Expert Systems with Applications 37 (2010) 60776085

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Expert Systems with Applications

journal homepage: www.elsevier.com/locate/eswa

Bearing fault diagnosis using multi-scale entropy and adaptive neuro-fuzzy inference
Long Zhang a, Guoliang Xiong b,*, Hesheng Liu c, Huijun Zou a, Weizhong Guo a
a

School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, PR China School of Mechatronic Engineering, East China JiaoTong University, Nanchang 330013, PR China c Department of Physics, Shangrao Normal University, Shangrao 334001, PR China
b

a r t i c l e

i n f o

a b s t r a c t
A bearing fault diagnosis method has been proposed based on multi-scale entropy (MSE) and adaptive neuro-fuzzy inference system (ANFIS), in order to tackle the nonlinearity existing in bearing vibration as well as the uncertainty inherent in the diagnostic information. MSE refers to the calculation of entropies (e.g. appropriate entropy, sample entropy) across a sequence of scales, which takes into account not only the dynamic nonlinearity but also the interaction and coupling effects between mechanical components, thus providing much more information regarding machinery operating condition in comparison with traditional single scale-based entropy. ANFIS can benet from the decision-making under uncertainty enabled by fuzzy logic as well as from learning and adaptation that neural networks provide. In this study, MSE and ANFIS are employed for feature extraction and fault recognition, respectively. Experiments were conducted on electrical motor bearings with three different fault categories and several levels of fault severity. The experimental results indicate that the proposed approach cannot only reliably discriminate among different fault categories, but identify the level of fault severity. Thus, the proposed approach has possibility for bearing incipient fault diagnosis. 2010 Elsevier Ltd. All rights reserved.

Keywords: Fault diagnosis Multi-scale entropy Adaptive neuro-fuzzy inference Bearing

1. Introduction Automated condition monitoring and fault diagnosis of rotating machinery have been attracting signicant attentions over the years. Rolling element bearing is among the most important and frequently encountered components in the vast majority of rotating machinery. In order to keep machinery operating at its best and avoid catastrophic accidents, a variety of bearing fault diagnosis techniques have been developed, among which vibration signal processing is the most frequently applied one (Lei, He, & Zi, 2008). By applying certain processing techniques to bearing vibration signals, it is possible to obtain vital diagnostic information. In an automated condition monitoring and fault diagnosis system, extractions of feature information is normally followed by a classier so that automated diagnosis is achieved. However, the two tasks of feature extraction and fault classication are difcult to be performed effectively due to the nonlinearity existing in bearing vibration signals and the uncertainty inherent in the diagnostic information. Due to the factors such as clearances and non-linear stiffness of rolling elements, vibration of a bearing, especially when faults have
* Corresponding author. E-mail addresses: longzh@126.com (L. Zhang), lgxcxx@ecjtu.jx.cn (G. Xiong). 0957-4174/$ - see front matter 2010 Elsevier Ltd. All rights reserved. doi:10.1016/j.eswa.2010.02.118

occurred, is essentially governed by a non-linear dynamic model. For this reason, commonly used signal processing techniques aimed particularly for linear vibration signals including time and frequency domain techniques, as well as advanced signal processing techniques, such as wavelet transform and time-frequency representation, may all exhibit limitations. On the other hand, techniques for non-linear dynamic parameter estimation offer a potential alternative to extracting fault-related features hidden in the complex and non-linear bearing vibration signals (Yan & Gao, 2007). Hitherto, a number of non-linear parameter identication techniques have been investigated and introduced to fault diagnosis, among which correlation dimension is well known (Jiang, Chen, & Qu, 1999; Logan & Mathew, 1996; Yang, Zhang, & Zhu, 2007). Unfortunately, reliable estimation of correlation dimension requires very long data sets that might be difcult or even impossible to be achieved especially in on-line, real-time monitoring and diagnosis. A brief review on non-linear dynamic parameters used for feature extraction within fault diagnosis is provided in the literature (Yan & Gao, 2007), and in the same literature, appropriate entropy (ApEn) was introduced and selected as a tool for rolling bearing health monitoring. Although ApEn has found its applications in elds of biomedical signal processing and vibration signal processing (Ocak, 2009; Yan & Gao, 2004, 2007), however due to the bias within its estimation, ApEn depends heavily on the record

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length and its estimated value is uniformly lower than the expected one especially as short records concerned, and lacks relative coherence as well (Richman & Moorman, 2000). In order to overcome the shortcomings of ApEn, Richman and Moorman (2000) proposed a new kind of entropy, viz. sample entropy (SampEn) which seems much more promising and has attracted a lot of attentions (Liao, Wang, & He, 2008; Richman & Moorman, 2000). Multi-scale entropy (MSE) was recently introduced by Costa, Goldberger, and Penget (2002) and Costa, Goldberger, Penget, and Lisbon (2002) as an enhanced method to evaluate the regularity of complex time series. They have applied MSE to distinguish between young healthy hearts and congestive heart failure. Moreover, MSE was able to distinguish atrial brillation from healthy hearts (Costa, Goldberger, & Penget, 2002; Costa, Goldberger, & Penget et al., 2002; Costa & Healey, 2003; Costa, Goldberger, & Peng, 2005). The key to MSE method lies in a multi-scale philosophy (Thuraisingham & Gottwald, 2006). Consider a machine composed of gears, bearings, shafts and other mechanical components (Fan & Zuo, 2008). Even a modest amount of machine complexity will result in measured vibration signals that contain multiple intrinsic oscillatory modes due to the interaction and coupling effects between machine components, implying that non-linear dynamic parameters applied on single scale (such as ApEn and SampEn) may be insufcient for characterizing machine vibration signals. For this reason, the multi-scale method is introduced and tried in the present study intended for improving the performance of traditional single scale-based non-linear dynamic methods for machine fault diagnosis purpose. To the best of the authors knowledge, MSE has not been applied in the eld of fault diagnosis so far. Its advanced properties attract us for a trial of its use. Normally, after feature extraction with MSE, a classier is employed to fulll automatic fault diagnosis. Automated fault diagnosis system can reduce the demand on the skills of operators and help make reliable decision quickly on the running condition of machinery. A variety of computational intelligence techniques have been applied as classiers to fault diagnosis, such as articial neural networks (ANNs) (Wu & Chan, 2009; Wu & Kuo, 2009; Wu & Liu, 2008, 2009), support vector machines (SVMs) (Abbasion, Rafsanjani, Farshidianfar, & Irani, 2007; Hu, He, ZHang, & Zi, 2007; Widodo & Yang, 2007a, 2007b; Yang, Han, & Hwang, 2005), fuzzy logic (FL) (Celik & Bayir, 2007; Saravanan, Cholairajan, & Ramachandran, 2009; Wu & Hsu, 2009) and adaptive neuro-fuzzy inference system (ANFIS) (Lei et al., 2008; Lei, He, Zi, & Hu, 2007; Tran, Yang, Oh, & Tan, 2009; Wu, Hsu, & Wu, 2009). Recently, there is a trend toward the combined use of two or more of these intelligent techniques to obtain a hybrid model so as to integrate the power of individual approach and overcome their own shortcomings simultaneously. A typical example among such hybrid intelligent systems is that of ANFIS, which harnesses the advantages of both fuzzy logic and neural networks. Fuzzy logic has the capability of handling uncertain and imprecise information, while an ANN is capable of learning form examples. In fault diagnosis, there are many uncertain/imprecise factors, for instance, vague symptoms and ambiguous mapping of symptoms to their cause. Meanwhile, even established history database can provide a certain amount of data sets collected from machinery under various health conditions in the form of vibration signal, current signal, acoustic signal, etc. Thus, ANFIS seems promising for machinery fault diagnosis. So far, successful applications of ANFIS have been reported in the elds of disease diagnostics (Avci, 2008; Ubeyli, 2009) , image recognition (Avci, 2007; Dogantekin, Yilmaz, Dogantekin, Avci, & Sengur, 2008) and machinery fault diagnosis (Lei et al., 2008, 2007; Lou & Loparo, 2004; Tran et al., 2009; Wu et al., 2009), etc. In this paper, a new technique for bearing fault diagnosis is developed using MSE and ANFIS techniques. First, MSEs across 20 scales are calculated to form a feature set containing rich condi-

tion-indicating information. Later on, ve parameters are extracted from the original feature set so as to reduce the dimensionality of ANFIS input variable, which are maximum value, minimum value, arithmetic mean value, geometric mean value and standard deviation value. Finally, the condensed feature set are presented to ANFIS to yield diagnosis results. The proposed approach is validated through fault diagnosis of rolling element bearings of induction motor. Faulty scenarios cover faults existing in outer race, inner race and rolling element, with each fault having several level of severity. 2. Vibration data All the bearing vibration data analyzed in this paper are kindly provided by Case Western Reverse Lab (Lou & Loparo, 2004). The test stand, shown in Fig. 1, consists of a two hp, three-phase induction motor (left), a torque sensor (middle) and a dynamometer (right) connected by a self-aligning coupling (middle). The dynamometer is controlled so that desired torque load levels can be achieved. The test bearing supports the motor shaft at the drive end. Single point faults were introduced into the test bearing using electro-discharge machining. Bearing faults under consideration cover outer race fault, inner race fault and rolling element fault. For a certain fault, at most four defect sizes were considered which are 0.1778, 0.3556, 0.5334 and 0.7112 mm in diameter. An accelerometer with a bandwidth up to 5000 Hz is mounted on the motor housing at the drive end of the motor to collect the vibration signals from the bearing. The data collection system consists of a high bandwidth amplier particularly designed for vibration signals and a data recorder with a sampling frequency of 12,000 Hz per channel. The data recorder is equipped with low-pass lters at the input stage for anti-aliasing. On the other hand, the frequency content of interest in the vibration signals of the system under study does not exceed 5000 Hz, therefore the sampling rate is ample (Abbasion et al., 2007; Lei et al., 2008; Lou & Loparo, 2004). 3. Multi-scale entropy 3.1. Review of MSE In the present study, the MSE algorithm is based on the application of SampEn for different scales of the same process instead of traditionally used regularity measure ApEn statistics. SampEn is a renement of ApEn. Details on the SampEn algorithm can be found in many literatures (Richman & Moorman, 2000). Briey, SampEn measures the regularity in serial data. It provides a likelihood measure that two sequences of m consecutive data points within given tolerance r remain similar when one consecutive point is included. SampEn increases as r decrease, because the criterion for sequence matching becomes more stringent. Therefore, the determination of these two parameters is of importance. Herein, according to previous studies (Trunkvalterova et al., 2008) and the experimental results in this study, it has been chosen that r 0:15 standard deviation of the time series to avoid distortion of SampEn values resulting from changes in signal magnitude and m 2. In the MSE analysis, a coarse-grained time series is rst constructed from the original time series fx1 ; . . . ; xi ; . . . ; xN g. One can constructed consecutive coarse-grained time series fys g with scale factor ss 1; 2; . . . ; N , according to the equation

yj 1=s

js X ij1s1

xi ;

where s represents the scale factor and 1 6 j 6 N =s. In other words, coarse-grained time series for scale s are obtained by taking arith-

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Fig. 1. (a) Experimental setup and (b) scheme diagram of the experimental setup.

Scale 2
X1 X2 X3 X4 X5 X6 Xi Xi+1

y1(2)

y2(2)

y3(2)

y (i+1)/2(2)=(X i+Xi+1)/2

Scale 3
X1 X2 X3 X4 X5 X6 Xi Xi+1 Xi+2

y1(3)

y2(3)

y (i+2)/3(3)= (Xi+X i+1+Xi+2)/3

Fig. 2. The scheme illustrating the coarse-graining of an original time series for scales s 2 and s 3.

metic mean of s neighboring original values without overlapping (Fig. 2). The length of each coarse-grained time series is N=s. As s increases, the length of coarse-grained time series decreases. For scale 1, the coarse-grained time series is simply the original time series. Then SampEn is computed for the coarse-grained time series at each scale, and then sample entropies over multiple scales are plotted as a function of the scale factor. 3.2. MSE analysis of simulated signals For a self-similar random processes, the power spectral density S(f) is proportional to frequencies f as S(f) / 1=f b . If b 0, the random process is white noise, while b 1 for 1=f noise which is very common in nature. Fig. 3 shows simulated 1=f noise and a white

noise along with their normalized Fourier spectrum. The difference is obvious between these two types of noise from their spectral, wherein 1=f noise is of long-range correlation implying more complex than white noise. The SampEn across 20 scales of these two signals are shown in Fig. 4. It can be seen in Fig. 4 that at the scale s 1, the entropy of white noise is higher than that of 1/f noise. From the traditional opinion of single scale-based entropy, a confusing conclusion will be drawn that white noise is more complex than 1=f noise, which does not agree with our intuitive idea and the fact. Making such an imperfect conclusion is mainly attributed to the fact that single scale-based entropy does not take into account the multi-scale characteristics underlying the time series. Continue to examine Fig. 4, as s increases, SampEn of white noise monotonically decreases while SampEn of 1=f noise keeps almost constant independent of s. Consequently, SampEn values of 1=f noise become larger than those of white noise at larger scale factors s > 4. This indicates that really complex process will produce larger SampEns over a wide range of scales. For the bearing vibration signals considered in the present study, when the bearing is free of faults, the vibration stems mainly from the interactions and coupling between mechanical parts as well as environmental noise. Due to various mechanical rotating and reciprocating frequency, vibration signals will present multiscale characteristics, thus exhibit complexity. Faults characterized by impulses will introduce a lot of deterministic impulse components into the bearing vibration which consequently results in loss of certain complexity. Therefore, it is expected different bearing condition will possess different complexity across multiple temporal scales and benet fault diagnosis.

Normalized Amplitude

Normalized Amplitude (a) 1/f noise

1 0.8 0.6 0.4 0.2 0 (b) Spectrum of 1/f noise

Normalized Amplitude

Normalized Amplitude

1 0.8 0.6 0.4 0.2 0 0 0.17 0.33 Normalized frequency (d) Spectrum of white noise 0.50

-1

10000 Sample

20000

30000

(c) White noise

Fig. 3. (a) 1/f noise, (b) spectrum of 1/f noise, (c) white noise, and (d) spectrum of white noise.

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3 White noise 1/f noise 2.5 Sample entropy

1.5

using back propagation gradient descent and least square type of method, respectively. Such methodologies make the ANFIS modeling more systematic and less reliant on expert knowledge, thus more objective. Without loss of generality and for simplicity, it is assumed that the ANFIS under consideration has two inputs x and y, and one output f. Suppose that the rule base contains only two ifthen rules of rst order Sugeno type. The given concept of ANFIS structure can be explained using a simple example whose rule base is given as follows: Rule 1 If x is A1 and y is B1, then f1 = p1 x + q1 y + r1, Rule 2 If x is A2 and y is B2, then f2 = p2 x + q2 y + r2,

0.5

10 Scale factor

15

20

Fig. 4. Sample entropy (SampEn) as a function of the scale factor for the coarsegrained time series of white and 1/f noise.

4. ANFIS ANFIS formulates a Sugeno fuzzy inference model (SFIM) into the framework of a multi-layer ANN, where there are no synaptic weights, but rather so-called adaptive and non adaptive node (Reddy & Mohanta, 2007). Hence, ANFIS is functionally equivalent to a SFIM. Using stipulated inputoutput training data pairs, ANFIS regulates the membership function and other associated parameters

where x and y are the inputs, A1 ; A2 ; B1 and B2 are fuzzy sets (representing linguistic labels, such as small, medium and large) that are determined during the training process, p1 ; q1 ; r 1 ; p2 ; q2 and r 2 are design parameters that are also determined during the training process. Then the fuzzy reasoning is illustrated in Fig. 5a, and the corresponding equivalent ANFIS architecture is shown in Fig. 5b. The node functions in the same layer are of the same function family as described below: Layer 1: The nodes in this layer represent input nodes, and are also called adaptive nodes. Nodes of this layer generate membership grade with node functions:

O1i lAi x; O2i lBi y;

i 1; 2; i 1; 2;

2 3

a
o11

Rule 1

A1
o21

B1
1 = O11 O21

Overall output

f1 = p1x+q1 y+r1
X
A2
o22

Y
Rule 2

f=

B2

2 = O12 O22

1 f1+2 f 2 1+2 =1 f1+2 f 2

o12

f 2 = p2 x+q2 y+r2
X
Y
Input

y
Layer 1 Layer 2

Layer 3

Layer 4

Layer 5

A1
x

o11

f1

A2
B1
y

o12 o21

1
2

1
2
f2

1 f1

2 f 2

B2

o22
: Fixed node

: Adaptive node

Fig. 5. (a) Sugeno fuzzy inference model and (b) equivalent ANFIS architecture.

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where O1i and O2i are the fuzzy membership grades that specify the degree to which the given crisp inputs x and y satisfy the linguistic labels Ai and Bi , respectively. Fuzzy sets Ai and Bi are depicted by their membership functions lAi and lBi , respectively, which are normally chosen to be bell-shaped with maximum equal to 1 and minimum equal to 0, such as

lAi x

1  2bi ; xci  1  ai 

minima. This algorithm is a combination of the gradient descent approach and least squares estimate, and consists of two steps. In the rst step, the premise parameters are assumed to be xed and the optimal consequent parameters are then identied by the least squares estimate. On the contrary, in the second step, the consequent parameters are assumed to be xed and, the premise parameters are updated by the back propagation gradient descent method based on the error signals.

where ai ; bi and ci are the parameters which govern the forms of membership functions on linguistic labels. These parameters are in the premise part of ifthen rules, hence called as premise parameters or so-called non-linear parameters. Q Layer 2: Every node in this layer is a xed node labeled which multiplies the incoming signals and yield the product. For instance,

5. Results and discussion In order to evaluate the proposed approach, experimental analyses on bearing fault diagnosis were carried out. The test-rig under consideration has been elaborated on in Section 2. Vibration signals were collected under different articially induced fault categories as well as different severities. The detailed description of the data set is shown in Table 1. Taking into account multifarious fault categories and severities, the experiment turns into a tenclass classication problem. The data set comprises totally 320 data samples, and each data sample consists of 4096 data points. Among these 320 data samples are randomly selected 100 samples as training data, and the rest 220 as testing data. Here the testing data is twice the amount of training data, since in general engineering practice, a particular fault is usually of small sample size. Time waveform of the ten bearing conditions are shown in Fig. 6, where the title, to take outer race fault I as an example, refers to bearing fault existing in outer race with the rst level of severity as depicted in Table 1. It can be seen that it is difcult to distinguish among different bearing conditions from time domain, so certain advanced signal processing technique is desired for extracting useful fault indicating information. During past decades, substantial efforts have led to the development of feature extraction techniques, ranging from classical Fourier analysis to recently developed wavelet transform. Unfortunately, most of these techniques are chiey designed for linear systems. For a mechanical system, especially that with faults, the resulting vibration signals are usually of nonlinearity. As such, MSE is employed as a non-linear dynamic method in this study for bearing fault diagnosis. Fig. 7 gives the MSE over 20 scales corresponding to the signals shown in Fig. 6. From Fig. 7, we can see that the MSE of good condition (without fault) has the largest entropy values over most scales, which means the vibration signals with good condition is more complex in comparison with those with faulty condition. If from the opinion of traditional single scale-based entropy, i.e. examining the entropy values over the rst scale factor, most faulty signals have a larger entropy value, viz., more complex than the signal with good condition. According to the statement in Section 3, it can be concluded the complexity of vibration signals can be characterized by MSE more reasonably than by single scale-based entropy.

xi lAi x lBi x; i 1; 2:

The output of each node in this layer represents the ring strength of a rule. Layer 3: Every node in this layer is a xed node labeled N. The ith node calculates the ratio of the ith rules ring strength to the sum of all rules ring strengths, which also called normalized ring strength:

i x

xi ; i 1; 2: x1 x2

Layer 4: Every node in this layer is adaptive nodes. The output of each node is simply product of the normalized ring strength and a rst order polynomial (for a rst order SFIM). Thus, the outputs of this layer are given by:

 i fi x  i pi x qi y ri ; i 1; 2; x

 i is the output of layer 3, and pi qi and r i are linear paramwhere x eters of rst order SFIM which are referred to as consequent parameters or so-called linear parameters. P Layer 5: The single node in this layer is a xed node labeled , indicating that it performs the summation of all incoming signals. Hence, the overall output of the model is given by:

f ov erall output

i xi f i  i fi P x ; i 1; 2: i xi

Thus, an adaptive network is constructed, which is functionally equivalent to a rst order SFIM. Among the ve layers of ANFIS architecture, there are two adaptive layers, viz. the rst and the fourth layer. Premise parameters fai ; bi ; ci g in the rst layer and consequent parameters fpi ; qi ; ri g in the fourth layer are adaptive parameters. These parameters can be obtained a desired value through a hybrid learning algorithm, in order to improve the training efciency and eliminate the possible trapping due to local
Table 1 Description of bearing data set. Bearing condition Normal Outer race Defect size (mm) 0 0.1778 0.3556 0.5334 0.1778 0.7112 0.1778 0.3556 0.5334 0.7112

The number of training samples 10 10 10 10 10 10 10 10 10 10

The number of testing samples 49 19 19 19 19 19 19 19 19 19

Label of classication 1 2 3 4 5 6 7 8 9 10

Rolling element Inner race

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0.5 0 -0.5 5 0 -5 0.5 0 -0.5 10 0 -10

Good condition

3 Good condition Outer race fault I Outer race fault II Outer race fault III Rolling element fault I Rolling element fault II Inner race fault I Inner race fault II Inner race fault III Inner race fault IV

2.5
Outer race fault I

2
Outer race fault II

Feature value

1.5

Outer race fault III

1
Rolling element fault I

Amplitude

0.5 0 -0.5 10 0 -10 2 0 -2 2 0 -2 5 0 -5 5 0 -5

0.5

Rolling element fault II

Max

Min

Mean Feature

Geomean

Std

Inner race fault I

Fig. 8. Five statistics over the MSE shown in Fig. 7.

Inner race fault II

a
1 0.5
mf1 mf2 mf3

b
1 0.5 -0.5 0 0.5 Input1 (Max)
mf1 mf2 mf3 mf1 mf2 mf3

Inner race fault III

0 -1

0 -1

Inner race fault Iv

c
3000 3500 4000

-0.5 0 0.5 Input1 (Max)

mf3 mf1 mf2

0.5
0 500 1000 1500 2000 2500

0.5 -0.5 0 0.5 Input2 (Min)

mf2 mf3

Data points
Fig. 6. Vibration signals of each bearing condition.

0 -1

0 -1

-0.5

f
1 0.5
mf1

0 0.5 Input2 (Min)

mf2 mf3

mf1

3 Good condition Outer race fault I Outer race fault II Outer race fault III Rolling element fault I Rolling element fault II Inner race fault I Inner race fault II Inner race fault III Inner race fault IV

0.5 0 -1 -0.5 0 0.5 Input3 (Mean)

mf1 mf2 mf3

0 -1

2.5

-0.5 0 0.5 Input3 (Mean)

mf3 mf1 mf2

2 Sample entropy

0.5
1.5

0.5 -0.5 0 0.5 Input4 (Geomean)

mf1 mf2 mf3

0 -1

0 -1

-0.5 0 0.5 Input4 (Geomean)

mf1 mf2 mf3

0.5
0.5

0.5 -0.5 0 0.5 Input5 (Std) 1 0 -1 -0.5 0 0.5 Input5 (Std) 1

0 -1
5 10 Scale factor 15 20

0 0

Fig. 7. MSE over 20 scales of the corresponding signals shown in Fig. 6.

Fig. 9. Membership functions of each input feature before training (left column) and after training (right column) where the vertical axis of each sub-gure represents the membership degree.

After extracting MSE as feature vectors, an ANFIS will be trained to achieve automated fault diagnosis for the sake of addressing uncertainty within diagnosis process. However, high dimension of feature vectors will increase computational complexity. For example, if each of the 20 elements in MSE have three input membership functions, the ANFIS will have 3,486,784,401 rules. This value of the rule number is extremely large and in this state, training of the ANFIS becomes very difcult. Therefore, in order to reduce the extracted feature vectors, statistics over the MSE are applied.

The following statistical features are used for reducing the dimensionality of the extracted feature vectors representing the vibration signals (Ubeyli, 2009; Avci, 2008): 1. 2. 3. 4. 5. Maximum of the MSE (Max for short). Minimum of the MSE (Min for short). Arithmetic mean of the MSE (Mean for short). Geometric mean of the MSE (Geomean for short). Standard deviation of the MSE (Std for short).

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These statistics reduce the rule numbers signicantly. Fig. 8 presents the ve statistics over the MSE depicted in Fig. 7. Hereafter, the reduced feature vectors compose the database of the proposed fault diagnosis expert system. The database is divided into a training data set (100 samples) and a testing data set (220 samples). The training data set is used to train the ANFIS model, in order for the fuzzy logic inference to approach the expected outputs. The membership functions divide the codomain of each input into three overlapped parts, namely small, medium and large. The changes of the nal (after training) bell-shaped membership functions with respect to initial (before training) membership functions of the input parameters are investigated after training process.

Fig. 9 shows the initial and nal membership functions of each input. The examination of initial and nal membership functions indicates that membership functions can be changed according to the actual condition by training data set and training process (Wu et al., 2009). The amount of changes in the nal membership functions indicates the relevancy level of input 1 (Max), input 3 (Mean), input 4 (Geomean) is relatively higher than that of input 2 (Min) and input 5 (Std), where a higher relevancy level implies more contributions to classications. After training, the nal membership functions are used to determine the degree value of each input in the testing stage. The testing data set is used to validate the accuracy of the ANFIS model for

a 12
11 10 9 8 Output 7 6 5 4 3 2 1 0 0 1 (Training data)

Desired output ANFIS output

(Testing data)

b
Absolute error

50

100

150 Sample

200

250

300

Two misclassified cases 0.5 0 0

50

100

150 Sample

200

250

300

Fig. 10. Classication results using the proposed approach with 100 training samples, (a) output; (b) absolute error of the proposed approach output with respect to the desired output.

a 12
11 10 9 8 7 Output 6 5 4 3 2 1 0 -1 0 50 100 150 Sample 200 250 300 (Training data) (Testing data) Desired output BP output

b
Absolute error 1.5 1 0.5 0 0 50 100 Eight misclassified cases

150 Sample

200

250

300

Fig. 11. Classication results using BP network with 100 training samples, (a) output; (b) absolute error of the BP network output with respect to the desired output.

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bearing fault diagnosis. The aim of classication is to assign an input pattern to one of the 10 classes concerned in the present study and represented by the classication labels dened in Table 1. The classication result obtained by the proposed approach for the training and testing data set is shown in Fig. 10. Fig. 10a shows the desired output and the output of the trained ANFIS. Fig. 10b shows the absolute error of the ANFIS output with respect to the desired output, where a sample is considered to be misclassied when the absolute error is greater than or equal to 0.5. As shown in Fig. 10b, there are two samples with inner race fault and the second level of severity misclassied to the same fault category but with the third level of severity. The total classication accuracy of the proposed approach on both training and testing data set is

99.38%. For comparison purpose, a multi-layer neural network based on back propagation (BP) algorithm is also utilized to solve the same ten-class classication problem. The utilized BP neural network is composed of three layers in which the node number of input layer, hidden layer and output layer is 5, 11 and 1, respectively. The weight and bias values of BP network are updated by LevenbergMarquardt optimization, which is a considerably fast training algorithm. For the BP network, the input features, training and testing samples are the same as the ANFIS classier. The classication result of the BP network is presented in Fig. 11, from which it can be seen that eight samples are misclassied, with a classication accuracy of 97.5%. This comparison highlights the advantage of ANFIS over BP network. With the training samples

12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 No misclassified cases 0.5 0 0 (Training data) (Testing data) Desired output ANFIS output

Output

b
Absolute error

50

100

150 Sample

200

250

300

50

100

150 Sample

200

250

300

Fig. 12. Classication results using the proposed approach with 150 training samples, (a) output; (b) absolute error of the proposed approach output with respect to the desired output.

a 12
11 10 9 8 Output 7 6 5 4 3 2 1 0 0 (Training data) 50 100 150 Sample 200 250 (Testing data) 300 Desired output ANFIS output

b
Absolute error

209 out of 320 cases are misclassified

0.5 0

50

100

150 Sample

200

250

300

Fig. 13. Classication results using ANFIS with 100 training samples where single scale-based entropy is employed as fault feature, (a) output; (b) absolute error of the ANFIS output with respect to the desired output.

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increasing to 150, the accuracy of the proposed approach achieves a perfect level of 100%, as shown in Fig. 12. Another comparison is conducted between traditional signal scale-based entropy and the proposed MSE for feature extraction. The classication result with single scale-based entropy as feature vector and ANFIS as the classier is described in Fig. 13, where the classication accuracy is 34.69% with 209 samples out of the totally 320 data samples misclassied. It demonstrates that MSE can extract more bearing condition-indicating information from vibration signals compared with traditional single scale-based entropy. 6. Conclusion A bearing fault diagnosis approach has been developed based on vibration signals using multi-scale entropy (MSE) and ANFIS. MSE across 20 scales are extracted so as to account for the dynamic nonlinearity as well as the coupling and interaction effects between mechanical parts. In order to reduce the number of the input to ANFIS classier, ve statistics over MSE are utilized which are maximum value, minimum value, arithmetic mean value, geometric mean value and standard deviation value. These ve features are then presented to ANFIS for fault classication. For comparison, a BP network is also used for the same task. The experimental results indicate that ANFIS classier can obtain a higher diagnostic accuracy than the BP network. Moreover, an experiment on bearing fault classication using traditional single scale-based entropy as fault feature and ANFIS as the classier is conducted, of which the accuracy degrades signicantly to 34.69%. Such an experiment demonstrates that MSE can extract much more diagnostic information compared with traditional single scale-based entropy. Aforementioned experiments use 100 data samples as training data, half the number of testing data. When the training data increase to 150, approximately the same amount as testing data, the proposed fault diagnosis system can approach a classication accuracy of 100% for both training and testing data sets. The experimental results above show that the proposed approach allows the classication of fault categories as well as the identication of fault severities with a high accuracy, even for small sample-sized case. Acknowledgments This work was supported by the Natural Science Foundation of Jiangxi Province, China (Grant No. 0450017) and partially by the National Natural Science Foundation of China (Grant Nos. 50875161, 50821003). References
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