Fault Diagnosis Systems for Robots: Acoustic Sensing-Based Identification of Detached Components for Fault Localization
Abstract
1. Introduction
2. Materials and Methods
2.1. Concept of Transfer Function and Frequency Response
2.2. Experimental Setup and Data Acquisition
2.3. Signal Processing and Feature Extraction
2.4. Fault Classification and Model Comparison
3. Results
3.1. Acoustic Signal Analysis
3.2. Classification Performance
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Abbreviations
AAS | Active acoustic sensing |
AE | Acoustic emission |
FFT | Fast Fourier transform |
KNN | K-nearest neighbor |
MLP | Multi-layer perceptron |
RF | Random forest |
SVM | Support vector machine |
Laplace transform of the input signal | |
Laplace transform of the output signal | |
Transfer function in the Laplace domain | |
Complex frequency variable | |
σ | Real part of the s |
ω | Angular frequency in radians per second |
Frequency response of the system | |
X(f) | Input signal in the frequency domain |
Y(f) | Output signal in the frequency domain |
Transfer function in the real frequency domain | |
x(t) | Input signal in the time domain |
y(t) | Output signal in the time domain |
Frequency in Hertz |
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Model | Hyper Parameters |
---|---|
SVM | c = 0.3, kernel = linear |
Random Forest | n estimators = 142, max depth = 10 |
KNN | n neighbors = 4, weights = distance |
XGBoost | boosting rounds = 100, learning rate = 0.1 |
LightGBM | boosting rounds = 100, learning rate = 0.1 |
MLP | single hidden layer, Relu activation |
Model | Accuracy |
---|---|
SVM | 65.7 |
Random Forest | 51.4 |
KNN | 60.0 |
XGBoost | 57.1 |
LightGBM | 62.9 |
MLP | 71.4 |
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Yeo, W.; Matsumoto, M. Fault Diagnosis Systems for Robots: Acoustic Sensing-Based Identification of Detached Components for Fault Localization. Appl. Sci. 2025, 15, 6564. https://doi.org/10.3390/app15126564
Yeo W, Matsumoto M. Fault Diagnosis Systems for Robots: Acoustic Sensing-Based Identification of Detached Components for Fault Localization. Applied Sciences. 2025; 15(12):6564. https://doi.org/10.3390/app15126564
Chicago/Turabian StyleYeo, Woonghee, and Mitsuharu Matsumoto. 2025. "Fault Diagnosis Systems for Robots: Acoustic Sensing-Based Identification of Detached Components for Fault Localization" Applied Sciences 15, no. 12: 6564. https://doi.org/10.3390/app15126564
APA StyleYeo, W., & Matsumoto, M. (2025). Fault Diagnosis Systems for Robots: Acoustic Sensing-Based Identification of Detached Components for Fault Localization. Applied Sciences, 15(12), 6564. https://doi.org/10.3390/app15126564