In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the pro...

This paper is the second of a two-part review of methods for automated fault detection and diag-nostics (FDD) and prognostics whose intent is to increase awareness of the HVAC&R research and development community to the body of FDD and prognostics developments in other fields as well as advancements in the field of HVAC&R. The first part of the review focused on generic FDD and prognostics, pro...

We present an algorithm called NoPse (Non Parametric State Estimation) for intelligent fault detection. This is work in progress. The goal was to develop a state estimation system for a rover that would take into account discrete failure modes that produce discontinuities in the behavior of the system. In the rest of the extended abstract we first describe and motivate the problem at hand. Then...

This paper investigates the structure of firms’ outward FDI and their behaviour at home in both manufacturing and business services sectors. UK multinationals with overseas affiliates in low-wage economies invest simultaneously in a large number of high-wage countries. I find that more productive multinationals operate in a greater number of countries, consistent with their being able to bear t...

While offering tax incentives to attract foreign direct investment has become a global phenomenon and part of economic globalization in the 1990s, it also is political and controversial. But the political determinants of tax incentive policies have rarely been analyzed. This article fills this gap by making two contributions. First, I offer a theory that explains how political regime type influ...

This paper examines the dynamic fault behavior of asynchronous sequential machines, specifically identifying the faults which cause critical races and hazards, and presents a state assignment technique leading to a machine that enters one of a small set of error states whenever a fault occurs. Entry into an error state can be checked by very simple check circuits; a self-testing check circuit a...

This paper details a range of work carried out by the authors within the general theme of advanced condition monitoring possibilities for rail vehicle bogies. Maintenance of rail vehicle bogies represents one of the largest areas of whole vehicle running costs and their efficient operation is of safety critical importance to the entire rail system. Currently the majority of maintenance is carri...

It is widely feared that outward FDI gradually hollows out domestic manufacturing and displaces local workers. We address this concern by drawing on exceptionally informative firm-specific data on Taiwanese multinationals in manufacturing. In particular, we assess whether repercussions at home depend on the size, location and type of outward FDI. We control for firm heterogeneity and estimate o...