About the Testbed

There is still more to come in the future! Feel free to contact us to develop a new anomalous mode together. The status of the GPASS is publicly available via sensor and video online here.

Our conference proceeding “A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment” entered the Automation Award Finalist in ICRA 2021!!

The GPASS software and hardware apparatus are detailed in [1]. Currently, we support three health mode controls, including rotational damping (D-mode), large stationary shear load (N-mode), and vibratory shear load (V-mode). These conditions can be commanded either healthy or anomalous, with a specific anomalous attribute. The attributes are:

D-mode: Discrete damping motor resistance from 1 to 15Ω, with 15Ω as a healthy operating condition.

N-mode: Continuous shear load from 0-15N, with 0N as a healthy operating condition.

V-mode: Discrete vibratory excitation from 0-25Hz, with 0Ω as a healthy operating condition.

In [2], we talked about how to generate Markov-Chain based packets to generate automated health mode trajectory. You can participate in the GPAD archive augmentation process by submitting your own packet! As an instructional sample, the following packet:

Tells that we are conducting an N-mode synthesis that last 20 Markov States, each state lasts 1s in real-time. For the 20 states, the commanded attribute are 5N, 4N, 6N, … 17N, 4N, sequentially.

[1] Y-F. Yeung, A. Alshehri, L. Wampler, M. Furokawa, H. Takayuki, K. Youcef-Toumi, “A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment”, in the IEEE International Conference on Robotics and Automation (ICRA), Automation Award Finalist, 2021.

[2] [Under Review] Y-F. Yeung, A. Paul-Ajuwape, F. Tahiry, M. Furokawa, H. Takayuki, K. Youcef-Toumi, " GPAD: A Synthetic Time-Series General-Purpose Anomaly Dataset in Physical Domain", in the IEEE International Conference on Robotics and Automation (ICRA), 2022.