{"id":"https://openalex.org/W3011545571","doi":"https://doi.org/10.1109/cdc40024.2019.9030151","title":"Smooth residual generation for robust isolation of faults in manipulators using joint torque sensors","display_name":"Smooth residual generation for robust isolation of faults in manipulators using joint torque sensors","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3011545571","doi":"https://doi.org/10.1109/cdc40024.2019.9030151","mag":"3011545571"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9030151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9030151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056284626","display_name":"Sasan Karami","orcid":null},"institutions":[{"id":"https://openalex.org/I133529467","display_name":"Sharif University of Technology","ror":"https://ror.org/024c2fq17","country_code":"IR","type":"education","lineage":["https://openalex.org/I133529467"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Sasan Karami","raw_affiliation_strings":["Faculty of Electrical Engineering, Sharif University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Sharif University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054679873","display_name":"Mehrzad Namvar","orcid":"https://orcid.org/0000-0001-8614-3608"},"institutions":[{"id":"https://openalex.org/I133529467","display_name":"Sharif University of Technology","ror":"https://ror.org/024c2fq17","country_code":"IR","type":"education","lineage":["https://openalex.org/I133529467"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mehrzad Namvar","raw_affiliation_strings":["Department of Electrical Engineering, Sharif University of technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Sharif University of technology, Tehran, Iran","institution_ids":["https://openalex.org/I133529467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5056284626"],"corresponding_institution_ids":["https://openalex.org/I133529467"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22787023,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":null,"first_page":"2922","last_page":"2927"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9692000150680542,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11357","display_name":"Risk and Safety Analysis","score":0.9539999961853027,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.794978141784668},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.7207338809967041},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7036405205726624},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.623903751373291},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5849050283432007},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.47705191373825073},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45956307649612427},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44517970085144043},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4440988004207611},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4376761019229889},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17748847603797913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1679079830646515},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11787641048431396},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1013491153717041},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07594311237335205}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.794978141784668},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.7207338809967041},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7036405205726624},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.623903751373291},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5849050283432007},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.47705191373825073},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45956307649612427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44517970085144043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4440988004207611},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4376761019229889},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17748847603797913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1679079830646515},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11787641048431396},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1013491153717041},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07594311237335205},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc40024.2019.9030151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9030151","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2007036372","https://openalex.org/W2042742162","https://openalex.org/W2054127377","https://openalex.org/W2067921065","https://openalex.org/W2097951398","https://openalex.org/W2117675571","https://openalex.org/W2126708831","https://openalex.org/W2150005359","https://openalex.org/W2164902253","https://openalex.org/W2167488936","https://openalex.org/W2507795633","https://openalex.org/W2914673112","https://openalex.org/W4292872153","https://openalex.org/W6677500926"],"related_works":["https://openalex.org/W2560215812","https://openalex.org/W2949601986","https://openalex.org/W2788972299","https://openalex.org/W3101820272","https://openalex.org/W4385301753","https://openalex.org/W1975104796","https://openalex.org/W2171501125","https://openalex.org/W2770006443","https://openalex.org/W2617234683","https://openalex.org/W3160067159"],"abstract_inverted_index":{"Reliability":[0],"of":[1,13,27,66,141,153,162],"model-based":[2],"failure":[3],"detection":[4,53],"and":[5,43,54,90,103,122,143],"isolation":[6,55],"(FDI)":[7,56],"methods":[8],"depends":[9],"on":[10,120,135,139,150],"the":[11,25,114,163],"amount":[12],"uncertainty":[14],"in":[15,32,64,130],"a":[16,33,48,76,151],"system":[17,78],"model.":[18],"Recently,":[19],"it":[20,104],"has":[21,96],"been":[22],"shown":[23],"that":[24,37],"use":[26],"joint":[28,61,81],"torque":[29,62,82,123],"sensing":[30],"results":[31],"simplified":[34],"manipulator":[35,136,155],"model":[36,67,79,137],"excludes":[38],"hardly":[39],"identifiable":[40],"link":[41],"dynamics":[42,98],"other":[44],"nonlinearities.":[45],"We":[46],"present":[47],"geometric":[49],"approach":[50],"to":[51,88,159],"fault":[52],"for":[57,74,113],"robotic":[58,77],"manipulators":[59],"using":[60,80],"sensor":[63,83,124],"presence":[65],"uncertainty.":[68],"A":[69],"systematic":[70],"procedure":[71],"is":[72,156],"introduced":[73],"representing":[75],"being":[84],"affine":[85],"with":[86,99],"respect":[87],"faults":[89,125,142],"disturbances.":[91],"The":[92,117],"proposed":[93,164],"FDI":[94,115,165],"filter":[95],"smooth":[97],"freely":[100],"selectable":[101],"functions":[102],"does":[105],"not":[106],"require":[107],"high":[108],"gains":[109],"or":[110,138],"threshold":[111],"adjustment":[112],"purpose.":[116],"paper":[118],"focus":[119],"actuator":[121],"which":[126],"are":[127,146],"more":[128],"common":[129],"practical":[131],"cases.":[132],"No":[133],"information":[134],"amplitude":[140],"their":[144],"rate":[145],"used.":[147],"Simulation":[148],"examples":[149],"3-degrees":[152],"freedom":[154],"carried":[157],"out":[158],"illustrate":[160],"performance":[161],"method.":[166]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
