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Fault detection for linear parameter varying systems under changes in the process noise covariance
(2020)
Detecting changes in the eigenstructure of linear systems is a comprehensively investigated subject. In particular, change detection methods based on hypothesis testing using Gaussian residuals have been developed previously. In such residuals, a reference model is confronted to data from the current system. In this paper, linear output-only systems depending on a varying external physical parameter are considered. These systems are driven by process noise, whose covariance may also vary between measurements. To deal with the varying parameter, an interpolation approach is pursued, where a limited number of reference models -- each estimated from data measured in a reference state -- are interpolated to approximate an adequate reference model for the current parameter. The problem becomes more complex when the different points of interpolation correspond to different noise conditions. Then conflicts may arise between the detection of changes in the eigenstructure due to a fault and the detection of changes due to different noise conditions. For this case, a new change detection approach is developed based on the interpolation of the eigenstructure at the reference points. The resulting approach is capable of change detection when both the external physical parameter and the process noise conditions are varying. This approach is validated on a numerical simulation of a mechanical system.
Bei der Stahlproduktion fallen verfahrensbedingt große Mengen an Nebenprodukten und Abfällen wie Stahlwerksschlacken, Filterstäube und Gichtgasschlämme an. Hohe Anteile dieser Stoffströme werden aufgrund ihrer Zusammensetzung immer noch deponiert, obwohl sie ein hohes Wertstoffpotential aufweisen. An der Bundesanstalt für Materialforschung und -prüfung (BAM) werden Verfahren untersucht
und entwickelt, welche eine Verwertung und Kreislaufführung dieser Materialströme ermöglichen. Aus sogenannten Linz-Donawitz-(LD)-Schlacken können durch carbothermische Nachbehandlung Roheisen und ein dem Portlandzementklinker (PZK) ähnliches Bindemittel erzeugt werden. Aus Elektroofenstäuben und Gichtgasschlämmen kann Zink gewonnen und die Anteile an Eisen und Kohlenstoff in den Stahlproduktionsprozess zurückgeführt werden. Durch diese technischen Maßnahmen kann es gelingen die Deponierung von Abfällen der Stahlproduktion zukünftig deutlich zu reduzieren.
Lichtbogenbasierte Schweißverfahren wie das Metallschutzgasschweißen (MSG) zählen zu den Standardverfahren der Fügetechnik und werden in vielen Industriebereichen automatisiert unter Verwendung von Industrierobotern eingesetzt. Dabei können Schweißnahtabweichungen auftreten, die aus Änderungen der Prozessrandbedingungen und der hohen Prozessdynamik resultieren. Hier ist die Kontrolle von Schmelzbad- und Schweißnahtgeometrie für die Sicherung der Nahtqualität bedeutsam. Durch den Einsatz optischer Sensorsysteme können mit hoher zeitlicher Auflösung in-situ Informationen des Prozesszustands ermittelt werden. Dabei stellen die rauen Prozessbedingungen und die hohe Strahlungsintensität des Lichtbogens eine Herausforderung für die optischen Komponenten dar. Forschungsarbeiten am Institut für Schweißtechnik und Fügetechnik der RWTH Aachen haben gezeigt, dass durch den Einsatz einer HDR-Kamera in Kombination mit einer strukturierten Laserbelichtung gezielt geometrische Informationen des Lichtbogens und des Schmelzbads aus den Prozessaufnahmen gewonnen werden können. In dieser Arbeit wird eine parallele Schweißnaht- und Schmelzbadbeobachtung durchgeführt, wobei geometrische Informationen durch die Anwendung von Bildverarbeitungsalgorithmen extrahiert werden. Dabei wird ein nachlaufendes Sensorsystem eingesetzt, welches aus einer HDR-Kamera und einer Laserbeleuchtung besteht. Es werden diffraktive optische Elemente (DOE) zur Erzeugung von verschiedenen Laserprojektionsmustern verwendet, um sowohl eine unidirektionale als auch eine multidirektionale Prozessbeobachtung durchführen zu können. Aus den geometrischen Informationen werden Kenngrößen berechnet, anhand derer der Prozesszustand beurteilt werden kann. Es zeigt sich, dass anhand der Kenngrößenverläufe Abweichungen in der Schweiß- und Schmelzbadgeometrie und Positionierungsfehler des Roboters identifiziert werden können.
In this ongoing research project, we study the influence of moisture damage on Ground Penetrating Radar (GPR) in different floor constructions. For this purpose, a measurement setup with interchangeable layers is developed to vary the screed material (cement or anhydrite) and insulation material (glass wool, perlite, expanded and extruded polystyrene), as well as the respective layer thickness. The evaluation of the 2 GHz common-offset radar measurements is focused on the extraction of distinctive signal features that can be used to classify the underlying case of damage without any further information about the hidden materials or layer thicknesses. In the collected dataset, we analyze the horizontal distribution of A-scan features in corresponding B-scans to detect water in the insulation layer. Furthermore, possible combinations of these features are investigated with the use of multivariate data analysis and machine learning (logistic regression) in order to evaluate the mutual dependencies. In this study, the combination of an amplitude- and frequency-based feature achieved an accuracy of 93.2 % and performed best to detect a damage in floor insulations.
Faseroptische Sensorsysteme bieten heute die Möglichkeit des Online-Monitorings von sensiblen, für die Energieversorgung wichtigen Betriebsmitteln. Insbesondere Hochenergiekabel, wie diese sowohl im Offshore- als auch im Onshorebereich eingesetzt werden, sind prädestiniert für eine zustandsorientierte Überwachung. Gerade Hochspannungshochenergiekabel sind Betriebsmittel, die im Falle eines Ausfalls durch Schäden mit hohen Reparatur- und Folgekosten verbunden sind. Mit dem Einsatz von faseroptischen Sensoren sind mechanische Einflüsse wie Vibrationen z. B. verursacht durch Ankerfall, Temperaturhotspots oder auch Teilentladungsaktivitäten an dezidierten vulnerablen Stellen wie Kabelendverschlüssen oder –muffen über längere Kabelstrecken detektierbar. Der Einsatz von im Rahmen des Verbundprojekts Monalisa entwickelter faseroptischer Diagnosetechnik in Verbindung mit faseroptischen Sensoren wird hier aufgezeigt.
Stone deterioration is the result of a complex interaction of external physical, chemical and biological forces with the mineralogical-petrophysical properties of the stone. With a better understanding of how these properties are linked to material behavior and durability, more effective measures for stone conservation can be developed. Studying these interactions in tuff is particularly complex due to the naturally high heterogeneity of tuff rocks.
The first aim of a current research project is to combine the results of recent and older studies on tuff deterioration. Furthermore, the literature overview is complemented by our own investigation of Weibern and Ettringen tuff, with a focus on pore structure characteristics.
Damaged spent nuclear fuel (DSNF) can be loaded in German dual-purpose casks (DPC) for transport and interim storage. Encapsulations are needed to guarantee a safe handling and a tight closure, separated from the package enclosure. These encapsulations shall be durable and leak-tight for a long storage period, because they are usually not accessible within periodical inspections of the DPC. Due to the general design of DPCs for standard fuel assemblies, specific requirements have to be considered for the design of encapsulations for DSNF to ensure the loading in existing package designs. Especially the primary lid system of a DPC is designed for maximum loads due to the internal impact of the content during drop test conditions. The main difference of encapsulations for damaged spent nuclear fuel is that they have usually a much higher stiffness than standard fuel assemblies. Therefore the design of an internal shock absorber, e.g. at the head of an encapsulation is required to reduce mechanical loads to the primary lid system during impacts.
BAM as part of the German competent authority system is responsible for the safety assessment of the mechanical and thermal package design, the release of radioactive material and the quality assurance of package manufacturing and operation. Concerning the mechanical design of the encapsulation BAM was involved in the comprehensive assessment procedure during the package design approval process. An internal shock absorber was developed by the package designer with numerical analyses and experimental drop tests. Experimental drop tests are needed to cover limiting parameters regarding, e.g. temperature and wall thickness of the shock absorbing element to enable a detailed specification of the whole load-deformation behavior of the encapsulation shock absorber.
The paper gives an overview of the assessment work by BAM and points out the main findings which are relevant for an acceptable design of internal shock absorbers. The physical drop tests were planned on the basis of pre-investigations of the applicant concerning shape, dimension and material properties. In advance of the final drop tests the possible internal impact behavior had to be analyzed and the setup of the test facility had to be validated. The planning, performance and evaluation of the final drop tests were witnessed and assessed by BAM. In conclusion it could be approved that the German encapsulation system for damaged spent nuclear fuel with shock absorbing components can be handled similar to standard fuel assemblies in existing package designs.
As part of the evaluation of a package for the safe transport of radioactive waste the regulations of the IAEA International Atomic Energy Agency shall be fulfilled. The regulations define requirements for the package and specify mechanical and thermal test conditions. Different methods are allowed for the test performance to demonstrate compliance with the regulations. Next to calculational approaches and the use of models of an appropriate scale, the performance of full-scale testing with prototype packages respectively full-scale models is applied.
The use of full-scale models has several advantages within the complete safety assessment procedure for a transport package approval. Scaling and corresponding similarity questions don’t have to be considered, additional material investigations can be limited and analyses to transfer test results to the original package design are reduced in number and complexity. Additionally, experience for future serial design procedures can be built up during manufacturing and assembling of the test model.
BAM operates different drop and fire test facilities south of Berlin, Germany. BAM has started to perform a drop test campaign with a full-scale model of 120 metric tons weight for a transport package approval procedure. The paper describes experience with test preparation, drop performance and additional analyses. The measurement concept is explained and test goals regarding the package safety assessment and evaluation of safety margins are introduced.
Elastomer seals are used in many industrial applications due to their excellent mechanical properties at a wide range of temperatures. Their high versatility and recovery potential under several load conditions make them well suitable for the application in containers designed for transport, storage and/or disposal of radioactive materials. In containers for low and intermediate level radioactive waste, elastomer seals are used as barrier seals, and as auxiliary seals in storage and transportation casks (dual purpose casks) for heat generating radioactive waste, such as spent fuel and high-level waste. While a seal exchange at defined intervals is typical in many conventional applications, it is impossible or at least hard to perform when principles of minimization of radiation exposure have to be considered and prohibit an unnecessary cask handling. An extensive knowledge of the change of the elastomer’s properties during aging and the availability of reliable end-of-lifetime criteria to guarantee the permanent safe enclosure of the radioactive material is mandatory. As BAM is involved in most of the national cask licensing procedures and in the evaluation of cask-related long-term safety issues, great efforts have been already made and are still planned to scientifically support this task.
Compression stress relaxation and compression set were identified as key indicators of elastomer long-term performance and quantitatively investigated in comprehensive test programs. Among other representative types of elastomers, specimens made from ethylene propylene diene rubber (EPDM) were tested before, during and after aging to capture the most important of their complex mechanical properties.
In the presented study, exemplary results were used to simulate the compression stress relaxation and the compression set of elastomer O-rings during aging. Regarding the influence of temperature, the time-temperature superposition principle is applied in the relaxation analysis of elastomer O-rings. The proposed model is implemented in the commercial finite element software ABAQUS/Standard® [1] with a sequential temperature displacement coupling. Numerical results match the experimental compression stress relaxation measurements well. The prediction of compression set values after long-term aging shows a relatively good agreement with the experimental results. Nevertheless, all input parameters derived from the specimen tests, additional assumptions concerning boundary conditions and modeling strategy are discussed with regard to the identified slight discrepancies.
The possibility to extend the finite element model to represent the O-ring seal’s ability to recover after a (fast) partial release is taken into account.
Designing the performance of geogrids in reinforce soil constructions usually does not consider long-term behavior and possible failure modes of junctions between longitudinal and transverse ribs. How could behavior of junctions be included? To which extend is it necessary? On the conference Geo-Chicago 2016, Swan and Yuan presented an ultimate limit state equation for the short-term material resistance of junctions. We discuss limitations and suggest improvements to include long-term behavior of junctions. Nevertheless, the approach applies only to a specific mode of shear-tensile failure of junctions and only to strictly rigid geogrids. A new design concept presented in the same year by Jacobs on the conference GeoAmerica for the special case of the anchorage of geogrids, which reinforce capping system on long and steep slopes of landfills, tried to overcome these drawbacks. We discuss the aspects of this concept related to the long-term behavior
of junctions and the interplay between the load applied to junctions and the flexibility of longitudinal ribs. This interplay and the long-term junction strength determine the long-term behavior of geogrids.