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Jiping Lu

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2 papers
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2

EAAI Journal 2025 Journal Article

Graph modeling of multi-scale energy entropy for intelligent fault detection

  • Jianfeng Wei
  • Faping Zhang
  • Jiping Lu
  • Jianing Man

Bearing is a key component of rotating machinery, and the fault detection of bearing is of great significance to ensure the normal operation of machinery. How to extract fault features with rich information from the time-frequency domain after signal decomposition becomes the key to fault detection. However, the undershoot and overshoot phenomena affect the result of signal decomposition, and the defined fault features do not consider the correlation between local scales after decomposition, which hinders the accuracy of fault detection. To address this issue, this study proposes an intelligent fault detection algorithm, named multi-scale energy entropy-graph model fault detection algorithm. The algorithm first proposes a local envelope mode decomposition method to obtain the multi-scale components of the signal, effectively addressing the issues of undershoot and overshoot present in traditional decomposition methods while reducing signal decomposition errors. Subsequently, a multi-scale energy entropy-graph model is constructed to capture more fault information considering the correlation between local scales. Furthermore, the graph state similarity index is defined to describe the machine state, and fault detection is realized using hypothesis testing. The experimental results were compared with some benchmark methods reported in the existing literature. The experimental results show that the detection algorithm achieves the best performance in Precision of 83 %, Recall of 100 %, and F1 score of 91 %, and the detection results are satisfactory.

IROS Conference 1998 Conference Paper

Selecting stable image features for robot localization using stereo

  • James J. Little
  • Jiping Lu
  • Don Ray Murray

To navigate and recognize where it is, a mobile robot must be able to identify its current location. In an unknown initial position, a robot needs to refer to its environment to determine its location in an external coordinate system. Even with a known initial position, drift in odometry causes the estimated position to deviate from the correct position, requiring correction. We show how to find landmarks without models. We use dense stereo data from our mobile robot's trinocular system to discover image regions that will be stable over widely differing viewpoints. We find image brightness "corners" in images and select those that do not straddle depth discontinuities in the stereo depth data. Selecting corners only in regions of nearly planar stereo data results in landmarks that can be seen in images taken from different viewpoints.

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