相关实验视频
Updated: Sep 14, 2025

10:09
Operation of the Collaborative Composite Manufacturing CCM System
Published on: October 1, 2019
6.7K
联合故障诊断方法用于协作自我诊断和交叉机器人对等诊断
1College of Engineering, ShaZhou Professional Institute of Technology, Zhangjiagang, Jiangsu, China.
PloS one
|July 23, 2025
概括
本研究引入了多机器人故障诊断的联合学习方法,使单个机器人能够自我诊断问题,并通过行为一致性协作识别系统范围内的故障. 这提高了协作机器人系统的可靠性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 机器学习 机器学习
背景情况:
- 由于相互连接,单个机器人的故障可以连接到多机器人系统中.
- 目前的故障诊断模型对于复杂的多机器人环境是不够的.
研究的目的:
- 为多机器人系统开发一个强大的故障诊断框架.
- 为了使个人机器人能够在一组内进行自我诊断和相互诊断.
主要方法:
- 利用格拉米安角场 (GAF) 来将本地机器人数据编码为时间频率图.
- 实施了一个联合学习框架,用于预训练和汇总单个机器人故障模型.
- 开发了一个多机器人相互诊断模型,考虑了群体行为的一致性 (速度,方向).
主要成果:
- 自诊断模型准确地识别了机器人组件中的各个故障.
- 相互诊断模型有效地检测基于行为连贯性的全系统故障.
- 联合学习方法在分布式培训期间减轻了知识转移.
结论:
- 拟议的基于学习的联合故障诊断系统增强了多机器人协作的弹性.
- 自我和相互诊断的整合,以及行为一致性检查,提高了故障检测准确性和隔离.
更多相关视频
相关概念视频
Distributed Loads: Problem Solving
738
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
738
Three-Dimensional Force System:Problem Solving
863
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
863
Fault Types
127
When analyzing a single line-to-ground fault from phase A to ground at a three-phase bus, it is important to consider the fault impedance. This impedance is zero for a bolted fault, equal to the arc impedance for an arcing fault, and represents the total fault impedance for a transmission-line insulator flashover. To derive sequence and phase currents, fault conditions are translated from the phase domain to the sequence domain.
For line-to-line faults occurring between phases B and C, the...
For line-to-line faults occurring between phases B and C, the...
127
Two-Dimensional Force System: Problem Solving
678
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
678

