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- Fault detection approach based on fuzzy qualitative reasoning applied to the DAMADICS benchmark problemPublication . Calado, João Manuel Ferreira; Carreira, F. P. N. F.; Mendes, Mário J. G. C.; Costa, J. M. G. Sá da; Bartys, M.A computer assisted fault detection methodology based on a fuzzy qualitative simulation algorithm is described. The adoption of fuzzy sets allows a more detailed description of physical variables, through an arbitrary, but finite, disaetisatioo of the quantity space. The fuzzy representation of qualitative values is more general than ordinary interval representation, since it can represent not only the information stated by a well defined real interval but also the knowledge embedded in the soft boundaries of the interval. Such a methodology was applied to a pneumatic servomotor actuated control valve that is the benchmark problem of the EC RTN DAMADlCS.
- A gantry robot automatic positioning system using computational visionPublication . Beites, Nuno; Dias, Manuel; Gonçalves Cavaco Mendes, Mário José; Carreira, Fernando; Campos, F.; Calado, João Manuel FerreiraWith the new industrial revolution (industry 4.0) under way, there is a need to automate/digitalize even the simplest processes to keep companies competitive, efficient and secure. This work proposes an automatic and robotic positioning system with position control through the image of video cameras. The objective is to propose this type of automatic system to companies aiming to improve robotic systems operations that are often controlled manually and with associated risks. The developed system was tested in simulation (using Matlab) and in an experimental scale prototype.
- Fault isolation approach using a PROFIBUS network: a case studyPublication . Mendes, Mário J. G. C.; Kowal, Marek; Calado, João Manuel Ferreira; Korbicz, Józef; Costa, J. M. G. Sá daThis paper presents the second stage, of a two-stage neuro-fuzzy system, used for fault isolation (FI) in dynamic processes and it`s built using a hierarchical structure of fuzzy neural networks. The current approach is tested under a hardware bench constructed with componentes commonly used in the industry and consists on a pilot plant under supervision, a supervision unit, a fault detection and isolation unit and a fault simulation unit. All the elements are connected to a PROFIBUS network, which acts as the communication system for exchanging information between the automation system and the distributed field devices.
- Industrial collaborative robotics platformPublication . Vicente, L.; Lomelino, P.; Carreira, F.; Campos, F. M.; Mendes, Mário J. G. C.; F. G. Osório, A. Luís; Calado, João Manuel FerreiraCyber-physical systems are not designed to integrate an industrial collaborative network when their integration with other systems is required. It is necessary to adopt a strategic model of integration and value creation that allows the interoperability of equipment supported by open technologies, based on the concepts underlying Industry 4.0. To this end, a conceptual information architecture is proposed to manage industrial robotic platforms based on a Cyber Device Bus design. The challenge is to contribute to an open technological framework involving computer systems, cyber-physical systems, and IoT elements in a logic of integration by adaptation without the need for specialized adapters. Adaptation occurs through the adoption of the informatics System of Systems (ISoS) technological framework, providing an integrated service-oriented (micro-services) view of technology elements and establishing cooperation between computer and cyber-physical systems under different responsibilities and based on a diversity of technological frameworks.
- Fault isolation based on HSFNN applied to DAMADICS benchmark problemPublication . Calado, João Manuel Ferreira; Louro, R.; Mendes, Mário J. G. C.; Costa, J. M. G. Sá da; Kowal, M.The present paper is concemed with the application of a hierarchical structure of fuzzy newal networks (HSFNN) to fault isolation on a pneumatic servo-motor actuated valve that is the benchmark considered for all the DAMADICS (Development and Application of Methods for Actuator Diagnosis in IndusIrial Control Systems) project partners. The adoption of a hierarchical structure of fuzzy newal netwoIks for fault isolation pwposes aims the development of an architecture that can localise abrupt and incipient single and multiple faults correctly or at least with a minimum misclassification rate and be easily trained, ftom only single abrupt fault symptoms.
- Fault detection scheme using the agents paradigmPublication . Mendes, Mário J. G. C.; Calado, João Manuel Ferreira; Costa, J. M. G. Sá daAn agent based fault detection (FD) system for complexa nd dynamic processes is proposed in this work. The system is based in the agent paradigm where the modularity and complexity of the processes are important aspects in the FD system constructed. In the future, the FD agents must be able to cooperate and communicate with other systems to achieve a satisfactory performance, as a part of a fault tolerant control multi-agent system. The FD agents proposed here have hybrid architectures based in a horizontal layered architecture. Two types of FD agents are proposed, one based in decomposition wavelet methods with limit checking and other based in neural networks ARX models for residual generation. The agent based FD scheme proposed is applied in a three tank process.
- Industrial actuator diagnosis using hierarchical fuzzy neural networksPublication . Mendes, Mário J. G. C.; Calado, João Manuel Ferreira; Sousa, J. M. C.; Costa, J. M. G. Sá daIn this paper a hierarchical structure offuzzy neural networks (FNNs) and how to train it for fault isolation given an appropriate data patterns, are presented. Fault symptoms concerning multiple simultaneous faults are harder to learn than those associated with single faults. Furthermore, the larger the set of faults, the larger the set of fault symptoms will be and, hence, the longer and less certain the training outcome. In order to overcome this problem, the proposed approach has a hierarchical structure of three levels where several FNNs are used. Thus, a large number ofpatterns are divided into many smaller subsets so that the classification can be carried out more efficiently. One ofthe advantages of this approach is that multiple faults can be detected in new data even ifthe network is trained only with datarepresenting single abrupt faults. A continuous binary distillation column having several actuated valves with PID loops has been used as testbed for the proposed approach.
- Supervision System 4.0 for a Road Tanker Washing Robot ManipulatorPublication . Vicente, L.; Carreira, Fernando; Campos, Francisco M.; Gonçalves Cavaco Mendes, Mário José; Calado, João Manuel Ferreira; Carvalho, GamboaThe washing of road tankers is currently still a manual process that requires an operator to place the washing head into the tanks. To increase productivity and operator safety, it is essential to implement automated systems with Fault Detection and Isolation (FDI) capabilities. On the other hand, the industry 4.0 paradigm promotes the use of collaborative systems that integrate with the other organization’s processes. Realizing this new vision requires Supervision, Control and Data Acquisition (SCADA) systems with FDI modules that integrate with collaborative systems and promote the digitalization of companies. This paper proposes a SCADA system for a new road tanker washing robot, aimed at integrating all systems and communication networks of the organization and future FDI modules. To this end, this paper proposes a communication architecture based on open protocols and a common database to connect SCADA to the lower and higher levels of automation. Furthermore, this paper describes the various aspects of SCADA system development, from synoptic design to validation. To support the development of the SCADA system, a Digital Twin (DT) of the road tanker washing robot was used, allowing to test and validate its functionality through this virtual prototype. The results show that the proposed SCADA system and underlying information architecture are suitable for supervision of a robotized wash operation and that the use of a Digital Twin facilitates SCADA system design and validation.
- Pruning algorithm applied to a hierarchical structure of fuzzy neural networks: case studyPublication . Mendes, Mário J. G. C.; Calado, João Manuel Ferreira; Costa, J. M. G. Sá daThis research paper is concerned with the fault detection and isolation (FDI) problem, or more exactly, with a hierarchical structure of fuzzy neural networks (HFNN) used for fault isolation purposes in industrial processes. The main aim of this research work is to optimise the number of neurons in the hidden layer of all fuzzy neural networks (FNNs) used in the HFNN. Thus, the optimal brain surgeon (OBS) pruning algorithm has been used to prune all FNNs. After the OBS optimisation, the HFNN structure continues to be able to isolate correctly, abrupt and incipient, single and multiple faults. At the same time, the structure became simpler and better generalisation capabilities have been observed. A continuous binary distillation column having several actuated valves with PID control loops has been used as test bed of the proposed approach.
- Fault diagnosis system based in agentsPublication . Mendes, Mário J. G. C.; Calado, João Manuel Ferreira; Costa, J. M. G Sá daIn this work is proposed a new agent based fault diagnosis system for complex and dynamic processes. The fault diagnosis systems of the future should have present the distribution and complexity of the processes and they must be able to cooperate and communicate with other systems to achieved a satisfactory performance. The fault detection and isolation (FDI) agents proposed here have hybrid architectures based in a horizontal layered architecture. The reactive layer of the FDI agents are based in decomposition wavelet methods for the fault detection and in neural networks for the fault isolation task. The new agent based FDI system is applied to fault diagnosis in a three tank process.