Advances in Adaptive Data Analysis Vol. 4, Nos.

1 & 2 (2012) 1250005 (14 pages) c World Scientic Publishing Company DOI: 10.1142/S1793536912500057

BUILT-IN TEST SIGNAL FEATURE EXTRACTION METHOD BASED ON HILBERTHUANG TRANSFORM

MIAO ZHANG , YI SHEN , XIAO-LEI ZHANG, ZHI-BO WANG and YE ZHANG

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Department of Control Science and Engineering, Harbin Institute of Technology, 150001, China ieeemiao@126.com shen@hit.edu.cn Received 30 March 2011 Revised 7 March 2012 Accepted 26 April 2012 Published 30 August 2012 This work proposes a feature extraction method from HilbertHuang-transform- or HHT-based data analysis of built-in test (BIT) signals, which are sampled on-site and without reference signals for fault diagnosis. The proposed method fully utilizes selfadaptation of the HHT method in characterizing the envelope amplitude and instantaneous frequency for the intrinsic mode function (IMF), so as to single out the features with most irregular characteristics. Simulations are carried out on steering gear feedback voltage signal of target drone aircraft, and the extracted features show great potential for the improvement in built-in fault diagnosis. Keywords : HilbertHuang transform; built-in test; feature extraction; intrinsic mode function; empirical mode decomposition.

1. Introduction The built-in test (BIT) technology is an important way to improve the capability of system testing and diagnosis, and it has played an important role in protecting the operational readiness of electromechanical systems and improving maintenance eciency [Drees and Young (2002)]. However, the diagnosis method of traditional BIT technology is too simple, and its ability of using diagnostic information is also limited because of the diculty of adaptive feature extraction. Therefore, problems in application such as the poor performance of fault detection and isolation, underreported rate, and high false-alarm rate severely restrict the BIT system performance into full play [Hwang et al. (2010)]. Feature extraction is usually an important part of fault classication and diagnosis, and it extracts the features with the following condition: the properties or values of dierent samples from the same class should be very close, whereas the properties or values of samples from dierent classes should have a greater dierence
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[Duan and He (2007)]. In addition, this stage needs to extract the most discriminating features that are invariant for transformations whose class information is not related [Wang et al. (2007)]. In most cases, the BIT system processes nonstationary and nonlinear data; therefore, we consider using HilbertHuang transform (HHT), which has expertise in the area of data processing to design the feature extraction program, thus supporting BIT system to achieve a low underreported rate and a high accuracy of fault diagnosis [Tang et al. (2010)]. The HHT method, published by Norden E. Huang of NASA in 1998, is an adaptive nonstationary and nonlinear signal analysis method, including empirical mode decomposition (EMD) and Hilbert transform (HT) [Huang et al. (1998)]. HT operates signals by convolution with the function 1/t, resulting in local properties of x(t), as the following equation:
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y (t) = H {x(t)} =

1 CPV

1 x( ) d = x(t) , t t

(1)

where CPV is Cauchy principle value. We can get the following equation from the view of frequency domain: jX (f ), f > 0 Y (f ) = jX (f ) sgn(f ) = 0, (2) f =0. jX (f ), f <0 Then, we can constitute a complex signal z (t) with x(t) and y (t): z (t) = x(t) + jy (t). The frequency domain of is as follows: 2X (f ), f > 0 Z (f ) = X (f ) + jY (f ) = X (f ), f = 0 . 0, f <0 (3)

(4)

Since z (t) is an analytical function, it can be expressed in polar coordinates as the following equation: z (t) = x(t) + jy (t) = a(t)ej(t) , (5)

where a(t) represents the envelope amplitude size of x(t) and (t) represents the phase angle. Also we have: a(t) = |z (t)| = x2 (t) + y 2 (t) y (t) . x(t) (6) (7)

(t) = arg(z (t)) = tan1

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The instantaneous frequency denition of x(t) is as follows: f (t) = 1 d 1 (t) = (t) 2 2 dt (8)

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If we calculate the instantaneous frequency of an actual signal with the above equation directly, misjudgment could be caused by the bias component and multifrequency components, resulting in a large dierence compared with the instantaneous frequency of original signal. Therefore, if we want to use the HT to obtain meaningful instantaneous frequency, then appropriate processing of the signal must be made rst. Therefore, we should lter out the local bias component and match the average local symmetry to zero before making sense of the signal spectrum analysis. EMD is an important step in the HHT algorithm. Unlike the traditional methods that use xed shape windows as decomposition basis functions, that basis functions of EMD are extracted from the signals, namely, intrinsic mode functions (IMFs), which must meet the following two characteristics: (1) Throughout the function, the number of extreme points and the number of zero points should be either equal or dier by 1 and, (2) At any time, the local mean of envelope dened by the local maximum envelopes should be 0. EMD will decompose a signal into a sum of a nite number of IMFs as well as the residue, and the IMF makes the follow-up HT analysis meaningful by constructing the analytic function to calculate the instantaneous frequency [Kopsinis and McLaughlin (2009)]. The signal decomposition process in the HHT is driven by the signal itself with full self-adaptation, and the IMF component signals can be realized physically, which is in line with the actual situation of the objective world. The HHT is considered to be not only a powerful self-adaptive method of solving nonstationary and nonlinear signals but also a major breakthrough in linear and steady-state spectrum analyses based on Fourier transformation in recent years; therefore, it has been widely applied. In order to solve the problem that it is dicult to extract features adaptively for nonstationary and nonlinear data in previous programs, this paper proposes a BIT-signal feature extraction method based on HHT. In this paper, the HHT is used to extract features adaptively with some algorithms and improve the diagnosis accuracy in the follow-up BITs, which could make the dierence between normal signal and fault signal more distinguishable. In Sec. 2, a new feature extraction method suitable for BIT signal is derived from the HHT, which consists of both EMD and HT. Section 3 presents the simulation results and discussion, and Sec. 4 concludes this paper.

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2. Methodology This paper proposes a BIT-signal feature extraction method based on HHT. The purpose of this paper is achieved as follows: using an EMD algorithm to decompose the BIT-sampled signal into its rst-order IMF (IMF1) and residual function, then carrying out the HT on IMF1 to search the feature, and determining the starting and ending time of potential failure feature; nally, intercepting the corresponding characteristics of the signal out from the original signal. The owchart of this method is shown in Fig. 1, which is divided into ve steps: Step 1: EMD The input signal is decomposed by the EMD algorithm, and then the IMF and residue, denoted as IMF1 and RES, are obtained. Only one IMF is obtained from the EMD process, which is described as follows: (a) Input signal x(t), t = 1, 2, . . . , N ; (b) Screening process initialization: k = 1, hk1 (t) = x(t), where hk1 (t) is (k 1) times screening of the residual function during the IMF decomposition; (c) Implementation of screening procedures: rst, using the cubic spline function, nd out the upper and lower envelopes of hk (t); second, obtain the average of the upper and lower envelopes mk1 (t); nally, do hk (t) = hk1 (t) mk1 (t);

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Step 1
Empirical Mode Decomposition

1st Intrinsic Mode Function Hilbert Transform

Residue

Step 2
Instantaneous Frequency 1st Order Differential Envelope Amplitude

Step 3
Frequency Differential

Step 4

Estimation for Feature Location Feature Extraction

Step 5

Fig. 1.

The owchart of BIT signal feature extraction method based on HHT. 1250005-4

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(d) Judge whether hk (t) satises the conditions of IMF; make decision according to standard deviation (SD) by calculating HSD = (hk1 (t) hk (t))2 /h2 k1 (t). If HSD is less than 0.25, then the IMF component c(t) = hk (t) and continue to step 5, otherwise, k = k + 1, and return to step 3; (e) The residue (RES) can be calculated by r(t) = x(t) c(t); (f) By now, the input signal x(t) consists of the IMF1 and the RES, which can be shown as: x(t) = c(t) + r(t). Step 2: HT Through the HT, we can get the amplitude and instantaneous frequency. At the beginning, according to Eq. (1), we obtain the discrete convolution of IMF1: c(t), t = 1, 2, . . . , N . Then, the analytic signal of c(t) is known as c(t) + jy (t). The envelope of the signal a(t) can be calculated according to Eq. (6). Finally, calculate the phase (t) and instantaneous frequency f (t) of the analytic signal as Eqs. (7) and (8). After these steps, we prepare the obtained amplitude a(t) and instantaneous frequency f (t) for the next step. Step 3: First-order dierence Calculate the rst-order dierential of the instantaneous frequency of IMF1, or f (t). In order to describe the variation of the instantaneous frequency of IMF1, calculate f (t) by the following equation: f (t) = f (t + 1) f (t). (9)

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Step 4: Integrated estimation for feature location Determine the characteristic position of time generally and also the set of appearance time of the potential failure. Generally, the original sampling signals of BIT do not contain the original model, which can be seen as nonstationary, nonlinear signal, and the IMF1 of the input signal not only contains the false alarm and noise signal but also reects the high-frequency components of fault signal, and the amplitude somewhat decreases; therefore, the diagnosis of faults directly from IMF1 is not ideal, but use HT on the IMF1; from its amplitude and instantaneous frequency, we can determine the potential fault signal occurring time. At rst, calculate the absolute value of the rst-order dierence of the instantaneous of IMF1, or g (t): g (t) = |f (t)|. (10)

Because there is a process of striking envelope curve in the process of EMD, it is likely to exit end eect in the application. Therefore, it is necessary to shield o the rst and the end 10% data, and these data are excluded from the set of feature times by means of 0.1N < t 0.9N . The data that are less than the average value in g (t) will be removed. While calculating the dierence of t, the data in t and t + 1
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are used; the instant t + 1 should be contained in the set of feature time, if g (t) is not less than the average. In addition, some selected features, whose amplitude is less than the average in a(t), will also be excluded. At last, the set of feature time is given as Eq. (11) where the criterion is obtained empirically as follows: = t g (t) g or g (t 1) g a(t) a , 0.1N < t 0.9N . (11)

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For further explanation about Eq. (11), this empirical criterion is designed to lter out the original features (or suspected fault times) with a certain rate of change in instantaneous frequency, so g (t) g is chosen incipiently. Experimental results showed that if we only use this, a lot of false-alarm signal features (usually with small amplitude) were also selected out; therefore, we added a(t) a to avoid choosing the false alarm features. Besides, fault diagnosis expert system generally requires that the BIT signal has at least ve consecutive times as a valid input data; therefore, many features with high rate of change in instantaneous frequency are thrown away due to not meeting the length requirement, which results in higher missed detection rate; therefore, we adopt g (t) g or g (t 1) g instead of g (t) g to obtain more suspected fault features with required consecutive times. Moreover, we utilize 0.1N < t 0.9N to avoid the EMD end eect problem. Step 5: Final features generation The nal features are generated based on the original signal. As the generated features should enter the BIT system for faults diagnosis, only these features owing a certain length or dimension are meaningful. In practical application, we can delete continuous time sequence of which the total length is less than 5 (including noncontinuous single time point) from the set of feature time , then we could obtain a new set of feature time consisting one or more pieces of continuous composition, and the total length of each time sequence is greater than or equal to 5; the nal feature on the input signal, i.e., x(t), t . signal is intercepted in accordance with The proposed feature extraction method at least has the following two advantages: (1) The proposed method processes the BIT signals by means of HHT, which contains two steps, namely, EMD and HT. The fault features are generated from the original signals by analyzing the instantaneous amplitude and frequency. The presented approach is more adaptive and exible than the other feature extraction methods. (2) The proposed method essentially adopts a reduction strategy directly targeted for the raw data rather than a data transformation strategy. It not only makes feature signals retain the original physical meaning of the raw data but also makes the follow-up BITs able to accumulate diagnosis data and update the fault diagnosis database, which is convenient for the application of decisionmaking or higher-level analysis.
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3. Experimental Results To indicate the specic implementation of proposed feature extraction method, we use the target drone aircrafts steering gear feedback voltage signals sampled by its BIT system as an example. Target drone aircraft is a major type of air target, which can also be used as bait for enemy targets. It is a kind of Unmanned Aerial Vehicle that has lifting surface and relies on the autopilot and radio systems for motor control. This experimental example signal gets interception from the steering gear feedback voltages while the target drone aircraft performs some provisions self-check tasks [Liu and Lin (2007)]. Five sections of original data are selected both in normal condition and in fault condition, and the initial position calibration is carried out for all of the 10 sections of original data. The interference action is added at time 70 0.1 s to the target drone aircraft, and it results in two dierent eects: voltage drop is more uniform in normal mode, whereas voltage drop completes after a sharp drop and recover in fault mode. The BIT system uses SD to detect the abnormal phenomenon of the sharp drop and recovery. The experiment selects ve sections of the original data in both normal and fault conditions as input data and performs the following steps separately, which are exactly the same. Take one section of data as an example, the actual implementation is as follows: First, the EMD is carried out on the input data to obtain the IMF1 and the RES function. Second, HT is carried out on IMF1 to obtain its amplitude and instantaneous frequency. Equation (1) is used to carry out the discrete convolution of c(t) and obtain the HHT y (t) on IMF1. Then, Eq. (6) is used to get the envelope amplitude a(t) of the analytic signal c(t)+ jy (t). Further, Eqs. (7) and (8) are used to calculate the phase angle (t) and the instantaneous frequency f (t) of the analytic signal. Third, Eq. (9) is used to calculate the rst-order dierence f (t) of IMF1s instantaneous frequency. Fourth, determine the location of the features, i.e., identify the set of moments when potential fault features occur. Equation (10) is used to calculate the absolute value g (t) of the rst-order dierence of IMF1s instantaneous frequency. Then, Eq. (11) is used to identify the set of feature time . Finally, generate the nal feature based on the original signal. Remove consecutive time sequences (include nonconsecutive single point of time) whose total length is less than 5 from the set of feature time to get a new set of feature moments (consists of one or more segments of continuous feature time sequences, and the total length of each segment should be more than or equal to 5), and the on the input signals, i.e., nal feature signals are intercepted in accordance with x(t), t . Next, the eciency of the method of extracting features is analyzed and veried in both normal condition and fault condition. The feedback voltage of steering gear in the normal condition showed in Fig. 2 is transformed to the IMF1 showed
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M. Zhang et al.
Feedback voltage [V]
4 3 2 1 0 10 20 30 40 60 Sampling time sequence [0.1s] 70 80 90

Fig. 2.

Steering gear feedback voltage in normal condition.

Feedback voltage IMF1 [V]

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Fig. 3.
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IMF1 arising from steering gear feedback voltage after EMD in normal condition.

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IMF1 instantaneous frequency

Magnitude of IMF1 in normal condition.

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Instantaneous frequency of IMF1 in normal condition.

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Fig. 6. Absolute value of the rst-order dierential of instantaneous frequency of IMF1 in normal condition.

in Fig. 3 after the process of EMD. Then, HT is carried out on IMF1 to get its amplitude and instantaneous frequency as shown in Figs. 4 and 5. And then, the rst-order dierence of IMF1s instantaneous frequency is obtained and its absolute value is also calculated as shown in Fig. 6. After removing the moment when the
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Built-in Test Signal Feature Extraction Method Based on HHT

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Fig. 7. Absolute value of the rst-order dierential of instantaneous frequency of IMF1 after ltering in normal condition.

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feedback voltage feature location

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Fig. 8.

Feature location of steering gear feedback voltage in normal condition.

absolute value and amplitude is less than the average number, we can obtain the time sequences, which are shown in Fig. 7. Finally, by removing consecutive time sequences whose total length is less than 5, we can get the feature time sequences as shown in Fig. 8, and the signal segments matching the feature time location of the original signal are the nal features we extract. In the same way, after carrying out all the steps of the method proposed in this paper on the feedback voltage of steering gear in the fault condition as shown in Fig. 9, we can obtain the results as shown in Figs. 1015. It is dicult to visually evaluate the eect of feature extraction from the nal feature location. Therefore, we can remain the features physical meaning of the
4 Feedback voltage [V] 3 2 1 0 10 20 30 40 60 Sampling time sequence [0.1s] 70 80 90

Fig. 9.

Steering gear feedback voltage in fault condition.

Feedback voltage IMF1 [V]

1 0.5 0 -0.5 10 20 30 40 60 Sampling time sequence [0.1s] 70 80 90

Fig. 10.

IMF1 arising from steering gear feedback voltage after EMD in fault condition. 1250005-9

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IMF1 amplitude [V] 1

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Fig. 11.
IMF1 instantaneous frequency [V]

Magnitude of IMF1 in fault condition.

3 2 1 0 10 20 30 40 60 Sampling time sequence [0.1s] 70 80 90

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Fig. 12.

Instantaneous frequency of IMF1 in fault condition.

IMF1 differential absolute [V/s]

1.5 1 0.5 0 10 20 30 40 60 Sampling time sequence [0.1s] 70 80 90

Fig. 13. Absolute value of the rst-order dierential of instantaneous frequency of IMF1 in fault condition.
1.5 IMF1 selected differential absolute [V/s] 1 0.5 0 10 20 30 40 60 Sampling time sequence [0.1s] 70 80 90

Fig. 14. Absolute value of the rst-order dierential of instantaneous frequency of IMF1 after ltering in fault condition.

feedback voltage feature location

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Fig. 15.

Feature location of steering gear feedback voltage in fault condition.

BIT system and use the SD to evaluate the obtained limited suspicious features performance. The results are showed in Table 1. Indexes 15 are from the feedback voltage of steering gear in the normal condition and are showed in Fig. 16, whereas indexes 610 are from the feedback voltage of steering gear in the fault
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Built-in Test Signal Feature Extraction Method Based on HHT Table 1. Diagnosis results for feature extraction on steering gear feedback voltage BIT signals. Sequence 1 2 3 4 5 6 7 8 9 10 Feature time set {57, 58, . . . , 65, 66} {56, 57, . . . , 62, 63} {56, 57, 58, 59, 60} {57, 58, . . . , 62, 63} {40, 41, 42, 43, 44} {56, 57, . . . , 63, 64} {67, 68, . . . , 77, 78} {66, 67, . . . , 77, 78} {67, 68, . . . , 77, 78} {67, 68, . . . , 76, 77} {67, 68, . . . , 76, 77} Standard deviation {57, 58, . . . , 65, 66} {56, 57, . . . , 62, 63} {56, 57, 58, 59, 60} {57, 58, . . . , 62, 63} {40, 41, 42, 43, 44} {56, 57, . . . , 63, 64} {67, 68, . . . , 77, 78} {66, 67, . . . , 77, 78} {67, 68, . . . , 77, 78} {67, 68, . . . , 76, 77} {67, 68, . . . , 76, 77} Level Normal Normal Normal Normal Normal Fault Fault Fault Fault Fault

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Fig. 16. Original sample data of the feedback voltage of steering gear numbered from 1 to 5 in normal condition.

condition and are showed in Fig. 17. The entire data is measured through repeated experiments in the same operational instruction condition, and the nal feature location is showed in Figs. 18 and 19. It should be noted that we get two segments of consecutive feature time sequences from the data of index 5; therefore, we should calculate the two segments of data, respectively, to obtain the SDs, but we only use the larger value of them in diagnosis. SD values reect the disperse degree of features, and a fault can be diagnosed if the value is too large. From the result of Table 1, the SDs of indexes 15 are less than 0.4 V (SD is 0.3320 V); however, the SDs of indexes 610 are more than 0.6 V (SD is 0.7431 V). The former,
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Fig. 17. Original sample data of the feedback voltage of steering gear numbered from 6 to 10 in fault condition.

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Fig. 18. Feature location of the feedback voltage of steering gear numbered from 1 to 5 in normal condition.

corresponding to the real situations, are normal, whereas the latter are faulty. It is so clear that with the help of the feature extraction method proposed in this paper, we can obtain not only the greater diagnostic margin but also the higher eciency.
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Fig. 19. Feature location of the feedback voltage of steering gear numbered from 6 to 10 in fault condition.

4. Conclusions In this paper, we have proposed a BIT-signal feature extraction method based on HHT. The proposed method essentially adopts a reduction strategy that is directly targeted for the raw data, rather than a data transformation strategy. Since the fault features are generated from the original signals by analyzing the envelope amplitude and instantaneous frequency of IMF, this approach is more adaptive and exible than other feature extraction methods. Simulations are carried out on steering gear feedback voltage signal of target drone aircraft, and the extracted features show great potential for the improvement in the built-in fault diagnosis. Acknowledgments This work was nancially supported by the Fundamental Research Funds for the Central universities (HIT.NSRIF.201160, HIT.KLOF.2010017) and China Postdoctoral Science Foundation (20110491067). References
Drees, R. and Young, N. (2002). Built-in test in support system maintenance. IEEE Instrum. Meas. Mag., 5(3): 2529. Duan, C. D. and He, Z. J. (2007). Fault feature extraction method using the lifting wavelet transform and its applications. J. Vib. Shock, 26(2): 1013. Huang, N. E., Shen, Z., Long, S. R. et al. (1998). The empirical mode decomposition and the Hilbert spectrum for nonlinear and nonstationary time series analysis. Proc. R. Soc. London, 454(1971): 903995. Hwang, I., Kim, S., Kim, Y. and Seah, C. E. (2010). A survey of fault detection, isolation, and reconguration methods. IEEE Trans. Control Syst. Technol., 18(3): 636653.
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Kopsinis, Y. and McLaughlin, S. (2009). Development of EMD-based denoising methods inspired by wavelet thresholding. IEEE Trans. Signal Process., 57(4): 13511362. Liu, Z. and Lin, H. (2007). Research on intelligent built-in test fault diagnosis of moreelectric aircraft electrical power system. Binggong Xuebao/Acta Armamentarii, 28(11): 13571362. Tang, B. P., Jiang, Y. H. and Zhang, X. C. (2010). Feature extraction method of rolling bearing fault based on singular value decomposition-morphology lter and empirical mode decomposition. J. Mech. Eng., 46(5): 3742. Wang, A. N., Liu, J. F., Yuan, W. J. and Li, H. (2007). Algorithms comparation of feature extraction and multi-class classication for fault diagnosis of analog circuit, Proceedings of the International Conference on Wavelet Analysis and Pattern Recognition, pp. 566572.

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