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In order to realize automation of the pollutant emission tests of vehicles, a pedal robot is designed instead of a human-driven vehicle. Sometimes, the actual time-speed curve of the vehicle will deviate from the upper or lower limit of the worldwide light-duty test cycle (WLTC) target curve, which will cause a fault. In this paper, a new fault diagnosis method is proposed and applied to the pedal robot. Since principal component analysis (PCA), t-distributed stochastic neighbor embedding (t-SNE), and Autoencoder cannot extract feature information adequately when they are used alone, three types of feature components extracted by PCA, t-SNE, and Autoencoder are fused to form a nine-dimensional feature set. Then, the feature set is reduced into three-dimensional space via Treelet Transform. Finally, the fault samples are classified by Gaussian process classifier. Compared with the methods using only one algorithm to extract features, the proposed method has the minimum standard deviation, 0.0078, and almost the maximum accuracy, 98.17%. The accuracy of the proposed method is only 0.24% lower than that without Treelet Transform, but the processing time is 6.73% less than that without Treelet Transform. These indicate that the multi-features fusion model and Treelet Transform method is quite effective. Therefore, the proposed method is quite helpful for fault diagnosis of the pedal robot.

Multi-Features Fusion for Fault Diagnosis of Pedal Robot Using Time-Speed Signals