The global historical radiosonde archives date back to the 1920s and contain the only directly observed measurements of temperature, wind, and moisture in the upper atmosphere, but they contain many random errors. Most of the focus on cleaning these large datasets has been on temperatures, but winds are important inputs to climate models and in studies of wind climatology. The bivariate distribution of the wind vector does not have elliptical contours but is skewed and heavy-tailed, so we develop two methods for outlier detection based on the bivariate skew-t (BST) distribution, using either distance-based or contour-based approaches to flag observations as potential outliers. We develop a framework to robustly estimate the parameters of the BST and then show how the tuning parameter to get these estimates is chosen. In simulation, we compare our methods with one based on a bivariate normal distribution and a nonparametric approach based on the bagplot. We then apply all four methods to the winds observed for over 35,000 radiosonde launches at a single station and demonstrate differences in the number of observations flagged across eight pressure levels and through time. In this pilot study, the method based on the BST contours performs very well.

Using swarm robotics system, with one or more faulty robots, to accomplish specific tasks may lead to degradation in performances complying with the target requirements. In such circumstances, robot swarms require continuous monitoring to detect abnormal events and to sustain normal operations. In this paper, an innovative exogenous fault detection method for monitoring robots swarm is presented. The method merges the flexibility of principal component analysis (PCA) models and the greater sensitivity of the exponentially-weighted moving average (EWMA) and cumulative sum (CUSUM) control charts to insidious changes. The method is tested and evaluated on a swarm of simulated foot-bot robots performing a circle formation task, via the viscoelastic control model. We illustrate through simulated data collected from the ARGoS simulator that a significant improvement in fault detection can be obtained by using the proposed method where compared to the conventional PCA-based methods (i.e., T2 and Q).

Faults in photovoltaic (PV) systems, which can result in energy loss, system shutdown or even serious safety breaches, are often difficult to avoid. Fault detection in such systems is imperative to improve their reliability, productivity, safety and efficiency. Here, an innovative model-based fault-detection approach for early detection of shading of PV modules and faults on the direct current (DC) side of PV systems is proposed. This approach combines the flexibility, and simplicity of a one-diode model with the extended capacity of an exponentially weighted moving average (EWMA) control chart to detect incipient changes in a PV system. The one-diode model, which is easily calibrated due to its limited calibration parameters, is used to predict the healthy PV array's maximum power coordinates of current, voltage and power using measured temperatures and irradiances. Residuals, which capture the difference between the measurements and the predictions of the one-diode model, are generated and used as fault indicators. Then, the EWMA monitoring chart is applied on the uncorrelated residuals obtained from the one-diode model to detect and identify the type of fault. Actual data from the grid-connected PV system installed at the Renewable Energy Development Center, Algeria, are used to assess the performance of the proposed approach. Results show that the proposed approach successfully monitors the DC side of PV systems and detects temporary shading.

Accurate and effective anomaly detection and diagnosis of modern engineering systems by monitoring processes ensure reliability and safety of a product while maintaining desired quality. In this paper, an innovative method based on Kullback-Leibler divergence for detecting incipient anomalies in highly correlated multivariate data is presented. We use a partial least square (PLS) method as a modeling framework and a symmetrized Kullback-Leibler distance (KLD) as an anomaly indicator, where it is used to quantify the dissimilarity between current PLS-based residual and reference probability distributions obtained using fault-free data. Furthermore, this paper reports the development of two monitoring charts based on the KLD. The first approach is a KLD-Shewhart chart, where the Shewhart monitoring chart with a three sigma rule is used to monitor the KLD of the response variables residuals from the PLS model. The second approach integrates the KLD statistic into the exponentially weighted moving average monitoring chart. The performance of the PLS-based KLD anomaly-detection methods is illustrated and compared to that of conventional PLS-based anomaly detection methods. Using synthetic data and simulated distillation column data, we demonstrate the greater sensitivity and effectiveness of the developed method over the conventional PLS-based methods, especially when data are highly correlated and small anomalies are of interest. Results indicate that the proposed chart is a very promising KLD-based method because KLD-based charts are, in practice, designed to detect small shifts in process parameters. © 2016 Elsevier Ltd

A vision-based obstacle detection system is a key enabler for the development of autonomous robots and vehicles and intelligent transportation systems. This paper addresses the problem of urban scene monitoring and tracking of obstacles based on unsupervised, deep-learning approaches. Here, we design an innovative hybrid encoder that integrates deep Boltzmann machines (DBM) and auto-encoders (AE). This hybrid auto-encode (HAE) model combines the greedy learning features of DBM with the dimensionality reduction capacity of AE to accurately and reliably detect the presence of obstacles. We combine the proposed hybrid model with the one-class support vector machines (OCSVM) to visually monitor an urban scene. We also propose an efficient approach to estimating obstacles location and track their positions via scene densities. Specifically, we address obstacle detection as an anomaly detection problem. If an obstacle is detected by the OCSVM algorithm, then localization and tracking algorithm is executed. We validated the effectiveness of our approach by using experimental data from two publicly available dataset, the Malaga stereovision urban dataset (MSVUD) and the Daimler urban segmentation dataset (DUSD). Results show the capacity of the proposed approach to reliably detect obstacles.

Accurate detection of changes in land cover leads to better understanding of the dynamics of landscapes. This letter reports the development of a reliable approach to detecting changes in land cover based on remote sensing and radiometric data. This approach integrates the multivariate exponentially weighted moving average (MEWMA) chart with support vector machines (SVMs) for accurate and reliable detection of changes to land cover. Here, we utilize the MEWMA scheme to identify features corresponding to changed regions. Unfortunately, MEWMA schemes cannot discriminate between real changes and false changes. If a change is detected by the MEWMA algorithm, then we execute the SVM algorithm that is based on features corresponding to detected pixels to identify the type of change. We assess the effectiveness of this approach by using the remote-sensing change detection database and the SZTAKI AirChange benchmark data set. Our results show the capacity of our approach to detect changes to land cover.

Fault detection in robotic swarm systems is imperative to guarantee their reliability, safety, and to maximize operating efficiency and avoid expensive maintenance. However, data from these systems are generally contaminated with noise, which masks important features in the data and degrades the fault detection capability. This paper introduces an effective fault detection approach against noise and uncertainties in data, which integrates the multiresolution representation of data using wavelets with the sensitivity to small changes of an exponentially weighted moving average scheme. Specifically, to monitor swarm robotics systems performing a virtual viscoelastic control model for circle formation task, the proposed scheme has been applied to the uncorrelated residuals form principal component analysis model. A simulated data from ARGoS simulator is used to evaluate the effectiveness of the proposed method. Also, we compared the performance of the proposed approach to that of the conventional principal component-based approach and found improved sensitivity to faults and robustness to noises. For all the fault types tested–abrupt faults, random walks, and complete stop faults–our approach resulted in a significant enhancement in fault detection compared with the conventional approach.

Monitoring inflow measurements of water resource recovery facilities (WRRFs) is essential to promptly detect abnormalities and helpful in the decision making of the operators to better optimize, take corrective actions, and maintain downstream processes. In this paper, we introduced a flexible and reliable monitoring soft sensor approach to detect and identify abnormal influent measurements of WRRFs to enhance their efficiency and safety. The proposed data-driven soft sensor approach merges the desirable characteristics of principal component analysis (PCA) with k-nearest neighbor (KNN) scheme. PCA performed effective dimension reduction and revealed interrelationships between inflow measurements, while KNN distances demonstrated superior detection capacity, robustness to underlying data distribution, and efficiency in handling high-dimensional dataset. Furthermore, nonparametric thresholds derived from kernel density estimation further enhanced detection results of PCA-KNN approach when compared with parametric counterparts. Moreover, the radial visualization plot is innovatively employed for fault analysis and diagnosis in combination with PCA and delineated interpretable visualization of anomalies and detector performances. The effectiveness of these soft sensor schemes is evaluated by using real data from a coastal municipal WRRF located in Saudi Arabia. Also, we compared the proposed soft sensor scheme with the conventional PCA-based approaches, including standard prediction error, Hotelling’s T2, and joint univariate methods. Results demonstrate that this soft sensor-based monitoring approach outperforms conventional PCA-based methods.

Obstacle detection is an essential element for the development of intelligent transportation systems so that accidents can be avoided. In this study, we propose a stereovisionbased method for detecting obstacles in urban environment. The proposed method uses a deep stacked auto-encoders (DSA) model that combines the greedy learning features with the dimensionality reduction capacity and employs an unsupervised k-nearest neighbors algorithm (KNN) to accurately and reliably detect the presence of obstacles. We consider obstacle detection as an anomaly detection problem. We evaluated the proposed method by using practical data from three publicly available datasets, the Malaga stereovision urban dataset (MSVUD), the Daimler urban segmentation dataset (DUSD), and Bahnhof dataset. Also, we compared the efficiency of DSA-KNN approach to the deep belief network (DBN)-based clustering schemes. Results show that the DSA-KNN is suitable to visually monitor urban scenes.

In certain swarm applications, where the inter-agent distance is not the only factor in the collective behaviours of the swarm, additional properties such as density could have a crucial effect. In this paper, we propose applying a Distance-Weighted K-Nearest Neighbouring (DW-KNN) topology to the behaviour of robot swarms performing self-organized aggregation, in combination with a virtual physics approach to keep the robots together. A distance-weighted function based on a Smoothed Particle Hydrodynamic (SPH) interpolation approach, which is used to evaluate the robot density in the swarm, is applied as the key factor for identifying the K-nearest neighbours taken into account when aggregating the robots. The intra virtual physical connectivity among these neighbours is achieved using a virtual viscoelastic-based proximity model. With the ARGoS based-simulator, we model and evaluate the proposed approach, showing various self-organized aggregations performed by a swarm of N foot-bot robots. Also, we compared the aggregation quality of DW-KNN aggregation approach to that of the conventional KNN approach and found better performance.