many advanced fault-tolerant controllers.In addition,the parameter estimation also can help to diagnose the system faults because the faults can be reflected by the parameters variation.Extensive comparative simulation and experimental results illustrate the effectiveness and advancement of the proposed controller compared with several other main-stream controllers.

A Double Sensitive Fault Detection Filter for Positive Markovian Jump Systems With A Hybrid Event-Triggered Mechanism

This paper is concerned with the double sensitive fault detection filter for positive Markovian jump systems. A new hybrid adaptive event-triggered mechanism is proposed by introducing a non-monotonic adaptive law. A linear adaptive event-triggered threshold is established by virtue of 1-norm inequality.Under such a triggering strategy, the original system can be transformed into an interval uncertain system. By using a stochastic copositive Lyapunov function, an asynchronous fault detection filter is designed for positive Markovian jump systems(PMJSs) in terms of linear programming. The presented filter satisfies both L_-gain(?_-gain) fault sensitivity and L_1(?_1)internal differential privacy sensitivity. The proposed approach is also extended to the discrete-time case. Finally, two examples are provided to illustrate the effectiveness of the proposed design.

Development of Fault Diagnosis System for Spacecraft Based on Fault Tree and G2

Some ideas in the development of fault diagnosis system for spacecraft are introduced. Firstly, the architecture of spacecraft fault diagnosis is proposed hierarchically with four diagnosis frames, i.e., system level, subsystem level, component level and element level. Secondly, a hierarchical diagnosis model is expressed with four layers, i.e., sensors layer, function layer, behavior layer and structure layer. These layers are used to work together to accomplish the fault alarm, diagnosis and localization. Thirdly, a fault-tree-oriented hybrid knowledge representation based on frame and generalized rule and its relevant reasoning strategy is put forward. Finally, a diagnosis case for spacecraft power system is exemplified combining the above with a powerful expert system development tool G2.

Fuzzy-Model-Based Finite Frequency Fault Detection Filtering Design for Two-Dimensional Nonlinear Systems

This article studies the fault detection filtering design problem for Roesser type two-dimensional(2-D)nonlinear systems described by uncertain 2-D Takagi-Sugeno(T-S)fuzzy models.Firstly,fuzzy Lyapunov functions are constructed and the 2-D Fourier transform is exploited,based on which a finite frequency fault detection filtering design method is proposed such that a residual signal is generated with robustness to external disturbances and sensitivity to faults.It has been shown that the utilization of available frequency spectrum information of faults and disturbances makes the proposed filtering design method more general and less conservative compared with a conventional nonfrequency based filtering design approach.Then,with the proposed evaluation function and its threshold,a novel mixed finite frequency H_(∞)/H_(-)fault detection algorithm is developed,based on which the fault can be immediately detected once the evaluation function exceeds the threshold.Finally,it is verified with simulation studies that the proposed method is effective and less conservative than conventional non-frequency and/or common Lyapunov function based filtering design methods.