3D spectral analysis for UGV in analyzing vibration signal

Abstract

Unmanned Ground vehicles (UGV) are robotic platforms that are capable of operating outdoors over a wide variety of terrain. They form an autonomous navigation system used in Defense Applications. This paper clearly explains the online monitoring of UGV by vibration measurement and analysis. The real-world vibration signal is captured using Mobile Dynamic Signal Analyzer (DSA) with ICP Accelerometers and interfaced with PC using TCP/IP protocol. Efficient diagnostic software is used for post-analysis of the acquired vibration data. The vehicle dynamics of the UGV is monitored for all terrain conditions at varying speed In order to extract useful information, wavelet analysis was employed for data mining of the vibration signal observed from accelerometers. The 3D spectral Analysis using Wavelet Transform is helpful to get a clear view of both Time and Frequency characteristics of vibration signals.