A microrobot with untethered control in 3D space is a good choice to be applied in the fields of biomedicine with in small and confined workspace. In this paper, an electromagnetic actuation system (EMA) which combined with Helmholtz coil and Maxwell coil for the microrobot 5 DOF locomotion in 3D space is built. The magnetic field analysis of the proposed 3D EMA system was analyzed by finite-element-method (FEM) with multi-physics COMSOL software. The proposed EMA system can produce magnetic field with different characteristics such as a controllable uniform gradient magnetic field, a rotating magnetic field and a oscillating magnetic field in a three-dimensional space by independently changing the current in each coil. In this paper the 3D motion dynamic equation model of microrobot was established. A novel control method for the gravity compensation for the wireless locomotive microrobot was proposed. The proposed method has the property that the direction of magnetic flux and the locomotion path of the microrobot are independent. Meanwhile, it can achieve the horizontal motions or nearly horizontal motions and overcome the gravity well at the same time. It has been verified by experiments in 3D liquid environment. With the proposed method, the microrobot shows good performance in horizontal motions as well as various motions in the 3D space.

The k-nearest neighbor (kNN) method only uses samples’ paired distance to perform fault detection. It can overcome the nonlinearity, multimodality, and non-Gaussianity of process data. However, the nearest neighbors found by kNN on a data set containing a lot of outliers or noises may not be actual or trustworthy neighbors but a kind of pseudo neighbor, which will degrade process monitoring performance. This paper presents a new fault detection scheme using the mutual k-nearest neighbor (MkNN) method to solve this problem. The primary characteristic of our approach is that the calculation of the distance statistics for process monitoring uses MkNN rule instead of kNN. The advantage of the proposed approach is that the influence of outliers in the training data is eliminated, and the fault samples without MkNNs can be directly detected, which improves the performance of fault detection. In addition, the mutual protection phenomenon of outliers is explored. The numerical examples and Tenessee Eastman process illustrate the effectiveness of the proposed method.

It is difficult to correctly classify all faults by using only one classifier, and the performance of most classifiers varies under different conditions. In view of this, a new decision fusion system is proposed to solve the problem of fault classification. The proposed decision fusion system is innovative in two aspects: the use of combined weights and a new improved voting method. The combined weights integrate the subjective and objective weights, where the analytic hierarchy process and entropy weight-technique for order performance by similarity to ideal solution are used to determine the subjective and objective weights of different base classifiers under multiple performance evaluation indicators. Moreover, a new improved voting method based on the concept of classifier validity is proposed to increase the accuracy of the decision system. Finally, the method is validated by the Tennessee Eastman benchmark process, and the classification accuracy of the new method is shown to be improved by more than 5.06% compared to the best base classifier.

Accurate prediction of the remaining useful life (RUL) of lithium-ion batteries is advantageous for maintaining the stability of electrical systems. In this paper, an interpretable online method which can reflect capacity regeneration is proposed to accurately estimate the RUL. Firstly, four health indicators (HIs) are extracted from the charging and discharging process for online prediction. Then, the HIs model is trained using support vector regression to obtain future features. And the capacity model of Gaussian process regression (GPR) is trained and analyzed by Shapley additive explanation (SHAP). Meanwhile, the state space for capacity prediction is constructed with the addition of Gaussian non-white noise to simulate the capacity regeneration. And the modified predicted HIs and noise are obtained by unscented Kalman filter. Finally, according to SHAP explainer, the predicted HIs acting as the baseline and the modified HIs containing information on capacity regeneration are chosen to predict RUL. In addition, the bounds of confidence intervals (CIs) are calculated separately to reflect the regenerated capacity. The experimental results demonstrate that the proposed online method can achieve high accuracy and effectively capture the capacity regeneration. The absolute error of failure RUL is below 5 and the minimum confidence interval is only 2.