Study on Plant Inspection and Diagnosis Robot (3rd Report)

Method of Searching a Faulty Sound Source by a Manipulator with Genetic Algorithms Control

Abstract

The plant inspection and diagnosis robot (I.D.R.) proposed in this study will search a faulty part in a machine by sound signal with the following steps : (1) detecting the failure, (2) searching the faulty machine and (3) searching the faulty part in the machine. (1) and (2) have been discussed on the 1st and 2nd reports. This paper discusses the searching method for the 3rd step. The contents of this paper are : (1) collision avoidance method of the manipulator equipped on the I.D.R. A sound sensor is installed on the manipulator for measuring sound signal; (2) the control method of the manipulator for searching the faulty part by using Genetic Algorithms (GA); (3) showing the method of obtaining the initial genotype population for the GA control; (4) verifying the efficiency of these methods by practical application.