深海剖面测量系统设计

文章介绍了一种深海剖面测量系统的总体和软硬件设计,并给出了试验数据。该深海剖面测量系统利用浮力调节来控制测量平台升降,升降测量平台搭载CTD传感器、海流计等测量仪器,在升降过程中完成长时间深海环境参数剖面测量,是一种低功耗、高效率的海洋观测系统。     

具有多传感器的CPS系统的攻击检测

信息物理系统（cyber-physical systems，简称CPS）是基于环境感知实现计算、通信与物理元素紧密结合的下一代智能系统，广泛应用于安全攸关的系统和工业控制等领域.信息技术与物理世界的相互作用使得CPS容易受到各种恶意攻击，从而破坏其安全性.主要研究存在瞬态故障的CPS中传感器的攻击检测问题.考虑具有多个传感器测量相同物理变量的系统，其中一些传感器可能受到恶意攻击并提供错误的测量.此外，使用抽象传感器模型，每个传感器为控制器提供一个真实值的可能间隔.已有的用于检测传感器被恶意攻击的方法是保守的.当专业攻击者在一段时间内轻微地或不频繁地操纵传感器的输出时，现有方法很难捕获到攻击，如隐身攻击.为了解决这个问题，设计了一种基于融合间隔和历史测量的传感器攻击检测方法.该方法首先为不同的传感器构建不同的故障模型，使用系统动力学方程把历史测量融入到攻击检测方法中，从不同的方面分析传感器的测量.另外，利用历史测量和融合间隔解决了两个传感器的测量相交时是否存在故障的问题.该方法的核心思想是利用传感器之间的成对不一致关系检测和识别攻击.从EV3地面车辆上获得真实的测量数据来验证算法的性能.实验结果表明，所提出的方法优于现有方法，对各种攻击类型都有较好的检测和识别性能，特别是对于隐身攻击，检测率和识别率大约提高了90%以上.     

Diagnosability of discrete event systems for temporary failures

Failure Detection and Diagnosis (FDD) using Discrete Event System (DES) framework is used for wide range of applications because of simplicity of both the model and associated algorithms. Initial research was focussed on permanent failures. Many systems exhibit temporary failures in the sense that system recovers to normal condition after failure. Contant et al. extended the event based DES framework, developed for permanent failure by Sampath et al. to handle temporary failures. Zad et al. developed a state based DES framework for permanent failures which has several advantages compared to the event based approach. In this paper, we extend the state based DES framework, developed for permanent failures, to handle temporary failures, maintaining the same order of complexity. The proposed DES framework has several advantages compared to that by Contant et al. namely, capability to detect failures that occur before starting execution of the diagnoser, same diagnoser for both temporary and permanent failures, etc.     

基于鲁棒主成分分析的智能电网虚假数据注入攻击

基于主成分分析（PCA）的盲攻击策略仅对具有高斯噪声的测量数据有效,在存在异常值的情况下,上述攻击策略将被传统的坏数据检测模块检测。针对异常值存在的问题,提出一种基于鲁棒主成分分析（RPCA）的盲攻击策略。首先,攻击者收集含有异常值的测量数据;然后,通过基于交替方向法（ADM）的稀疏优化技术从含有异常值的测量数据中分离出异常值和真实的测量数据;其次,对真实测量数据进行PCA,得到系统的相关信息;最后,利用获得的系统信息构造攻击向量,并根据得到的攻击向量注入虚假数据。该攻击策略在IEEE 14-bus系统上进行了测试,实验结果表明,在异常值存在的情况下,传统的基于PCA的攻击方法将被坏数据检测模块检测,而所提方法基于鲁棒PCA的攻击策略能够躲避坏数据检测模块的检测。该策略使得在异常值存在的情况下虚假数据注入攻击（FDIA）仍然能够成功实施。     

A large-scale evaluation of automated metadata inference approaches on sensors from air handling units

Building automation systems provide abundant sensor data to enable the potential of using data analytics to, among other things, improve the energy efficiency of the building. However, deployment of these applications for buildings, such as, fault detection and diagnosis (FDD) on multiple buildings remains a challenge due to the non-trivial efforts of organizing, managing and extracting metadata associated with sensors (e.g., information about their location, function, etc.), which is required by applications. One of the reasons leading to the problem is that varying conventions, acronyms, and standards are used to define this metadata. To better understand the nature of the problem, as well as the performance and scalability of existing solutions, we implement and test 6 different time-series based metadata inference approaches on sensors from 614 air handling units (AHU) instrumented in 35 building sites accounting for more than 400 buildings distributed across United States of America. We infer 12 types of sensors and actuators in AHUs required by a rule-based FDD application: AHU performance and assessment rules (APAR). Our results show that: (1) the average performance of these approaches in terms of accuracy is similar across building sites, though there is significant variance; (2) the expected accuracy of classifying the type of points required by APAR for a new unseen building is, on average, 75%; (3) the performance of the model does not decrease as long as training data and testing data are extracted from adjacent months.     

信息融合技术在传感器故障诊断中的应用

研究了扭转材料试验机传感器的故障诊断系统,为提高传感器的故障诊断精度,在对诊断方案进行分析、研究、仿真、比较和验证的基础上,结合工程实际的特殊要求和相关经验,确定了最合适的一种--多传感器信息融合故障诊断方案.通过对传感器的故障建立数学模型并进行计算机仿真,仿真结果表明该故障检测方法对于材料试验机的传感器常见的故障均能进行识别和告警,效果令人满意.     

Data-driven Fault Detection and Diagnosis for HVAC water chillers

Faulty operations of Heating, Ventilation and Air Conditioning (HVAC) chiller systems can lead to discomfort for the users, energy wastage, system unreliability and shorter equipment life. Faults need to be early diagnosed to prevent further deterioration of the system behaviour and energy losses. Since it is not a common practice to collect historical data regarding unforeseen phenomena and abnormal behaviours for HVAC installations, in this paper, a semi-supervised data-driven approach is employed for fault detection and isolation that makes no use of a priori knowledge about abnormal phenomena. The proposed method exploits Principal Component Analysis (PCA) to distinguish anomalies from normal operation variability and a reconstruction-based contribution approach to isolate variables related to faults. The diagnosis task is then tackled by means of a decision table that associates the influence of faults to certain characteristic features. The Fault Detection and Diagnosis (FDD) algorithm performance is assessed by exploiting experimental datasets from two types of water chiller systems.     

用于胎压监测系统的一种改进贝叶斯估计数据融合算法的研究

针对小型汽车胎压监测系统(TPMS)利用单一传感器测量数据不确定性的问题,提出一种将贝叶斯估计和卡尔曼滤波相结合的多传感器数据融合的方法.设计满足系统功能要求的方案,运用贝叶斯估计对SP370轮胎模块中传感器采集的数据进行融合,排除失效的数据以及故障的传感器,提高系统的精度.结合卡尔曼滤波器优化融合的结果,消除噪声信号.研究结果表明,采用上述的数据融合方法能够有效的解决单一传感器测量数据的局限性,抑制传感器引入的噪声,并通过仿真验证了本系统的可行性、可靠性.     

基于ZigBee的无线MI磁强计

在现有医疗磁导航系统和地磁数据的信息检测中,针对磁场测量中遇到的有线传输布线困难及操作不便等情况,利用ZigBee无线收发芯片(CC2430)组成的信息无线传输模块,给出了一种磁场检测无线传输解决方案;在此基础上,通过实验测量,验证ZigBee无线模块对磁感(MI)传感器输出产生影响;确认实际干扰的存在,并将其值量化,提出一套消除无线传输对MI传感器影响的解决方案。     

广义双线性系统的残差产生器设计

针对具有不可测外界干扰和有界控制输入的广义双线性系统,提出了一种用于故障检测的未知输入残差产生器的设计方法。首先,通过非奇异线性变换,将广义双线性系统分解成动态和静态两个子系统,设计了未知输入残差产生器,给出了未知输入残差产生器存在的充分必要条件,并基于Lyapunov稳定理论,分析了所设计的未知输入残差产生器的指数稳定性。然后,针对未知输入残差产生器中的待定参数,基于线性矩阵不等式技术和广义逆理论,给出了未知参数的求解过程,该求解方法不需要对待求参数进行参数化的过程,易于计算。     

基于量测噪声和观测次数的EKF-SLAM一致性分析

Inconsistency is a fundamental problem in simultaneous localization and mapping (SLAM). Previous works from predecessors have studied the inconsistent problem of extended Kalman filter (EKF) SLAM algorithm focusing on the linearization errors. In this paper, we studied the inconsistency issue of EKF SLAM in theory based on measurement noise and observation time. In a simplified situation, we deduced some useful theorems of estimated covariance matrix. Then, we made use of them to investigate the inconsistency issue. We showed that the measurement noise and the observation times can drive the EKF SLAM out of consistency. Moreover, we demonstrated the explicit effects of measurement noise and observation times on inconsistency of the EKF SLAM. Our simulation experiments verified the results.     

Effective Maximum Likelihood Grid Map With Conflict Evaluation Filter Using Sonar Sensors

In this paper, we address the problem of building a grid map using cheap sonar sensors, i.e., the problem of using erroneous sensors when seeking to model an environment as accurately as possible. We rely on the inconsistency of information among sonar measurements and the sound pressure of the waves from the sonar sensors to develop a new method of detecting incorrect sonar readings, which is called the conflict evaluation with sound pressure (CEsp). To fuse the correct measurements into a map, we start with the maximum likelihood (ML) approach due to its ability to manage the angular uncertainty of sonar sensors. However, since this approach suffers from heavy computational complexity, we convert it to a light logic problem called the maximum approximated likelihood (MAL) approach. Integrating the MAL approach with the CEsp method results in the conflict evaluated maximum approximated likelihood (CEMAL) approach. The CEMAL approach generates a very accurate map that is close to the map that would be built by accurate laser sensors and does not require adjustment of parameters for various environments.      

自确认压力传感器硬件平台设计

自确认压力传感器是一种不仅能输出压力测量值,并且能对其自身工作状态进行在线评估的新型压力传感器。系统利用TMS320F2812和TMS320C6713组成双处理器系统,完成对自确认压力传感器八路信号的同步采集和信号调理,然后利用DSP实现传感器的故障检测、诊断、自确认参数计算等复杂运算,将确认的测量值,测量值确认的不确定度,传感器状态输出给上位机或用户。实验结果表明,该系统实现了自确认压力传感器的各项功能,通过修改DSP软件部分,可以应用于其他传感器信号的数据采集与处理。     

复杂动态系统中不同层次故障检诊模块的综合设计

为解决复杂动态系统中不同层次故障检诊模块的协调管理和高效运行问题,研究了其综合设计方法。该方法对复杂动态系统层次建模,提出检诊进程概念以描述系统不同层次的故障检诊,同时建立了检诊进程通用模型,使大部分现存检诊算法可方便地纳入其中,实现了不同层次检诊进程的信息交换与综合设计。数字仿真表明,综合设计不但能提高各模块检诊能力,而且可以总体上提高其应付常规方法难以处理的复杂故障情况。     

Sensor validation and process fault diagnosis for FCC units under MPC feedback

Model predictive control (MPC) has been widely applied in industry, especially in the refining industry. As all feedback controllers require correct sensor measurements, unreliable sensors can cause the MPC controller to move the process in an erroneous manner. Data validation of sensor measurements is a prerequisite in applying advanced control, particularly multivariable control which depends on many sensors. However, little research work is available on how feedback controllers like MPC complicate the task of sensor validation and process fault diagnosis. In theory, a controller can transfer the effect of a sensor fault in a controlled variable to the manipulated variables. In this paper, principal component analysis (PCA) is applied to detect, identify and reconstruct faulty sensors in a simulated FCC unit. A base PCA model is generated by perturbing the process throughout the operating region. Performance of MPC with and without data validation is compared. The same base PCA model is applied to detect and identify dynamic process faults. We demonstrate that process faults can be detected and diagnosed at an early stage.     

基于聚偏二氟乙烯步态智能检测的乘客计数系统

针对现有的以低成本、耐损耗的聚偏二氟乙烯(PVDF)为压电材料的客流计数传感器存在的误计数、漏计数而导致精度不够的问题,提出了一种基于PVDF步态智能检测技术的乘客计数系统。采用ANSYS软件对乘客上下车步态作应力分析,观察PVDF压电信号的分布规律,设计多输入信号调理电路获取多通道足底信号,结合信号处理算法,设计了传感器机械结构和基于实验室虚拟仪器集成环境(LabVIEW)的公交车人数统计系统。实验结果表明,该系统平均计数误差为5.3%,与已有的PVDF客流计数传感器相比,提高了精度;与视频图像计数和人体红外检测技术相比,大大降低了成本,具有很高的实用性,可以广泛应用于我国公共交通客运车。     

非分光红外车辆尾气传感器系统设计

非分光红外( NDIR)是一种利用气体对红外光的选择性吸收原理进行气体浓度检测的方法.利用NDIR分析方法,设计一种车辆尾气检测传感器系统,实现对大气中存在的汽车尾气进行检测与分析.该系统使用多窗口红外传感器组合,采用v支持向量回归进行传感器建模.实验结果证明:该检测系统具有测量精度高、稳定性好和便于携带的特点,能够满足车辆尾气测量分析的需求.     

Sensor fault diagnosis of singular delayed LPV systems with inexact parameters: an uncertain system approach

In this paper, sensor fault diagnosis of a singular delayed linear parameter varying (LPV) system is considered. In the considered system, the model matrices are dependent on some parameters which are real-time measurable. The case of inexact parameter measurements is considered which is close to real situations. Fault diagnosis in this system is achieved via fault estimation. For this purpose, an augmented system is created by including sensor faults as additional system states. Then, an unknown input observer (UIO) is designed which estimates both the system states and the faults in the presence of measurement noise, disturbances and uncertainty induced by inexact measured parameters. Error dynamics and the original system constitute an uncertain system due to inconsistencies between real and measured values of the parameters. Then, the robust estimation of the system states and the faults are achieved with H_∞ performance and formulated with a set of linear matrix inequalities (LMIs). The designed UIO is also applicable for fault diagnosis of singular delayed LPV systems with unmeasurable scheduling variables. The efficiency of the proposed approach is illustrated with an example.     

Measurement of coupling forces at the power tool handle-hand interface

This study explored a low-cost system for measurement of coupling forces imposed by the hand on a handle under static and dynamic conditions, and its feasibility for applications to hand-held power tools. The properties of thin-film, flexible and trim-able resistive sensors (FlexiForce) were explored in view of their applicability for measurements of the hand-handle interface forces. The sensors showed very good linearity, while considerable differences were evident in the sensitivity amongst different sensors. The appropriate locations of the sensors on the handle surface were subsequently determined on the basis of the hand-handle geometry and reported force distributions. The validity of the measurement system was investigated for measuring the hand grip and push forces with eight subjects grasping five different stationary instrumented handles (cylindrical: 32, 38 and 43 mm diameter; and elliptical: 32 × 38 and 38 × 44 mm) considering two different positions of the sensors on the handle. The validity of the measurement system was also investigated under vibration for the 38 and 43 mm diameter cylindrical handles. The results showed good linearity and repeatability of the sensors for all subjects and handles under static as well as vibration conditions, while the sensors' outputs differed for each handle. The feasibility of the measurement system was also examined for measurements of hand forces on a power chisel hammer handle. The evaluations were conducted with three subjects grasping the power chisel handle under stationary as well as vibrating conditions, and different combinations of hand grip, push and coupling forces. The measurements revealed very good correlations between the hand forces estimated from the FlexiForce sensors and the reference values for the stationary as well as the vibrating tool.Relevance to industryThe measurement of hand-handle interface forces is vital for assessing the hand-transmitted vibration exposure and musculoskeletal loads. The low cost and flexible sensors, proposed in the study, could be conveniently applied to the curved surfaces of real power tool handles in the field to measure hand grip and push forces, and the forces exerted on the palm and the fingers. The most significant benefits of the sensors lie with its minimal cost and applicability to the real tool handles.     

多通道压力传感器多参数自动测试系统设计

设计了一种压力传感器自动测试系统,可实现对多路传感器和多个参数的自动切换测量.通过设计的多功能矩阵开关电路配合一台高精度数据采集器,实现选通切换与测量;采用LabVIEW设计上位机软件,实现标定数据、温度补偿数据、时漂数据显示以及计算、报表功能.实验证明：该系统可同时进行90只压力传感器的桥路电压、电阻、电流等参数测量,满足精度为1％～0.1％压力传感器批量产品检测与检定的多种测试需要.