Fuzzy diagnosis and fuzzy navigation for plant inspection and diagnosis robot

Plant inspection and diagnosis robot (IDR) must have the ability to widely monitor the condition of plant machinery with only a few sensors, and to quickly discriminate machine failures. Sound information can be used for monitoring the condition and diagnosing the failure of many machines at the same time, so a sound measuring system is suitable for an IDR. However, when using sound information for condition monitoring and inspection, several problems, such as the effect of noise and a dull sensibility to failure signals, etc., must be solved. In this paper, the method of failure detection and navigation for an IDR is discussed by using sound information and fuzzy logic