A modular, versatile, automated anomaly data synthesizer for rotary plants.

Abstract

SOLUTION: An anomalous scenario synthesizer apparatus includes: a rotatable shaft configured to be rotationally driven about a rotation axis; a data acquisition system operably associated with the rotatable shaft and configured to measure attributes of the rotatable shaft; and a dynamic anomaly generator operably connected to the rotatable shaft. The dynamic anomaly generator is configured to generate at least one anomaly in the rotatable shaft while the rotatable shaft is rotating, and is configured to generate at least one dynamic label for each anomaly while the rotatable shaft is rotating. The dynamic label for each anomaly includes at least one descriptor corresponding to the anomaly that describes the anomaly such that a machine learning method may utilize the descriptor for machine learning.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure is directed to data synthesizers for rotary plants, and more particularly to dynamic anomaly generators that can process and label anomalies in a more efficient manner. [Background technology]

[0002] Anomalies represent outliers in a set of data, which can indicate potential problems with a particular system. In machinery such as rotary plants, anomaly detection can provide important feedback to operators to identify potential inefficiencies or failure points. Indeed, anomaly detection and health monitoring (AD&HM) are central concerns in most engineering applications. Health monitoring is a critical aspect for both physical and virtual machines, from manufacturing plant monitoring to cyber safety detection. Since the last century, diagnosing past abnormal events and predicting future anomalies have become trending topics. Especially with the rapid advances in computing power in recent years, data-driven anomaly analysis has become increasingly popular, replacing traditional methods that utilize model-based analysis of actual plants. Anomaly scenarios for rotary plants can come from both internal and external sources. Internally, time-invariant anomalies (time-invariant, or TI anomalies, can also be called static anomalies) within the plant, such as defective bearings and unbalanced inertia, can lead to amplified vibrations or excessive torque application. Anomalies also arise from interactions with the external environment. For example, plastic extrusion can cause large torsional displacements in the shafts of an injection molding machine, and normal loads on an automobile drive shaft can lead to significant bending and vibration. These anomalies occur in two directions: axial and radial (also called coaxial and orthogonal, respectively). Most operating scenarios, normal or abnormal, can be compounded by commanding an external torque on the shaft in the axial or coaxial direction, or a transverse load in the radial or orthogonal direction. Summary of the Invention [Problem to be solved by the invention]

[0003] Data-driven anomaly analysis routinely involves training on existing datasets to generalize the architecture to related domains. The most efficient channel for database researchers to acquire datasets is through public sources. Nevertheless, for research focused on specific applications, finding public datasets that match the target application and are easily transferable is often a challenging task. On the other hand, for general-purpose database research, it is common for well-known datasets, such as abnormal ECGs and space shuttle data, to be investigated in multiple studies.

[0004] In particular, real-world anomaly datasets of physical machines are rare, at least in part, due to the expense of constantly monitoring for rare anomalous events. Furthermore, real-world anomaly datasets of physical machines are often unlabeled, at least in part, due to the difficulty of quantifying anomalous actions and recording timelines of anomalous actions.

[0005] While unsupervised learning methods are similar to model-free applications, supervised learning methods tend to detect anomalies and broadcast alerts whenever the input signal maps to a specific type of training anomaly. The performance of data-driven AD&HM methods is often limited by the quality of some existing training datasets. When considered in relation to the attainment of the concepts disclosed herein, enhanced anomaly datasets can be created by improving at least the following attributes: frequent anomalies (FA), which can improve data efficiency; automated anomalies (AA), which can increase dataset volume; repeatable anomalies (RA), which can improve model fidelity; monitored anomaly labels (Sp), which can change the training process; model-independent processes (MA), which can better represent reality; diverse anomaly modes (DM), which can improve covariate shift; and high-dimensional observers (Ob), which can enhance information acquisition.

[0006] Given that many anomaly datasets are artificially simulated, model independence describes how flawed synthetic events are independent of ideal assumptions, such as the vehicle crash model used in game engines. This characteristic arises from concerns that synthetic anomalies in the physical and cyber domains would oversimplify the discussion or be too complex to construct in order to hold fruitful results. On the other hand, natural anomalies are often difficult to reproduce, impractical to capture accurately, or must be disclosed.

[0007]

number

[0008] Existing anomaly synthesizers are disadvantageous in at least some aspects. For example, being limited to the introduction of only static anomalies is a significant drawback. Static anomalies typically involve replacing high-quality components with defective ones or operating under adverse service conditions. a Although varies from run to run, it is time-invariant or exhibits negligible change during each run. Although impulse anomaly synthesizers have been developed, synthesizers for general dynamic anomalies (also called time-varying anomalies) are lacking, which inevitably leads to labeling synthetic anomalies in time series. As a further example, the single modality of anomalous events is another major inconvenience. Most existing synthesizer testbeds are developed for a single type of anomaly. Even for the same subject, researchers must develop a new set of devices to introduce other types of anomalies. From a data acquisition perspective, measurements in available anomaly datasets are often low-dimensional, univariate, or multivariate. Methods that utilize multivariate measurements on the same anomalous event could clearly benefit data-driven research.

[0009] In summary, a versatile benchtop platform that is compatible with introducing and labeling multiple modes of anomalies to acquire multivariate streams of data, and that is conveniently upgradeable and extensible by non-experts, can bring practical benefits to the community. [Means for solving the problem]

[0010] This Summary introduces a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key or essential features or to limit the scope of the claimed subject matter.

[0011] The Generic Anomaly Scenario Synthesizer (GPASS) described herein focuses on generating anomaly scenarios to be applied to a physical system having a rotatable shaft, and may be used in a generic anomaly synthesizer. One embodiment of an apparatus for analyzing anomalies includes a physical system having a rotatable shaft, a data acquisition system connected to the physical system to probe attributes of the physical system in multiple domains, and a dynamic anomaly generator connected to the physical system to synthesize dynamic anomalies in the physical system. In an exemplary implementation, at least three subsystems make up the GPASS test bed, including a benchtop rotatable shaft plant, a customized wireless data acquisition system, and the dynamic anomaly generator.

[0012] Compared to existing data synthesis and acquisition benchtops for anomaly analysis, GPASS offers several improvements. In one improved aspect, GPASS covers a wide range of anomaly modes. Static anomalies, such as defective elements, and dynamic anomalies, such as normal forces, impacts, and damping, can be implemented in the same configuration. In another improved aspect, GPASS's data acquisition system outputs multivariate data sets. In yet another improved aspect, GPASS can arbitrarily combine multiple anomaly modes to create controlled, reproducible synthetic conditions that isolate the effects of specific anomalies. In another improved aspect, GPASS quantifies and records actual anomaly events, which can potentially be used as labels for supervised learning. In yet another improved aspect, GPASS can include an onboard automated tool changer (ATC), enabling long-term, autonomous multimodal anomaly generation without intermittent hardware or software setup.

[0013] One exemplary embodiment of the anomaly scenario synthesizer includes a rotatable shaft configured to be driven to rotate about a rotation axis, a data acquisition system operatively associated with the rotatable shaft and configured to measure attributes of the rotatable shaft, and a dynamic anomaly generator operatively connected to the rotatable shaft. The dynamic anomaly generator is configured to generate at least one anomaly in the rotatable shaft while the rotatable shaft is rotating, and further configured to generate at least one dynamic label for each of the at least one anomaly while the rotatable shaft is rotating. The at least one dynamic label for each anomaly includes at least one descriptor corresponding to the anomaly and describing the anomaly, and the machine learning method may utilize the at least one descriptor for machine learning.

[0014] In one embodiment, the dynamic anomaly generator includes a coaxial anomaly assembly operably coupled to the rotatable shaft and configured to generate at least one anomaly that is a coaxial anomaly occurring about an axis of rotation of the rotatable shaft during rotation of the rotatable shaft. The rotatable shaft can be rotatably driven by a first motor operably connected to a first end of the rotatable shaft, and the coaxial anomaly assembly can include a second motor operably connected to a second end of the rotatable shaft opposite the first end. The second motor can be configured to generate the at least one anomaly that is a coaxial anomaly. The dynamic anomaly generator can include an orthogonal anomaly assembly operably coupled to the rotatable shaft and configured to generate at least one anomaly that is an orthogonal anomaly occurring in a first direction substantially perpendicular to the axis of rotation of the rotatable shaft.

[0015] As another non-limiting example, the orthogonal anomaly assembly can be further configured to generate a constant load on the rotatable shaft in a first direction substantially perpendicular to a rotational axis of the rotatable shaft, causing bending and / or twisting of the rotatable shaft. The data acquisition system can be configured to measure attributes of the rotatable shaft caused by the bending and / or twisting. Alternatively or additionally, the orthogonal anomaly assembly can be configured to generate a vibratory load on the rotatable shaft, causing vibration of the rotatable shaft. In some such examples, the data acquisition system can be configured to measure attributes of the rotatable shaft caused by the vibratory load. The dynamic anomaly generator can be further configured to generate at least one time step associated with each anomaly of the at least one anomaly, and at least one dynamic label for each anomaly can be generated for each of the at least one time step. The data acquisition system can include at least one sensor configured to measure attributes of the rotatable shaft in response to the dynamic anomaly generator generating the at least one anomaly.

[0016] As yet another non-limiting example, the attributes of the rotatable shaft measured by the data acquisition system may include at least one of a coaxial damping coefficient, an end effector force, or an active vibration frequency. In some cases, for accurate real-time labeling of ground truth health conditions, at each time step, the dynamic anomaly generator may: Ya(n)[0]: Macro health mode K∈S:={H,A}, Ya(n)[1]: Sublevel mode k∈s:={H,D,{Ne},{Ve}} and Ya(n)[2]: Numerical attribute yk∈Yk;k∈s The dynamic label can be configured to be formatted as:

[0017] In some embodiments, the apparatus may further include a housing in which the rotatable shaft may be at least partially disposed. The orthogonal anomaly assembly may include, by way of non-limiting example, a linear stage and / or an automated tool changer rotatably coupled to the housing, the automated tool changer including at least one deployment assembly. The linear stage may include a main actuator fixedly coupled to the housing. In some embodiments, each deployment assembly of the at least one deployment assembly may include a slider rail extending substantially perpendicular to the axis of rotation of the rotatable shaft and an end effector arm configured to slidably move along the slider rail. The main actuator may be configured to slidably move the end effector arm along the slider rail such that the end effector arm moves toward the rotatable shaft to generate at least one orthogonal anomaly.

[0018] Each end effector arm may include a carriage configured to slidably move along the slider rail and a rack disposed on a side of the end effector arm. The rack may be configured to interact with the main actuator to slidably move the end effector arm along the slider rail toward the rotatable shaft. The end effector arm may include at least one sensor of a data acquisition system and an end effector tool head. The orthogonal anomaly assembly may include a remote end effector coupler coupled to the rotatable shaft. The orthogonal assembly may be configured to interact with the end effector tool head to generate at least one anomaly, the orthogonal anomaly. The automated tool changer may be configured to rotate about an axis parallel to the first direction. The dynamic anomaly generator may be configured to rotate the automated tool changer to align a deployment assembly of the at least one deployment assembly with the main actuator of the linear stage such that the deployment assembly of the at least one deployment assembly is in a position to slidably move via the main actuator.

[0019] An exemplary embodiment of the dynamic anomaly generator includes a coaxial anomaly assembly, an orthogonal anomaly assembly, and a controller. The coaxial anomaly assembly is configured to be operably coupled to the rotatable shaft and configured to generate at least one coaxial anomaly that occurs around a rotation axis of the rotatable shaft to which the coaxial anomaly assembly is operably coupled while the rotatable shaft rotates. The orthogonal anomaly assembly is configured to be operably coupled to the rotatable shaft to which the coaxial anomaly assembly is operably coupled and configured to generate at least one orthogonal anomaly that occurs in a first direction substantially perpendicular to the rotation axis of the rotatable shaft. The controller is configured to generate at least one dynamic label for each coaxial anomaly of the at least one coaxial anomaly and at least one dynamic label for each orthogonal anomaly of the at least one orthogonal anomaly while the rotatable shaft rotates. The at least one dynamic label for each coaxial anomaly and the at least one dynamic label for each orthogonal anomaly include at least one descriptor corresponding to the anomaly and describing the anomaly, and the machine learning method may utilize the at least one descriptor for machine learning.

[0020] In some embodiments, the rotatable shaft can be configured to be driven to rotate about a rotation axis. A data acquisition system can be operatively associated with the rotatable shaft and configured to measure attributes of the rotatable shaft in response to the dynamic anomaly generator generating the at least one coaxial anomaly and / or the at least one orthogonal anomaly. The controller can be further configured to generate at least one time step associated with each of the at least one coaxial anomaly and / or the at least one orthogonal anomaly. At least one dynamic label for each anomaly can be generated for each of the at least one time step. The dynamic anomaly generator can further include at least one sensor configured to measure attributes of the rotatable shaft to which the coaxial anomaly assembly is operatively coupled in response to the coaxial anomaly assembly generating the at least one coaxial anomaly and the orthogonal anomaly assembly generating the at least one orthogonal anomaly.

[0021] As another non-limiting example, a rotatable shaft to which the coaxial anomaly assembly can be operably coupled can be rotationally driven by a first motor operably connected to a first end of the rotatable shaft. The coaxial anomaly assembly can include a second motor operably connected to a second end of the rotatable shaft opposite the first end. The second motor can be configured to generate at least one coaxial anomaly. The attributes of the rotatable shaft measured by the data acquisition system can include at least one of a coaxial damping coefficient, an end effector force, or an active vibration frequency. The orthogonal anomaly assembly can be further configured to generate a constant load on the rotatable shaft in a first direction substantially perpendicular to the rotation axis of the rotatable shaft, causing bending and / or twisting of the rotatable shaft so that attributes of the rotatable shaft caused by at least one of the bending or twisting of the rotatable shaft can be measured. The orthogonal anomaly assembly can be further configured to generate a vibration load on the rotatable shaft, causing vibration of the rotatable shaft so that attributes of the rotatable shaft caused by the vibration load can be measured.

[0022] An exemplary embodiment of a method for measuring anomaly scenarios includes rotating a rotatable shaft about a rotation axis to generate, via a dynamic anomaly generator operatively connected to the rotatable shaft, at least one of: (i) at least one coaxial anomaly occurring around the rotation axis of the rotatable shaft while the rotatable shaft is rotating; or (ii) at least one orthogonal anomaly occurring in a direction substantially perpendicular to the rotation axis of the rotatable shaft while the rotatable shaft is rotating, via the dynamic anomaly generator. The method further includes generating at least one dynamic label for each of the at least one coaxial anomaly and the at least one orthogonal anomaly while the rotatable shaft is rotating. The at least one dynamic label for each anomaly includes at least one descriptor corresponding to the anomaly and describing the anomaly, and the machine learning method may utilize the at least one descriptor for machine learning.

[0023] In certain embodiments, the method further comprises generating (i) via a dynamic anomaly generator operatively connected to the rotatable shaft, at least one coaxial anomaly occurring around an axis of rotation of the rotatable shaft while the rotatable shaft is rotating, and (ii) via the dynamic anomaly generator, at least one orthogonal anomaly occurring in a direction substantially perpendicular to the axis of rotation of the rotatable shaft while the rotatable shaft is rotating. The method can further comprise measuring at least one attribute of the rotatable shaft based on the generated at least one coaxial anomaly and / or at least one orthogonal anomaly. Generating the at least one orthogonal anomaly can further comprise generating a constant load on the rotatable shaft in a direction substantially perpendicular to the axis of rotation of the rotatable shaft, thereby causing bending and / or twisting of the rotatable shaft. Alternatively or additionally, generating the at least one orthogonal anomaly can further comprise generating an oscillatory load on the rotatable shaft, thereby causing vibration of the rotatable shaft. The method can further comprise measuring at least one attribute of the rotatable shaft based on the bending of the rotatable shaft and / or the twisting of the rotatable shaft and / or the vibration of the rotatable shaft. [Brief explanation of the drawings]

[0024] DETAILED DESCRIPTION OF THE INVENTION The following detailed description refers to the accompanying drawings that form a part of this application and that show, by way of illustration, specific embodiments.

[0025] [Figure 1] FIG. 1 is a schematic diagram including classification of abnormal scenarios in a simplified bench-top test plant. [Figure 2] FIG. 1 is a schematic block diagram illustrating a system level overview of a GPSASS system according to the present disclosure. [Figure 3] FIG. 1 is a perspective view illustrating one embodiment of a GPSASS system according to the present disclosure, showing the mechanical layout of its subsystems. [Figure 4]4A-4C are various perspective views illustrating the orthogonal anomaly generator of the GPASS system of FIG. 3 when used in an anomaly synthesis routine, showing that the orthogonal anomaly assembly generator may include an automated tool changer, a mounting base, a linear stage, an end effector arm, and / or a remote end effector coupler. [Figure 5] FIG. 5 is an exploded view of the remote end effector coupler of FIG. 4. [Figure 6] FIG. 4 is a schematic diagram illustrating an Euler-Bernoulli beam model of the shaft of the GPASS system of FIG. 3 under static conditions. [Figure 7] FIG. 1 is a schematic diagram including a block diagram showing a component breakdown of an exemplary electronics configuration for a GPSASS system according to the present disclosure. [Figure 8] 1 is a schematic block diagram of various anomaly generation modes of a GPASS system according to the present disclosure, including Nct mode, Vct mode, Ncs mode, Vcs mode, and shared control flow mode. [Figure 9] FIG. 1 is a schematic block diagram illustrating connections and communications within a GPSASS system according to the present disclosure, including the system's electronic connections. [Figure 10] FIG. 10 illustrates an example of a predefined communication protocol that can be used in combination with packing sampled anomalous spatial trajectories. [Figure 11] 4 is a side view illustrating an embodiment of the GPASS system of FIG. 3 progressing through different stages of an exemplary synthesis process. [Figure 12] 11A-11F are diagrams illustrating one raw data sequence generated by the GPASS system of FIGS. 11A-11F. [Figure 13] 10 is a diagram illustrating one desired anomaly trajectory for a manual D-mode synthesis process according to the present disclosure. [Figure 14] 10 is a diagram illustrating one desired anomaly trajectory for a manual V-mode synthesis process according to the present disclosure. [Figure 15]1 is a diagram illustrating one data sequence including a single anomalous subsequence randomly sampled from a dataset according to the present disclosure, and illustrating an AD&HM application with a calculated matrix profile. [Figure 16] 1 is a diagram illustrating multidimensional regression from a long short-term memory (LSTM)-based model, showing five streams of model output for their respective ground truth signals. [Figure 17] 17 is a chart showing receiver operating characteristic (ROC) curves for the LSTM-based model of FIG. 16 and a second LSTM-based model. [Figure 18] 18 is a plot showing binary classification performance from the LSTM-based model of FIG. 17. DETAILED DESCRIPTION OF THE INVENTION

[0026] Other implementations may be made without departing from the scope of the present disclosure.

[0027] Certain exemplary embodiments are described below to provide a general understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those skilled in the art will understand that the devices and methods specifically described herein and shown in the accompanying drawings are non-limiting exemplary embodiments, and that the scope of the present disclosure is defined only by the claims. Features illustrated or described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present disclosure. Furthermore, to the extent that the present disclosure, including but not limited to the claims, describes something as occurring in relation to "each," the term "each" is not intended to be read as "each and all" unless specifically stated otherwise. Thus, by way of example, when a statement is made that "at least one time step is associated with each anomaly of at least one anomaly," this does not require that all anomalies have a time step, but merely that at least one anomaly includes a time step as described. If "at least one anomaly" becomes two anomalies (or three, four, etc.), then each of those two (or three, four, etc.) anomalies will have at least one time step, but there may also be one or more other anomalies that are outside the scope of "at least one anomaly" and therefore do not need to have a time step (although it is possible).

[0028] This disclosure provides several figures and descriptions, including schematic diagrams of prototypes, bench models, and / or configurations. Those skilled in the art will, relying on this disclosure, recognize how to integrate the techniques, systems, devices, and methods provided herein into products and / or systems provided to customers, including, but not limited to, the public or businesses that utilize them in manufacturing facilities, etc. To the extent that features are described as being located above, below, next to, etc., such descriptions are typically provided for convenience of description, and those skilled in the art will recognize that other locations and positions are possible without departing from the spirit of this disclosure, unless otherwise described or understood.

[0029] According to the present disclosure, a generalized anomaly scenario synthesizer (GPASS) can include a rotating shaft plant, a data acquisition system, and an anomaly generation system. The GPASS system, particularly the anomaly generation system, can generate anomaly scenarios to be applied to a rotating shaft of the rotating shaft plant while the shaft is continuously rotating, and the generated anomalies and resulting shaft attributes can be further analyzed. The generated anomalies include both internal and external anomalies. Internal anomalies may include, for example, static anomalies (as mentioned above, static anomalies may also be referred to as time-invariant, or TI, anomalies) components within the plant, such as defective bearings and unbalanced inertia, which can lead to amplified vibrations or excessive torquing, short circuits, cracked shafts, and / or other similar and / or known anomalies. External anomalies may include, for example, plastic extrusion leading to large torsional displacements on the shaft of an injection molding machine, normal loads applied to an automotive drive shaft leading to significant bending and vibration, and anomaly components resulting from external torques and / or forces, among other similar and / or known anomalies. External torques, like the effect of external forces, can lead to torsional displacements of the shaft or bending of the shaft. External forces can also lead to elongation and / or compression of the shaft. Both external torques and external forces on the shaft can lead to plastic or permanent deformation. These anomalies occur in two directions: coaxial and orthogonal (as mentioned above, these terms are also referred to as axial and radial, respectively). A data acquisition system can be operably connected to the rotatable shaft, for example, to probe system attributes in multiple domains (e.g., tension, bending, shear, and torsion caused by deflection of the rotatable shaft). The anomaly generation system can include a dynamic anomaly generator connected to the rotating shaft plant. The dynamic anomaly generator can be configured to synthesize dynamic anomalies (as mentioned above, the term dynamic anomalies can also be referred to as time-varying anomalies) in the rotatable shaft.

[0030] More specifically, internal anomalies may further include short circuits, cracked shafts, and other similar anomalies. External anomalies may generally further include anomaly components due to external torques and forces. External torques, like the effects of external forces, may lead to torsional displacement of the shaft or bending of the shaft. External forces may also lead to elongation and / or compression of the shaft. Both external torques and forces acting on the shaft may lead to plastic or permanent deformation.

[0031] The dynamic anomaly generator can include one or both of a coaxial anomaly generator and an orthogonal anomaly generator. The coaxial anomaly generator can be operably coupled to the rotatable shaft and can be configured to generate anomalies that occur about the axis of rotation of the rotatable shaft while the shaft is rotating. At different times or simultaneously, the orthogonal anomaly generator can be operably coupled to the rotatable shaft and can be configured to generate anomalies that act in a direction substantially perpendicular to the axis of rotation of the rotatable shaft while the rotatable shaft is rotating.

[0032] As a result of the GPASS system's ability to generate multiple dynamic anomalies while the shaft is rotating, the GPASS system can cover a wide range of anomaly modes without necessarily having to stop the shaft and replace elements to create anomalies. Furthermore, static anomalies, such as defective elements, and dynamic anomalies, such as normal forces, collisions, and damping, can be implemented in the same configuration. Additionally, the GPASS system can output multivariate datasets. Furthermore, the GPASS system can arbitrarily combine multiple anomaly modes to create controlled and / or reproducible composite conditions that can isolate the effects of specific anomalies. Furthermore, the GPASS system can quantify and record actual anomaly events, which can potentially be used as labels for supervised learning. Additionally, the GPASS system enables long-term, autonomous, multimodal anomaly generation without intermittent hardware or software setup.

[0033] As an overview, this disclosure provides various subsystems of an exemplary GPASS test bed, apparatus, or system 10, such as the schematic shown in Figure 2 and the apparatus shown in Figure 3. Next, an exemplary implementation of a dynamic anomaly generator 30, a subsystem of the GPASS test bed 10, is described, such as the dynamic anomaly generator also shown in Figures 2, 3, and 4. An exemplary implementation procedure for the GPASS system 10 is also provided, as well as demonstrations for implementing various modes of anomalies, among other features described herein.

[0034] Before describing the details of the GPASS system and associated components, aspects, etc., the following table provides terminology that may be used and / or otherwise useful to better understand the description provided herein.

[0035] term ε s Shaft surface distortion ε max,sg Maximum strain rating of strain gauge sensor U, X, Y are the input, state, and output variables of the physical plant. G n ,G a Normal and abnormal physical plants H s Representation of Sensor Networks ω a Active vibration frequency introduced by OAG ω o First natural frequency of OAG ω r Angular velocity of a rotating shaft ω s First natural frequency of the shaft ω wss Wireless sensor data acquisition frequency ρ Radius of curvature of the deformed shaft P is the geometric parameter of the non-contact port ,ct | ,cs Subscripts describing contact / non-contact interactions B cs Magnetic flux density of electromagnetic tools B em Magnetic flux density when the electromagnet is on E,I zz Shaft elastic modulus and moment of inertia F a Rated force output from the actuator F n Normal force acting on the shaft F n,ω Oscillatory component of normal force F n,dc DC component of normal force F ref Reference force input k e End effector arm mechanical stiffness k s Effective stiffness of the shaft considering bending k t Stiffness between the tool head and the receptor k sus Mini suspension stiffness K t,d Motor constant of damping motor m s ,l s ,r s Shaft mass, length and radius M z Shaft moment load n, m, p U, X, Y dimensions R is a discrete variable resistor from a resistor array s=jω frequency parameter T d Torque applied to the shaft by the damped motor x a Position input from the main actuator x d Shaft deflection from original position x e End effector arm displacement x n Distance along the shaft axis from the coupling

[0036] GPASS system Referring now to FIG. 2 , a GPASS system according to the present disclosure is illustrated from a system-level perspective, with a block diagram providing one non-limiting embodiment of how the present disclosure may be implemented. In an exemplary embodiment, the GPASS system includes three subsystems: (1) rotating shaft plant 12, (2) data acquisition system 18, and (3) fault generation system 26. Additional aspects of the system illustrated in FIG. 2 are described in more detail below, but a non-limiting embodiment of the three subsystems will first be described. As shown, the block diagram in FIG. 2 is illustrated such that the line arrows between blocks typically represent subcomponents of a particular system rather than two particular blocks communicating with each other. For example, as shown, the three subsystems of GPASS system 10 include rotating shaft plant 12, data acquisition system 18, and fault generation system 26. These subsystems may communicate with each other even if the line arrows do not connect the subsystems; instead, the line arrows represent that these three subsystems may be part of GPASS system 10. Notwithstanding the foregoing, in at least some cases, the line arrows may represent one component communicating with another, such as the illustrated controller 32 communicating with the fault generation system 26. Those skilled in the art, given this disclosure, will understand how the block diagrams convey both when one component is part of another and / or when one component communicates with another. Furthermore, those skilled in the art will understand that other configurations are possible, such as the controller 32 communicating with other components (e.g., rotating shaft plant 12, data acquisition system 18, etc.) instead of or in addition to the fault generation system 26.

[0037] In an exemplary embodiment, GPSASS system 10 includes rotating shaft plant 12, data acquisition system 18, and anomaly generation system 26, as shown in detail in Figures 2 and 3. Figure 2 illustrates the components of GPSASS system 10 broken down into a block diagram. Figure 3 illustrates one non-limiting, exemplary mechanical layout of GPSASS system 10. As shown, anomaly generation system 26 includes a static anomaly generator 28 and a dynamic anomaly generator 30, which in turn includes a coaxial anomaly generator 40 and an orthogonal anomaly generator 50. Orthogonal anomaly generator 50 may include, for example, one or more of a linear stage 54, a carousel automated tool changer 58, an end effector arm 62, and a remote end effector coupler 80, among other features provided herein or otherwise known to those skilled in the art in light of this disclosure.

[0038] Beginning with the rotating shaft plant 12, as shown in FIG. 3 , the rotating shaft plant 12 includes a rotatable shaft 14 and a housing 16 in which the rotatable shaft 14 can be at least partially disposed. The rotatable shaft 14 can be mounted within the housing 16 so as to be rotatable within the housing 16 and can be positioned to be affected by anomalies generated by the anomaly generation system 26. In the illustrated embodiment, the rotatable shaft 14 is rotatably mounted on opposing vertical sides of the housing 16. The rotating shaft plant 12 further includes a motor 17 coupled to a first end of the rotatable shaft 14 and configured to rotationally drive the rotatable shaft 14. The GPASS system 10 is configured to continuously rotate the rotatable shaft 14 via the motor 17 while dynamic anomalies are continuously generated. In the illustrated embodiment, the rotating shaft plant 12 is a test bench model utilized in a safe test environment for the purpose of studying anomalies in the GPASS system 10. However, tests performed on the test bench model of the rotating shaft plant 12, and the results thereof, can be applied to real-world usage scenarios of rotating shaft plants.

[0039] In the illustrated embodiment, the shaft 14 is driven by a motor 17, e.g., an electric motor, via a shaft coupling 19. Similarly, rotational damping can be electrically introduced using a second motor 42 of a coaxial anomaly generator 40 connected to the other end of the shaft 14. The second motor 42, which may also be referred to as a damping motor, can be considered a damping source. The damping motor 42 can be connected to a resistor array 13, which may use a relay, thereby allowing the resistance to be discretely varied by selectively bypassing the resistors. In the illustrated embodiment, the motor 42 is configured to apply an external torque to mimic the rotation of the shaft 14. The damping torque of the motor shaft is proportional to the angular velocity of rotation. T d (t)=(K 2 t,d / R(t))ω r (t) (1)

[0040] The electrical implementation is based on the damping coefficient K 2 t,d It is more flexible in varying / R and more robust to the sensitive accidental parameter changes that are regular in fluid-based dampers.

[0041] Equation (1) above provides a passive method of introducing rotational damping to directly command the damping coefficient. For rotational stiffness and damping, torque can be commanded as a virtual spring or damper in the active control using the following two relationships: T k,a (t)=K r θ s (t) (1a) T d,a (t)=B r ω r (t) (1b)

[0042] The data acquisition system 18 may be mounted directly on the shaft 14. The data acquisition system 18 may be configured to probe multi-domain attributes of the deformed shaft 14, such as tension, bending, shear, and torsion. The data acquisition system 18 may have various configurations to measure various attributes, such as deformation of the shaft 14. In the illustrated embodiment, the data acquisition system 18 may include at least one sensor 64 ( FIG. 4 ) configured to measure attributes of the rotatable shaft 14 in response to the dynamic anomaly generator 30 generating at least one anomaly in the shaft 14. In the illustrated embodiment, the at least one sensor 64 may include a sensor attached to the end effector arm 62 of the orthogonal anomaly generator 50. Details of an example data acquisition system 18 are described in more detail below.

[0043] The GPASS system 10 can synthesize both static and dynamic anomalies. Static anomalies are typically introduced by replacing defective components with high-quality components and occur in rotating shaft plants. Therefore, the plant is modularly configured to allow for rapid replacement of components, including bearings, shaft couplings, unbalanced masses, and shafts, among other replaceable components of the plant 12. Dynamic anomalies are further categorized into two types: coaxial anomalies and orthogonal anomalies. The unique method disclosed herein implements each type. More specifically, the GPASS system 10 includes a dynamic anomaly generator 30 capable of generating one or both types of dynamic anomalies. In the embodiment shown in FIG. 3, the dynamic anomaly generator 30 includes both a coaxial anomaly generator 40 configured to generate at least one coaxial anomaly and a quadrature anomaly generator 50 configured to generate at least one quadrature anomaly.

[0044] In the illustrated embodiment, the coaxial anomaly generator 40 can support rotational damping as a coaxial anomaly, as shown in FIG. 3 . As described above, the coaxial anomaly generator 40 includes a second motor 42 operably connected to an end of the rotatable shaft 14 opposite the electric motor 17. The second motor 42 is configured to generate at least one coaxial anomaly in the rotatable shaft 14 while the rotatable shaft 14 is continuously rotating. The coaxial anomaly occurs around the rotation axis 15 of the rotatable shaft 14. Furthermore, rotational damping can be introduced via the second motor 42 configured to apply an external torque to the rotatable shaft 14 to mimic the rotation of the rotatable shaft 14.

[0045] In addition to the coaxial anomalies generated by the coaxial anomaly generator 40, other anomalies can be synthesized using a cartesian anomaly generator 50, as shown in at least FIGS. 3-7. The illustrated cartesian anomaly generator 50 includes three main assemblies: a linear stage 54, a benchtop carousel automated tool changer (ATC) 58, and a remote end-effector coupler 80, as shown in detail in FIGS. 3-5 and 7. The linear stage 54 includes a main actuator 56 configured to vertically move an end-effector arm 62 of the automatic tool changer 58 closer to the rotatable shaft 14 via a rotary-to-linear transmission. The main actuator 56 of the linear stage 54 may include a geared pinion 59 driven by a motor and configured to engage a rack 66 of the end-effector arm 62 to move the end-effector arm 62 vertically. The main actuator 56 may be mounted on a mounting plate 55, which may be fixedly coupled to the housing 16 of the rotating shaft plant 12, as shown in FIG. 4. In one non-limiting embodiment, the main actuator 56 may be a NEMA 17 motor with a 27:1 gearbox. A new motor can be easily installed depending on maximum power requirements. The ATC 58 can simultaneously load i=4 end effector arms.

[0046] The automated tool changer 58 may have at least one identical deployment unit 60 radially arranged about a vertical axis 57 substantially perpendicular to the axis of rotation 15, as shown in FIG. 4. In the illustrated embodiment, the automated tool changer 58 includes four deployment units 60 arranged substantially evenly about the vertical axis 57. Each deployment unit 60 includes a slider rail 61, a sliding end effector arm 62, and a lock 63. The enlarged view in FIG. 4E shows the integration of the end effector arm 62. In the illustrated embodiment, from top to bottom, the end effector arm 62 includes a gear of the lock 63, at least one sensor 64 (e.g., a force sensor) of the data acquisition system 18, a rack 66, a carriage 68, a modular mini-suspension 70, and an end effector tool head 72. At least the mini-suspension 70 and the end effector tool head 72 may be modular. The bandwidth of the mini-suspension 70 can be changed, for example, by installing compression springs of different stiffness, and the range of abnormal modes can be extended by simply installing a new end effector tool head 72.

[0047] The main structure of the orthogonal anomaly generator 50, and in particular the automatic tool changer 58, may be mounted external to the rotating shaft plant 12. In particular, the automatic tool changer 58 may be mounted on a vertically facing exterior surface of the housing 16, as shown in FIG. 3, to ensure that accidental interference is minimized. More specifically, in the illustrated embodiment, the orthogonal anomaly generator 50 is mounted to the housing 16 such that the ATC 58 is rotatable about a vertical axis 57. Thus, a particular end effector arm 62 that generates a desired anomaly may be rotated into position to align with the linear stage 54, and then slidably moved downward into position to effect the desired anomaly.

[0048] More specifically, during operation, the synthesis routine of the GPSASS system 10 may begin with a first operation in which the orthogonal anomaly generator 50 is in an idle state, as shown in FIG. 4A. Upon determining an anomaly scenario, the ATC 58 may position a corresponding end effector arm 62 associated with the anomaly scenario toward the main actuator 56 of the linear stage 54, and the main actuator 56 may slide to engage the end effector arm 62, as shown in FIG. 4B. The selected end effector arm 62 can be actuated by the main actuator 56 of the linear stage 54. In the illustrated embodiment, a high-precision rack-and-pinion transmission, i.e., a pinion 59 of the main actuator 56 and a rack 66 of the end effector arm 62, can be used to enable easy setup between the actuator 46 and different end effector arms 62 during automatic tool changes. In the illustrated embodiment, the rack 66 is mounted on the side of the end effector arm 62 and positioned to interact with a gear on the main actuator 56. The carriage 68 can be configured to slidably move along the slider rails 61 when the main actuator 56 engages the rack 66 so that the end effector arm 62 moves vertically. As shown in FIG. 4C , an abnormal process may occur in which the end effector arm 62 can be extracted and the end effector tool head 72 can operate with the remote end effector coupler 80 to synthesize an abnormal scenario. FIG. 4D shows an example implementation of an automatic tool change process. Those skilled in the art will appreciate that other configurations of the ATC 58 and components of and / or associated with the ATC 58 may enable various implementations for changing tools.

[0049] The on-board ATC 58 of the orthogonal anomaly generator 50 allows for the introduction of essentially unlimited anomaly modes in directions substantially perpendicular to the rotation axis 15 of the rotatable shaft 14. The realization of large normal forces (N modes), active vibrations (V modes), and destructive scratches on a rotating shaft by the orthogonal anomaly generator 50 is described in detail below.

[0050] Another component of the orthogonal anomaly generator is a remote end effector coupler 80 mounted on the shaft 14, as shown in FIGS. 5 and 6. In the illustrated embodiment, the remote end effector coupler 80 includes a rapidly prototyped case 82 and a shaft clamp 84 disposed on the end of the remote end effector coupler 80. The shaft clamp 84 may be attached to the shaft 14 to couple the remote end effector coupler 80 to the shaft 14. A contact port 86 may be provided in a central portion of the remote end effector coupler 80. The contact port may include a high-radius load ball bearing 87, a non-contact port 88 with a magnetic metal / permanent magnet 89, and an expandable port 90 for irreversible anomalies. During the synthesis process, physical input from the end effector tool head 72 may be sent to the remote end effector coupler 80 instead of the shaft 14 to standardize the synthesis process.

[0051] The input can be transmitted through a contact port 86 or in a non-contact manner 88, as shown in FIG. 7 . Accordingly, the remote end-effector coupler 80 includes a contact port 86, which includes a plurality of high-radius load ball bearings 87 to reduce non-ideal friction torque on the shaft due to contact. The non-contact port 88 can be an integral part of a ring-shaped rare-earth magnet 89. In the illustrated embodiment, the non-contact port 88 is ring-shaped, but other configurations are possible. The physical input can be transmitted to the non-contact port 88 through an electromagnetic tool head, completely avoiding friction torque due to the symmetry of the disk within the magnetic field of the end-effector arm 62. A modular consumable shell can also be integrated into the remote end-effector coupler 80. Such a shell can serve as a sacrificial layer for a destructive anomaly.

[0052] The dynamic anomaly generator 30 can be configured to generate and process anomalous events via the controller 32, the coaxial anomaly generator 40, and the orthogonal anomaly generator 50. In particular, the dynamic anomaly generator 30 can be configured to recognize anomalous events during synthesis and subsequently quantify and record descriptive information about the anomalous events and attributes of the rotatable shaft 14 measured by the data acquisition system 18. The dynamic anomaly generator 30 can also be configured to further process the recorded data via the controller 32. It should be understood that the functionality of the controller 32 may be implemented using a computing device that provides or includes a processor connected to a user interface, computer-readable memory and / or other data storage, and a display and / or other output device. The computer-executable instructions and data used by the processor may be stored in computer-readable memory included in the computing device or may be implemented in any combination of read-only or random-access memory modules, optionally including both volatile and non-volatile memory.

[0053] Specifically, the dynamic anomaly generator 30 can utilize the recorded data to generate dynamic labels in real time. Each dynamic label can be included in the time series of at least one time-varying anomaly system and can be dynamically generated in real time as an anomalous event occurs. Thus, for example, if the system transitions to a different anomalous event, the dynamic anomaly generator 30 can be configured to immediately record the event data and begin generating a dynamic label for the new anomalous event. In some embodiments, one label can be provided for every time step (sometimes referred to as a timestamp) of the anomalous event process. Specifically, the dynamic anomaly generator 30 can be further configured, via the control unit 32, to generate at least one time step associated with each anomaly, and at least one dynamic label per anomaly can be generated for each of the at least one time step. In other embodiments, the dynamic anomaly generator 30 may generate labels for only some of the generated anomalies. That is, the description herein, including the claims, directed to the dynamic anomaly generator 30 creating a dynamic label for each anomaly is not so limiting as to require that each and every anomaly be labeled accordingly.

[0054] The labels generated by the dynamic anomaly generator 30 can include descriptive information about anomalous events that may be utilized for supervised learning or machine learning. In particular, the GPASS system 10 can be configured to perform machine learning over time on various anomalous events occurring in a rotating shaft plant. In machine learning, labeling a dataset can be a process that involves labeling raw data with useful details about the data. Machine learning models that use supervised learning may require a labeled dataset from which the model can learn and iterate. Thus, the ability of the dynamic anomaly generator 30 to generate dynamic labels for anomalous events can significantly improve the machine learning process. At least one non-limiting implementation of an optimized anomaly dataset that enables improved labeling and machine learning is described below.

[0055] GPAD dataset A generic anomaly in the physical domain (GPAD) dataset is described herein. The generic anomaly in the physical domain (GPAD) dataset is a collection of time-series sequences of sensor signals in which a physical plant, such as the GPASS system 10, experiences multiple modes of anomalies that are actively planned, implemented, and recorded. The anomaly synthesis process is performed by the GPASS system. The proposed dataset is substantial in several aspects. First, the dataset provides a broad anomaly space for generic plant and rotary equipment. In addition to basic practices including static (i.e., time-invariant, or TI) anomalies such as unbalanced inertia and defective ball bearings, the proposed dataset includes operating conditions under three modes of dynamic (i.e., time-varying, or TV) anomalies: rotational damper behavior, static shear load, and vibratory shear load. Other modes and other numbers of modes (more or less than three) are possible. The automated anomaly modes can be selectively combined, for example, by a Markov chain (MC) model, and the respective distributions of each mode can be customized. Second, the dataset can uniquely contain real-time labeled anomaly ground truth. The electronics embedded in the anomaly generation mechanism can acquire multidimensional anomaly attributes at a rate synchronized with the plant. Third, the proposed dataset can contain high-dimensional observer features. More than 20 signal streams from the plant's perception system and another five from the anomaly generation device can be acquired at each step to describe the operating state. Furthermore, the GPAD dataset is easily scalable and can be deployed. Additionally, the anomaly synthesizer can be configured using a rapid automated experiment pipeline to rapidly increase the dataset volume.

[0056] As described above, the coaxial anomaly generator 40 can simulate rotational damping behavior (D-mode) by actively commanding the resistance of the coaxial motor 42 to modify the passive damping torque applied to the shaft. Two other dynamic mode anomalies can be orthogonal anomalies, including dynamic shear loading (N-mode) and vibration excitation (V-mode), both of which can be implemented by the orthogonal anomaly generator 50. N-mode can focus on large, stationary shear loads, while V-mode can highlight high-frequency vibration shear loads. Additionally, the apparatus 10 can support modular end-effector tools (sometimes referred to as end-of-arm tools) 72 for N-mode and V-mode anomalies. The end-effectors enable finer levels of anomaly modes, such as ideal shear, realistic shear, grinding, and / or scratching. Some important end effectors are described as Realistic Shear (RS), which is a shear load with counter torque; Ideal Shear (IS), which is a shear load with minimal counter torque; Scratch (Sc), which is a detrimental contact between the shaft and the end effector; and Overhang (H), which is an element that loosely contacts the shaft.

[0057] The GPAD dataset can uniquely provide accurate real-time labeling of ground truth health states. At every time step n, the health state labels are given by Y a (n)[0] is the macro health mode K∈{S:={H,A}, Y a (n)[1] is the sublevel mode k∈s:=H,D,{N e},{V e} and Y a (n)[2] is the numeric attribute y k ∈Y k ;k∈s.

[0058] Hierarchical labels can meet distinct needs for AD&HM applications. Potential uses include binary classification between healthy (H) and abnormal (A) modes, multi-class classification of sub-level health modes, and regression to estimate severity within sub-level modes. Coaxial damping coefficient, end-effector force, and active frequency are attributes of D-mode, N-mode, and V-mode, respectively.

[0059] In addition to the new label space, the GPAD dataset provides a high-dimensional observer space that can be easily utilized as a feature in data-driven applications. Apart from the sensing elements of the dynamic anomaly generator 30, the plant's embedded electronics and on-board wireless sensors 64, as well as other sensor and perception systems, can directly observe the plant's state. Overall, X s (n)∈R 23 A signal vector can be observed and recorded at every time step. The recording of features and labels can be synchronized during synthesis and reconfirmed during post-processing. Specifically, the plant and dynamic anomaly generator are synchronized with a rate f a =(δt a ) -1 ≈O(1MHz), while wireless sensors can sample at safe frequencies, e.g., f s =(δt s ) -1 ≈ O(100 Hz), ensuring that no queuing delays occur. The sampled time step is n a and n s can be expressed as: n a The time axis can be transmitted to all other components during the compositing process and can be fixed as an absolute time axis.

[0060] The GPAD data generation pipeline can include multiple stages, including distribution definition, anomaly sampling and encoding, anomaly synthesis and data acquisition, and post-processing. The synthesized anomalies are typically only transmitted within the attribute space of one sublevel mode. To define the sequential anomaly attributes, a Markov chain model is assumed for each individual sublevel mode k, whose model parameters are Θ k ={Y k ,π k ,A k}. Attribute space Y k summarizes the possible discrete values ​​of the damped motor resistance, the magnitude of the end-effector shear load, and the active frequency, and y k = 0 indicates a healthy sublevel mode. The initial distribution and transition matrix can be defined as follows:

[0061]

number

[0062] where i∈Y k , and n m indicates the time step of the Markov chain model. The anomaly sampling process generates sequential anomaly trajectories based on the MC model, during which each anomaly attribute is sampled in real time by δt m =T a max(n m ) -1The anomaly period Ta is evenly segmented into max (nm) time bins, lasting 10 seconds. The sampled anomaly space trajectories can be packed according to a predefined communication protocol shown in Figure 10 and sent to the synthesizer's master computer. The packets can then be unpacked and the trajectory information assigned to the anomaly generator. During the anomaly generation stage, the device can automatically perform anomaly synthesis using, for example, the ATC 58. The observed signals from the recognition system and the anomaly space labels from the dynamic anomaly generator 30 can be recorded in real time by the respective hardware. Once the synthesis process is complete, the signals from all devices can be merged in the host computer and sent to a post-processing stage, during which redundant attributes can be removed and synchronization reconfirmed. Finally, the valid data sequence is stored in the dataset archive.

[0063] To illustrate the proposed pipeline, an anomaly synthesis process can be performed. The shaft moves, for example, at an angular velocity ω r = 200 RPM. V-mode compounding with an ideal shear end effector e = IS can be used, in which case the following instrument settings can be applied: f a =1000Hz,f s =65Hz,T a =20s

[0064] The Markov chain model parameters may be predefined as follows:

[0065]

number

[0066] Anomalous trajectories can be sampled from this distribution. The transformed packets can be, for example, V_20_6_6_6_6_6_28_28_28_28_28_28... ..._28_28_28_28_27_27_27_27_27_# and can be sent to the anomaly combiner interface. In response, the combining process can be performed automatically.

[0067] FIG. 11 illustrates the above-described GPASS system 10 setup as the synthesis process progresses through different stages. During FIGS. 11A and 11B, the ATC 58 selects the desired end effector 72 based on the packet. FIG. 11C illustrates the end effector 72 positioning and sensor initialization process, during which the end effector 72 is pre-positioned in direct contact with the shaft and the onboard sensors begin data logging. Next, in FIG. 11D, the plant warms up to the desired angular velocity. When automated anomaly synthesis is performed in FIG. 11E, the end effector 72 introduces a time-varying oscillatory shear load into the shaft. The bending deformation of the shaft is clearly shown between the reference dashed lines in FIGS. 11D and 11E. Upon completion, the setup can return to the idle configuration in FIG. 11F.

[0068] Empirical data demonstrates the synthesizer's real-time data generation capabilities. Figure 12 shows a sequence of raw data generated above. Color coding can be integrated according to sublevel anomaly modes from the anomaly generator signal as a visualization approach, but this is not apparent from the provided grayscale image. While periods can be different colors, they are not required to be. For example, in the illustrated embodiment, the color coding for periods A and D is the same and represents a healthy mode, while the color coding for periods B and E represents a manual N-mode anomaly. C, distinct from A, B, D, and E, represents an automated V-mode anomaly. Observations from the wireless sensors and the plant constitute a feature space that objectively describes the plant's state. The label space includes the signals collected by the anomaly generator. Specifically, the four label space sequences in Figure 12 indicate the sublevel anomaly modes and the numerical attributes of N-mode, V-mode, and D-mode, respectively.

[0069] The feature space shown in FIG. 12 refers to that found in conventional machinery. The feature space includes all data collected by a conventional plant's data acquisition system and is also the space included in other conventional anomaly synthesizers. The feature space may include attributes describing the plant's operating state, such as shaft orientation, angular velocity, angular acceleration, and surface strain. In the case of the GPASS system 10 described herein, the GPASS system also uniquely includes a label space. The label space is advantageous in that other anomaly synthesizers lack the ability to quantify and label abnormal events in real time. In this case, the label space includes all information describing the abnormal event, such as the type of anomaly (N-mode, V-mode, D-mode) and the severity of the anomaly (numerical attributes such as damping coefficient and lateral force magnitude). These two spaces are referred to as the label space and the feature space because their contents can be used as training labels (output) and training features (input), respectively, when training an artificial neural network.

[0070] The GPAD data sequence clearly reflects the workflow without any data processing. Specifically, period A in Figure 12 records the warm-up process of the plant once the shaft stabilizes at the commanded 200 RPM. The end effector 72 extends to form approximately 10 N of shear contact with the shaft during period B. This period can intuitively be labeled as manual N-mode synthesis. Markov chain V-mode synthesis can be performed automatically over period C, during which, in the illustrated example, frequencies of 6 Hz, 28 Hz, and 27 Hz are sequentially sent to the shaft. Period D in Figure 12 reflects the homing phase of the fault generator when the end effector 72 retracts, resetting the plant to a healthy state. In period E, the plant resets to an idle state. In this example, no D-mode faults are commanded, so the damper resistance remains constant throughout the process.

[0071] The dynamic behavior of N-mode, V-mode, and D-mode can be verified through their respective analyses. Because the effectiveness of the N-mode synthesis process for delivering a commanded constant shear load is known to those skilled in the art, this disclosure focuses on the other two sublevel modes.

[0072] Figure 13 shows the desired anomaly trajectory of the manual D-mode synthesis process. Theoretically, there is a correlation between control effort and damper resistance. To maintain the desired angular velocity, the plant increases control effort to counter the increase in damping coefficient introduced by the decrease in coaxial motor resistance, as clearly shown in the comparison of coaxial damper resistance versus time in Figure 13(A) and shaft control effort versus time in Figure 13(B). The steady-state control effort for all possible motor resistances is shown in the comparison of steady-state control effort versus resistance in Figure 13(C). The correlation trend proves the successful introduction of the D-mode anomaly.

[0073] Furthermore, V-mode synthesis in the GPAD dataset has proven accurate. Automatic V-mode synthesis was performed according to the reference ramping frequency trajectory of the active vibration mode frequency graph in Figure 14(A), which plots the commanded frequency over time (in seconds). To avoid overwhelming frequency components caused by shaft rotation, the plant can be commanded to a stationary state. Three sequences of time-series signals, including one sequence from label space and two sequences from feature space, can be used for short-time Fourier transform (STFT) analysis. The STFT results are presented in Figure 14(B), which shows the end effector force by plotting force against time (in seconds); Figure 14(C), which shows the angular velocity Y-axis by plotting frequency against time; and Figure 14(D), which shows the strain gauge by plotting strain against time. In all three signal sequences, the dominant power spectrum signal can accurately follow the commanded V-mode in both the frequency and time domains, thus facilitating verification that the V-mode synthesis is correctly conveyed to the plant and captured by the recognition system.

[0074] Unsupervised methods have been widely applied in data-driven AD&HM, at least in part due to the lack of anomaly spatial labels. Unsupervised methods can be categorized, for example, as distance-based, clustering-based, and classification-based methods. In one study conducted in connection with the present disclosure, a distance-based method, matrix profile (MP), is applied to describe GPAD data. The matrix profile method analyzes the data for a specific time window n within a time series data sequence. w It is possible to efficiently calculate the minimum distance between subsequences of . If the MP value is high, the feature subsequence X s (n:n+n w ) rarely finds another subsequence with a similar profile, and vice versa. Subsequences with high MP values ​​are called discrepancies. Generally, the hyperparameter m is defined such that the top m discrepancies indicate the presence of an anomaly.

[0075] GPAD sequences show good predictive ability even with primitive MP analysis. wA baseline MP analysis with m = 50 and m = 10 can be applied to a set of GPAD data. Data sequences containing a single anomaly subsequence can be randomly sampled from the data set. Anomalies can be introduced into the plant from approximately n = 200 to approximately n = 425, as shown in graph (A) of FIG. 15. MP analysis can be applied to two time-series features, strain gauge sensor readings and linear acceleration, whose raw signals are shown, for example, in graphs (B) and (D) of FIG. 15, respectively. Matrix profiles calculated for the two readings are shown in graphs (C) and (E) of FIG. 15. The matrix profile can further include predicted anomaly subsequences color-coded according to the top m discrepancies (the color coding is not dynamic in grayscale images relevant to this disclosure). The significant overlap between the predictions and ground truth in graphs (B) and (E) of FIG. 15 demonstrates a true positive alarm. In addition, both predictions may generate an alarm at the onset of an actual anomaly. However, ignoring false alarms may be unrealistic. For example, approximately 30% of anomaly alarms may be false positives. These are driven by the arguably primitive nature of the MP algorithm, and further discussion is not the focus of this disclosure. In conclusion, successful AD&HM results include a significant amount of true and timely alarms from the disclosed MP application, demonstrating the good predictive ability of the GPAD dataset.

[0076] Various machine learning techniques, such as multi-layer perceptrons, convolutional neural networks, recurrent neural networks, and transformers, can be applied to the GPAD dataset to achieve anomaly detection and health monitoring. The following provides a non-limiting example of a machine learning approach using a long short-term memory, a type of recurrent neural network. However, those skilled in the art will appreciate that other machine learning techniques, including but not limited to those identified herein, can be utilized with the GPAD dataset described herein.

[0077] Long short-term memory is a baseline machine learning model for time series forecasting that can be used due to its efficient deployment and convenient performance. Long short-term memory accepts sequential univariate or multivariate inputs,

[0078]

number

[0079] A recurrent neural network architecture is employed that outputs predictions of . For AD&HM time series datasets, which are rarely labeled, a common approach is to use future signals as training labels, which is called the sequence-to-supervision (seq2sup) trick. Specifically, if the hyperwindow length is nw, then at every time step n, the training features are X s (n:n+n w ), and the training labels are Y(n):=X s (n+n w +1). The objective function is the model prediction

[0080]

number

[0081] and the training labels Y(n). For AD&HM, the minimization method can apply a threshold to the distance metric between the input signal and the model predictions of the test set to identify whether the current time step is anomalous, as shown below:

[0082]

number

[0083] A baseline LSTM-based model applying the seq2sup trick can be trained and deployed to determine the binary health mode for the next time step. The baseline LSTM-based model, called LSTM1, takes R as input. 23 n feature vectors w = R taking about 30 time steps 50 We can employ a many-to-one LSTM layer that outputs a hidden vector. A dense layer can be stacked on top of the LSTM layer to generate the hidden vector R 50 →R 23 can be mapped to a prediction for this time window. For training, in one non-limiting embodiment, 30,000 time steps of data under healthy mode can be used.

[0084] The baseline LSTM model can achieve satisfactory AD&HM results on the proposed dataset. For example, we can visualize the raw predictions of LSTM1. Figure 16 shows five streams of model output for each ground truth signal. LSTM1 predicts the next signal change in a timely manner. Particularly noteworthy are the excellent predictions of the transition between the stationary and rotary plant, and the periodic signal in both frequency and amplitude as the plant rotates. As a further example, LSTM1 can be applied to practical anomaly detection. For the data sequence whose macro health mode is shown in graph (A) of Figure 18, the mean squared error (MSE) between the LSTM1 output and the input signal is shown in graph (B) of Figure 18. The distance threshold d th may be selected based, at least in part, on the receiver operating characteristic (ROC) curve of LSTM1 shown in Figure 17. The distance threshold d th The predicted abnormal modes can be color-coded and compared to the ground truth in graph (C) of Figure 18. The model can correctly predict almost all abnormal macro-health modes and over 50% of healthy modes in this data sequence. Considering that LSTM1 applies the GPAD archive in an unlabeled manner, the results demonstrate the significant predictive power of the GPAD archive.

[0085] The multidimensional true anomaly space labels in the GPAD archive enable the training of supervised neural networks. Supervised training is rarely available for time-series AD&HM applications, at least in part due to the lack of supervised datasets. The GPAD dataset provides three levels of operating conditions: binary labels for macro-health modes, multi-class labels for sub-level health modes, and numerical attributes with specific sub-level modes. An LSTM-based model can be trained using the real-time anomaly space labels provided by the proposed dataset. This model, called LSTM2, can maintain the same architecture as LSTM1 except for the output layer. R 23 Instead of outputting a vector, LSTM2

[0086]

number

[0087] It outputs a scalar to regress an estimate of the numerical attribute of dynamic mode anomalies, specifically the end-effector shear load in the provided study. A threshold can be applied to the classification to distinguish whether the plant is in healthy or abnormal mode. In the provided study, data from when the plant is in H-mode, V-mode, and N-mode can be applied for training.

[0088] The supervised nature of the GPAD archive dramatically improves the effectiveness of the baseline LSTM model. For all test sequences, the dramatically increased area under the curve (AUC) approaches 1 in Figure 17, implying that LSTM2 significantly outperforms LSTM1. Specific sequences in Figure 18, graphs (A) and (C), show LSTM2 predictions for ground truth shear loads. The model can correctly predict the shear load increment at precise time steps n ≈ 400. The model can also accurately predict the magnitude of anomalies before and after transient health mode changes. A threshold can be selected, at least in part, based on the ROC curve to generate a binary prediction of the plant's macro-health mode. As shown in graphs (D) and (E) in Figure 18, LSTM2's performance can clearly outperform that of LSTM1. Compared to the ground truth, LSTM2 can provide accurate anomaly alerts covering nearly 100% of the anomaly region, while only generating approximately 15% false positive alerts. The superior performance of LSTM2 clearly demonstrates the advantages of the anomalous spatial labels on the proposed dataset.

[0089] Coaxial and quadrature dynamic anomaly generators As mentioned above, coaxial anomalies can occur around the rotational axis 15 of the shaft 14. From a mass-spring-damper perspective, common coaxial anomalies include unbalanced mass, rotational spring, and rotational damping. Using the GPASS system 10, unbalanced mass can be realized as a type of static anomaly. Plants with rotational damping are common in real-world applications such as injection molding machines and ship rotors. In contrast, rotational springs can often be avoided to reduce the risk of spring degradation due to large radial displacements of the rotating shaft. Therefore, rotational damping is the type of damping primarily implemented during the development of the GPASS system 10.

[0090] Basic anomaly modes of the orthogonal anomaly generator 50 are also possible. Dynamic anomalies in rotating shaft plants can frequently occur in a direction substantially perpendicular to the axis of rotation 15. External normal forces can be converted into moment loads, causing deflection and / or twisting of the shaft 14. The data acquisition system 18 can be configured to measure, via at least one sensor 64, attributes of the rotatable shaft 14 caused by at least one of the deflections and / or twists. The development of the GPASS system 10 can essentially highlight two types of normal forces: (1) large, constant shear loads that routinely occur as a result of bending deformations, and (2) high-frequency vibration loads that can be observed in almost any dynamic application. These two modes can be represented as N-mode and V-mode, respectively. Large normal forces can routinely occur in vehicle drivetrains, robotic applications, extruders, and the like. Additionally, vibrations can be an unavoidable theme in any dynamic application. The data acquisition system 18 of the present disclosure can be configured to measure attributes of the rotatable shaft 14 caused by, for example, vibration loads. The quadrature anomaly generator 50 can be used to implement other general applications, for example, by synergizing these two types of fundamental modes.

[0091] The orthogonal anomaly generator 50 may have multiple quantitative and qualitative functional requirements. Quantitatively, the orthogonal anomaly generator 50 may need to adequately satisfy a significant range of dynamic inputs. In N-mode, a key input may be the magnitude of the lateral force. In V-mode, active frequency may be a significant dynamic input. The authority of the orthogonal anomaly generator 50 to control these inputs in real time may be important. Qualitatively, when the orthogonal anomaly generator 50 is idle, it typically is not likely to interfere with the normal operation of the rotating shaft 14. A sufficiently high level of modularity for easily expanding the range of anomaly scenarios may be important for the orthogonal anomaly generator 50. Additionally, it may be preferable for the orthogonal anomaly generator 50 to deliver consistent inputs regardless of the objective properties of the shaft, including material and geometry. Furthermore, protective elements may be integrated into the RAG, for example, to avoid hardware damage in the event of any potential and / or necessary contact between the orthogonal anomaly generator 50 and the rotary shaft.

[0092] Mechatronics, functionality, and modularity are also factors in this disclosure. Compatibility with multiple fault modes is a key feature of the orthogonal fault generator 50. Thus, hierarchical encapsulation of hardware, software, and electronic components at different levels allows for modularity to be emphasized during the development phase.

[0093] Regarding the electronic connections for the GPASS 10 testbed, a distributed hierarchical architecture for mechatronic encapsulation can be employed, as shown in FIG. 9 . The rotating shaft plant 12 and dynamic anomaly generator 30 can communicate with the master PC 100, for example, via a serial port. The microcontroller unit (MCU) of the dynamic anomaly generator 30 can record the inputs of both the drive motor 17 and the damping motor 42, as well as the angular velocity of the shaft 14. For the dynamic anomaly generator 30, the main MCU can receive commands from the master for anomaly mode selection and its corresponding attributes, such as reference force trajectory and frequency. All calculations, including the control laws for the linear stage, ATC 58, and end-effector arm 62, can be encapsulated at the main MCU level, while a sub-level MCU can continuously execute the calculated commands and obtain force sensor readings from the end-effector arm 62 as anomaly references. Those skilled in the art will appreciate that other electronic configurations and connections are possible without departing from the spirit of this disclosure.

[0094] The following are engineering constraints when introducing large normal forces and active vibrations into the rotating shaft 14. A phenomenon directly related to large normal forces can be deformation of the shaft 14. The normal force F n can be equivalently converted to a moment load via force-moment analysis. If the shaft 14 is static and homogeneous, as shown in Figure 6, the deformation of the shaft 14 under a bending moment can be approximated based on the Euler-Bernoulli (EB) beam equation:

[0095]

number

[0096] Under dynamic conditions, rotation exerts distributed centrifugal forces along the shaft 14, indirectly resulting in normal and axial deformations involving the Poisson effect. However, the amount of deformation(s) may be slightly different from that under static conditions. When a normal force is introduced, the strain on the surface of the shaft 14 is generally approximated as: M z =EI zz / ρ (3) ε s =r s / ρ (4)

[0097] The surface strain may not saturate the maximum sensing range from the on-board strain gauge sensors of the at least one sensor 64. In addition, the nominal force output from the actuator of the quadrature anomaly generator 50 after transmission may meet the following force requirements: ε max,sg >ε s ;F a >F n (5)

[0098] The introduction of vibrations can lead to several constraints in the development and application of quadrature anomaly generator frequencies. At least several frequencies to consider are the angular velocity of the shaft 14, the frequency of vibrations actively introduced by the quadrature anomaly generator 50 to excite the shaft 14, the data acquisition frequency of the data acquisition system 18, the natural frequency of the shaft 14, the first natural frequency or mechanical bandwidth of the quadrature anomaly generator 50, and the resonant frequency of the interaction between the quadrature anomaly generator 50 and the shaft 14. Among them, ω s are objective properties of the shaft and its boundary conditions, which can be approximated via finite element analysis or using an EB beam model. For example, the natural frequency of a stationary shaft 14 simply supported at both ends can be approximated as:

[0099]

number

[0100] where k=1, 2, 3 represent the first, second and third natural frequency modes. Under rotation, the first three natural frequency modes are close to those under static conditions. ω o and ω ir The hardware frequencies of the quadrature anomaly generator 50, including the active frequency ω, are discussed in more detail below. rand the active frequency ω a can be directly commanded as input by the operator during synthesis. The abnormal rotating shaft 14 is usually r exhibits significant vibration frequency components. As a general rule, to avoid accidental excitation, the active frequency and its multiples should typically not coincide with mechanical frequencies. Taking this scalar factor into account and leaving a safety boundary, the GPASS can be programmed as follows: 3ω r ,ω a <0.9min(ω ir ,ω o ,ω s ) (7)

[0101] Additionally, another set of constraints can be imposed on the active frequencies to prevent aliasing. max(3ω r ,ω a )<0.5ω wss (8)

[0102] To introduce the two fundamental abnormal modes, large normal forces and active vibrations, into the rotatable shaft 14, both contact and non-contact methods, i.e., N ct- Mode, V ct- Mode, N cs- Mode and V cs- The interaction between the end effector arm 62 and the remote end effector coupler 80 can be modeled using a mass-spring model as shown in Figure 7. The transfer function from the actuator input can be: (X d / X a )(s)=(k t k e ) / {(m e s 2 +k e )(m s s 2 +(k t +k s ))} (9) (F n / X a )(s)=(kt k e )(m s s 2 +k t ) / {(m e s 2 +k e )(m s s 2 +(k t +k s ))} (10)

[0103] In the case of the contact method, considering the rigid body contact and the relatively low stiffness of the mini suspension 70, k t,ct >>k e ≒k sus Therefore, the dominant pole can be approximated as: ω o ≒±√(k sus / m e ) (11) Equation (8) can be taken into account: A contactless scheme can be implemented in a similar way with minor modifications.

[0104]

number

[0105] Alternatively, a contactless method can be implemented in a similar manner as follows.

[0106]

number

[0107] Here the electromagnet can be commanded to switch high / low at a particular frequency.

[0108] An accurate model of Equation (12) and Equation (12a) is useful. The main caveat of the non-contact approach is that unless the electromagnet is particularly powerful, i.e., large B em and, consequently, large k t,csOtherwise, the tool could easily crash into the remote end effector coupler 80, rendering the non-contact method ineffective.

[0109] The block diagram in Figure 8 shows the force-based position control law used in this exemplary implementation. Force control for both contact and non-contact V-mode and N-mode can be performed using a proportional-integral-derivative (PID) controller to stabilize the dynamic system of Equation (10). V cs The mode is implemented in a unique way. a Since B may be the vibration of an important element, the end-effector MCU can directly obtain the reference frequency as an attribute and adjust B accordingly. cs In most situations where vibration amplitude is not of paramount importance, the feedback controller may be designated to idle. Once the vibration force amplitude is defined, the controller will calculate N cs Similar to the execution of the procedure, additional calibration steps may be performed using a feedback control loop. cs The control of V is encapsulated in the electronics and software domain. ct This unique method provided herein can be used because V is more dependent on mechanical components and the main actuator. cs Mode is V ct ω, which is much higher than the mode a In addition, V cs A stiffer suspension of the modalities can be used to increase the bandwidth, for example.

[0110] An exemplary implementation of GPASS 10 was performed in accordance with the disclosed embodiments. Among other manufacturing techniques, fused deposition modeling may be used for bulky customized parts, and digital laser printing may be applied to precision parts. Standard stock may be used for load-bearing parts. Below, the onboard electronic components of FIG. 9 are listed, and the frequency variables discussed in the previous section are as follows: max(ω r )=3485RPM=580Hz;ωo =2kHz max(ω a )=160MHz;ω wss =87Hz(CITE);p=28

[0111] Additionally, a prototype of a GPSS system has been implemented in accordance with the present disclosure. As shown in FIG. 7, the AAG motor and drive motor have a rated power of 45 W and a max(ω r The current ATC can load i=4 slider arms simultaneously. The active vibration of this prototype can be, for example, max(ω a ) = 160 MHz maximum frequency.

[0112] A method for measuring anomaly scenarios is described herein. The method includes a first operation of rotating a rotatable shaft about a rotation axis. The method further includes a second operation of generating, via a dynamic anomaly generator operatively connected to the rotatable shaft, at least one of: (i) at least one coaxial anomaly occurring about the rotation axis of the rotatable shaft while the rotatable shaft is rotating; or (ii) at least one orthogonal anomaly occurring in a direction substantially perpendicular to the rotation axis of the rotatable shaft while the rotatable shaft is rotating, via the dynamic anomaly generator.

[0113] The method further includes a third operation of generating at least one dynamic label for each of the at least one coaxial anomaly and the at least one orthogonal anomaly while the rotatable shaft is rotating, wherein the at least one dynamic label for each anomaly includes at least one descriptor corresponding to the anomaly and describing the anomaly, and the machine learning method may utilize the at least one descriptor for machine learning.

[0114] Thus, GPASS can provide multiple benefits and advantages, including one or more of the following, individually or in combination: 1. It is an active anomaly combiner that can generate dynamic (coaxial + quadrature) anomalies and static anomalies. 2. Generate multi-modes of anomalies (simultaneously) and obtain multivariate physical readings. 3. Reduce the risk and cost of abnormal formation. 4. Generate clean / separated / isolated anomaly data. 5. Monitor and record data over a variety of time scales. 6. It has a modular and highly customizable layout. 7. Provides excellent supervised data for machine learning on anomaly diagnosis / prediction.

[0115] It is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific implementations described above, which are disclosed by way of example only.

[0116] This application claims priority to and benefit of U.S. Provisional Patent Application No. 63 / 104,137, filed October 22, 2020, entitled "Modular, General-Purpose Automated Anomaly Data Synthesizer for Rotary Plants," the contents of which are incorporated herein by reference in their entirety.

Claims

1. a rotatable shaft configured to be driven in rotation about an axis of rotation; a data acquisition system operatively associated with the rotatable shaft and configured to measure attributes of the rotatable shaft; and a dynamic anomaly generator operatively connected to the rotatable shaft, the dynamic anomaly generator configured to generate at least one anomaly on the rotatable shaft while the rotatable shaft is rotating, the dynamic anomaly generator configured to generate at least one dynamic label for each anomaly of the at least one anomaly while the rotatable shaft is rotating; It is equipped with an anomaly scenario synthesizer, wherein the at least one dynamic label for each anomaly includes at least one descriptor describing a type of force applied to the rotatable shaft in an anomaly generation mode generated by the dynamic anomaly generator in response to the anomaly, and a machine learning method may utilize the at least one descriptor for machine learning.

2. 2. The anomaly scenario synthesizer of claim 1, wherein the dynamic anomaly generator comprises a coaxial anomaly assembly operatively coupled to the rotatable shaft and configured to generate at least one anomaly that is a coaxial anomaly occurring about the rotation axis of the rotatable shaft during rotation of the rotatable shaft.

3. the rotatable shaft is driven in rotation by a first motor operably connected to a first end of the rotatable shaft; 3. The anomaly scenario synthesizer of claim 2, wherein the coaxial anomaly assembly includes a second motor operably connected to a second end of the rotatable shaft opposite the first end, the second motor configured to generate the at least one anomaly, the at least one anomaly being a coaxial anomaly.

4. 4. The anomaly scenario synthesis device of claim 1, wherein the dynamic anomaly generator comprises an orthogonal anomaly assembly operatively coupled to the rotatable shaft and configured to generate at least one anomaly, the at least one anomaly being an orthogonal anomaly occurring in a first direction substantially perpendicular to the rotation axis of the rotatable shaft.

5. the orthogonal assembly is further configured to generate a constant load on the rotatable shaft in a first direction substantially perpendicular to the axis of rotation of the rotatable shaft, causing at least one of a bending or a twisting of the rotatable shaft; The abnormal scenario synthesizer of claim 4 , wherein the data acquisition system is configured to measure attributes of the rotatable shaft caused by at least one of bending or twisting.

6. the orthogonal assembly is further configured to generate a vibration load on the rotatable shaft to cause vibration of the rotatable shaft; The abnormal scenario synthesizer according to claim 4 or 5, wherein the data acquisition system is configured to measure attributes of the rotatable shaft caused by the vibration load.

7. the dynamic anomaly generator is further configured to generate at least one time step associated with each anomaly of the at least one anomaly; The abnormality scenario synthesizer according to claim 1 , wherein at least one dynamic label for each abnormality is generated for each time step of the at least one time step.

8. 8. The anomaly scenario synthesizer of claim 1, wherein the data acquisition system comprises at least one sensor configured to measure an attribute of the rotatable shaft in response to the dynamic anomaly generator generating the at least one anomaly.

9. 9. The abnormal scenario synthesizer of claim 1, wherein the attributes of the rotatable shaft measured by the data acquisition system include at least one of a coaxial damping coefficient, an end effector force, or an active vibration frequency.

10. For accurate real-time labeling of ground truth health states, at each time step, the dynamic anomaly generator: Y a (n) [0]: Macro health mode K∈S:={H, A}, Y a (n) [1]: Sublevel mode k∈s:={H, D, {N e }, {V e }}, and Y a (n) [2]: Numeric attribute y k ∈Y k ; k∈s and configured to format the dynamic label as H is a healthy mode of the rotatable shaft; A is an abnormal mode of the rotatable shaft; D is a D-mode type of force on the rotatable shaft including a coaxial damping coefficient; N e is the N-mode type of force on the rotatable shaft, including the end effector force; V is a V-mode type of force on the rotatable shaft including active vibration frequencies; 10. The abnormal scenario synthesizer according to claim 7, wherein yk and Yk include at least one discrete value representing a force acting on the rotatable shaft.

11. a housing in which the rotatable shaft is at least partially disposed; 7. The abnormal scenario synthesis system of claim 4, wherein the orthogonal abnormal assembly further comprises a linear stage and an automated tool changer rotatably coupled to the housing and including at least one deployment assembly.

12. the linear stage includes a main actuator fixedly coupled to the housing; each deployment assembly of the at least one deployment assembly includes a slider rail extending substantially perpendicular to the rotational axis of the rotatable shaft and an end effector arm configured to slidably move along the slider rail; 12. The abnormal scenario synthesizer according to claim 11, wherein the main actuator is configured to slidably move the end effector arm along the slider rail such that the end effector arm moves toward the rotatable shaft to generate the at least one abnormality, the at least one abnormality being an orthogonal abnormality.

13. Each end effector arm has: a carriage configured to slidably move along the slider rail; and a rack disposed on a side of the end effector arm and configured to interact with the main actuator to slidably move the end effector arm along the slider rail toward the rotatable shaft; The abnormal scenario synthesizer according to claim 12, comprising:

14. the end effector arm includes at least one sensor of the data acquisition system and an end effector tool head; 14. The anomaly scenario synthesizer of claim 12 or 13, wherein the orthogonal anomaly assembly further comprises a remote end effector coupler coupled to the rotatable shaft and configured to interact with the end effector tool head to generate at least one anomaly that is an orthogonal anomaly.

15. the automated tool changer is configured to rotate about an axis parallel to the first direction; 15. The abnormal scenario synthesizer of claim 12, wherein the dynamic abnormality generator is configured to rotate the automated tool changer to align a deployment assembly of the at least one deployment assembly with the main actuator of the linear stage such that the deployment assembly is in a position to slidably move via the main actuator.

16. A dynamic anomaly generator comprising: a coaxial anomaly assembly configured to be operatively coupled to a rotatable shaft, the coaxial anomaly assembly configured to generate at least one coaxial anomaly that occurs about an axis of rotation of the rotatable shaft to which the coaxial anomaly assembly is operatively coupled while the rotatable shaft is rotating; an orthogonal anomaly assembly configured to be operatively coupled to the rotatable shaft to which the coaxial anomaly assembly is operatively coupled, and configured to generate at least one orthogonal anomaly occurring in a first direction substantially perpendicular to the axis of rotation of the rotatable shaft; and a controller configured to generate, while the rotatable shaft rotates, at least one dynamic label for each coaxial anomaly of the at least one coaxial anomaly and at least one dynamic label for each orthogonal anomaly of the at least one orthogonal anomaly. It is equipped with A dynamic anomaly generator, wherein the at least one dynamic label for each coaxial anomaly and the at least one dynamic label for each orthogonal anomaly include at least one descriptor that describes a type of force on the rotatable shaft in an anomaly generation mode generated by the dynamic anomaly generator in response to the anomaly, and wherein a machine learning method may utilize the at least one descriptor for machine learning.

17. the rotatable shaft is configured to be driven to rotate about the rotation axis; 17. The dynamic anomaly generator of claim 16, wherein a data acquisition system is operatively associated with the rotatable shaft and configured to measure attributes of the rotatable shaft in response to the dynamic anomaly generator generating at least one of the at least one coaxial anomaly or the at least one orthogonal anomaly.

18. the controller is further configured to generate at least one time step associated with each of the at least one coaxial anomaly and the at least one orthogonal anomaly; 18. The dynamic anomaly generator of claim 16 or 17, wherein the at least one dynamic label for each anomaly is generated for each time step of the at least one time step.

19. 19. The dynamic anomaly generator of claim 16, further comprising at least one sensor configured to measure an attribute of the rotatable shaft to which the coaxial anomaly assembly is operatively coupled in response to the coaxial anomaly assembly generating the at least one coaxial anomaly and the orthogonal anomaly assembly generating the at least one orthogonal anomaly.

20. the rotatable shaft to which the coaxial abnormality assembly is operably coupled is driven in rotation by a first motor operably connected to a first end of the rotatable shaft; 20. The dynamic anomaly generator of claim 16, wherein the coaxial anomaly assembly comprises a second motor operably connected to a second end of the rotatable shaft opposite the first end, the second motor configured to generate the at least one coaxial anomaly.

21. 20. The dynamic anomaly generator of claim 17, wherein the attributes of the rotatable shaft measured by the data acquisition system include at least one of a coaxial damping coefficient, an end effector force, or an active vibration frequency.

22. 22. The dynamic anomaly generator of any one of claims 17 to 21, wherein the orthogonal anomaly assembly is further configured to generate a constant load on the rotatable shaft in the first direction substantially perpendicular to a rotational axis of the rotatable shaft to cause at least one of bending or twisting of the rotatable shaft so that attributes of the rotatable shaft caused by at least one of bending or twisting of the rotatable shaft can be measured.

23. 23. The dynamic anomaly generator of any one of claims 17 to 22, wherein the orthogonal anomaly assembly is further configured to generate a vibratory load on the rotatable shaft to induce vibration of the rotatable shaft such that attributes of the rotatable shaft caused by the vibratory load can be measured.

24. 1. A method for measuring abnormal scenarios, comprising: Rotating the rotatable shaft about the rotation axis; (i) at least one coaxial anomaly occurring about the axis of rotation of the rotatable shaft while the rotatable shaft is rotating via a dynamic anomaly generator operatively connected to the rotatable shaft; or (ii) generating, via the dynamic anomaly generator, at least one orthogonal anomaly generated in a direction substantially perpendicular to the axis of rotation of the rotatable shaft while the rotatable shaft is rotating; and generating at least one of generating at least one dynamic label for each of the at least one coaxial anomaly and the at least one orthogonal anomaly while the rotatable shaft is rotating; The method, wherein the at least one dynamic label for each anomaly includes at least one descriptor describing a type of force on the rotatable shaft in an anomaly generation mode generated by the dynamic anomaly generator in response to the anomaly, and wherein a machine learning method may utilize the at least one descriptor for machine learning.

25. (i) at least one coaxial anomaly occurring about the axis of rotation of the rotatable shaft while the rotatable shaft is rotating via a dynamic anomaly generator operatively connected to the rotatable shaft; and (ii) generating, via the dynamic anomaly generator, at least one orthogonal anomaly generated in a direction substantially perpendicular to the axis of rotation of the rotatable shaft while the rotatable shaft is rotating; 25. The method of claim 24, wherein both

26. 26. The method of claim 24 or 25, further comprising measuring at least one attribute of the rotatable shaft based on at least one of the generated at least one coaxial anomaly or the at least one orthogonal anomaly.

27. In generating the at least one orthogonal anomaly, 27. The method of any one of claims 24 to 26, further comprising generating a constant load on the rotatable shaft in a direction substantially perpendicular to the axis of rotation of the rotatable shaft, causing at least one of bending or twisting of the rotatable shaft.

28. In generating the at least one orthogonal anomaly, 28. The method of any one of claims 24 to 27, further comprising generating a vibratory load on the rotatable shaft to cause vibration of the rotatable shaft.

29. 29. The method of claim 27 or 28, wherein at least one attribute of the rotatable shaft is measured based on at least one of a deflection of the rotatable shaft, a torsion of the rotatable shaft, or a vibration of the rotatable shaft.

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