NDT&E International 38 (2005) 654664 www.elsevier.

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Multi-fault diagnosis of rolling bearing elements using wavelet analysis and hidden Markov model based fault recognition
V. Purushothama, S. Narayanana,*, Suryanarayana A.N. Prasadb
a

Machine Dynamics Laboratory, Department of Applied Mechanics, Indian Institute of Technology Madras, Chennai 600036, India b Department of Ocean Engineering, Indian Institute of Technology Madras, Chennai 600036, India Received 19 July 2004; revised 21 March 2005; accepted 10 April 2005 Available online 5 July 2005

Abstract Due to the importance of rolling bearings as the most widely used machine elements, it is necessary to establish a suitable condition monitoring procedure to prevent malfunctions and breakages during operation. This paper presents a new method for detecting localized bearing defects based on wavelet transform. Bearing race faults have been detected by using discrete wavelet transform (DWT). Vibration signals from ball bearings having single and multiple point defects on inner race, outer race, ball fault and combination of these faults have been considered for analysis. Wavelet transform provides a variable resolution timefrequency distribution from which periodic structural ringing due to repetitive force impulses, generated upon the passing of each rolling element over the defect, are detected. It is found that the impulses appear periodically with a time period corresponding to characteristic defect frequencies. In this study, the diagnoses of ball bearing race faults have been investigated using wavelet transform. These results are compared with feature extraction data and results from spectrum analysis. It has been clearly shown that DWT can be used as an effective tool for detecting single and multiple faults in ball bearings. This paper also presents a new method of pattern recognition for bearing fault monitoring using hidden Markov Models (HMMs). Experimental results show that successful bearing fault detection rates as high as 99% can be achieved by this approach. q 2005 Elsevier Ltd. All rights reserved.
Keywords: Discrete wavelet transform; Impulses; Hidden Markov model; Bearing fault recognition; Mel frequency complex cepstrum

1. Introduction Bearings are one of the most important and frequently encountered components in rotating machinery. Fault identication of rolling element bearings using condition monitoring techniques has been the subject of extensive research for the last two decades. Vibration based condition monitoring has been the most used technique in this context. Ball bearing failures can be caused by several factors, such as incorrect design or installation, acid corrosion, poor lubrication and plastic deformation. During the bearing operation, wide band impulses are generated when rollers pass over the defect at a frequency determined by shaft speed, bearing geometry, and defect location (outer race,
* Corresponding author. Address: Room No. 1, Aerospace Building, IITM, Chennai 600 036, India. Tel.: C91 44 2257 8177; fax: C91 44 2257 0509. E-mail address: narayans@iitm.ac.in (S. Narayanan).

0963-8695/$ - see front matter q 2005 Elsevier Ltd. All rights reserved. doi:10.1016/j.ndteint.2005.04.003

inner race, or roller). The difculty in the detection of defects in bearings lies in the fact that, the signature of a defective bearing is spread across a wide frequency band and hence can be easily masked by noise and low frequency effects. McFadden and Smith [1,2] have developed the models for high-frequency vibration produced by a single and multiple point defects on the inner race of rolling element bearing under radial load. To overcome this problem, both time and frequency domain methods have been developed. Time domain methods usually involve indices that are sensitive to impulsive oscillations, such as peak level, rms value, crest factor analysis, kurtosis analysis, and shock pulse counting. These methods can yield satisfactory results if we select a frequency band where the ringing modes due to the defects are dominant. Alternatively, frequency domain techniques search for a train of ringings occurring at any of the characteristic defect frequencies. These techniques based on averaging technique [3], adaptive noise canceling [4], and high frequency resonance technique (HFRT) [5] have been developed to improve signal-to-noise ratio for more

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effective detection of bearing local defects. Among these [35] signal-processing techniques, the HFRT is more popular for bearing fault detection. However, it requires many computations and several impact tests to be performed to nd the bearing resonance frequency. Hence, extra instruments such as impact hammers or vibration exciters are needed for HFRT. The application of wavelets has been gaining importance in the area of damage detection, and an excellent review of this is given in [6]. James and Ma [7] have discussed important properties of wavelet transform and its comparison with short time Fourier transform. Jing and Qu [8] have proposed a denoising method based on Morlet wavelets for feature extraction and they have successfully applied it to inner race fault detection. Serhat and Ayaz [9] have discussed the application of wavelet transforms and multi-resolution analysis in order to extract information from selected frequency bands. However, the previous works [710] dealt with the detection of one fault in a bearing using wavelet transform. In the present work, the diagnosis of single and multiple ball bearing race faults has been investigated using DWT. In this paper hidden Markov model (HMM) based pattern recognition of bearing faults has been carried out. Recently, articial neural networks (ANN) and their combination with fuzzy logic models have been extensively applied to the area of fault diagnosis. ANNs have the advantages of superior learning, noise suppression, and parallel computation abilities. However, successful implementation of an ANN based monitoring system strongly depends on proper selection of the type of network structure and amount of training data, which are not always available. The application of HMMs was motivated by its success in speech recognition, and an excellent review of this is given in [1112]. HMMs have proven to be tremendously useful in speech recognition, where signals are inherently time varying. Heck and McClellan [13] presented a continuous density, left-right HMM-based approach for tool wear detection and prediction. In pattern recognition, there always exists uncertainty, randomness and incompleteness originating from various sources. Stochastic models are known to deal with these problems efciently. Among various stochastic approaches, HMMs have proven very effective in modeling both dynamic and static signals [14]. Hence, HMM based recognition was chosen for classifying the signals.

Decomposition L S H
2

cA1

cD1

Fig. 1. Basic step of decomposition of the wavelet transform.

The continuous wavelet transform (CWT) of f(t) is dened as CN CWTa; b Z f tja;b tdt; (1)
K N

where

  1 t Kb ja;b t Z p j a jaj

a; b 2R; a s0;

(2)

where ja,b(t) denotes the mother wavelet. The parameter a represents the scale index which is a reciprocal of frequency. The parameter b indicates the time shifting (or translation). The DWT is derived from the discretization of CWT(a,b) given by   1 N t K 2j k DWTj; k Z p f tj ; (3) 2j 2j KN where a and b are replaced by 2j and 2jk. An efcient way to implement this scheme using lters was developed by Mallat [15]. The basic step of wavelet algorithm is illustrated in Fig. 1. In the decomposition step the discrete signal is convolved with a low pass lter L and a high pas lter H, resulting in two vectors cA1 and cD1. The elements of these vector cA1 are called Approximate Coefcients and the elements of the vector cD1 are called Detailed Coefcients [1617]. The symbol Y2 denotes down sampling, i.e. omitting the odd indexed elements of the ltered signal, so that the number of the coefcients produced by the basic step is approximately the same as the number of elements of the discrete signal s. An important property of this step is: s Z A1 C D 1 (4)

3. Discrete hidden Markov models The HMM is extended from the concept of Markov chain. HMMs are divided into continuous and discrete models according to their probability density description. Discrete HMMs are selected, because they can represent any distribution as no assumptions are made about the underlying distribution of the observed symbols. Consider a rst-order N-state Markov chain as illustrated for NZ3 in Fig. 2. The system can be described as being in one of the N distinct states, S1,S2,.,SN at any time instant t.

2. Discrete wavelet transform The wavelet transform is a tool that cuts up data, functions or operators into different frequency components, and then studies each component with a resolution matched to its scale. The use of wavelet transform is appropriate since it gives the information about the signal both in frequency and time domains. Let f(t) be the signal.

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hidden state can be reached from any other hidden state. (ii) M, the number of distinct observation symbols per hidden state. We denote that individual symbols as VZ {V1,V2,.,VM}. (iii) The state-transition probability distribution AZ[ai,j] where aij Z Pqt Z Sj jqtK1 Z Si ; 1% i; j% N; (5)

where qt denotes the actual hidden state at time t. The observation symbol probability distribution, BZ[bjm], in which bjm Z POt Z Vm jqt Z Sj ;
Fig. 2. A rst-order, three state hidden Markov model.
Signal Conditioning Amplifiers

1% m% M

(6)

denes the symbol distribution in state j, and Ot is the observation at time t. The initial state distribution pZ[pt] in which pi Z Pqi Z Si ; 1% i% N; (7)

PC based Data Acquisition

A complete specication of a HMM requires three sets of probability measures A, B and p. For convenience we use the notation l Z A; B; p to indicate the complete parameter set of the model.
Variable speed DC motor

Accelerometers

(8)

Test Bearing(A)

Load Bearing(B) Self-aligning double row ball bearing

Coupling

4. Experimental setup and data collection In the present study, SKF 6307 single row deep groove ball bearings are used as test bearing for the experiment. The schematic diagram of the experimental test rig and experimental set up are shown in Figs. 3 and 4, respectively. The test bearing, SKF 6307(A) is mounted at one end of the shaft on which the tests are conducted. The loading of the shaft is done through a SKF 6411(B) heavy-duty deep grove ball bearing. Each tested bearing was used to study the single and multi-fault surface failure. One bearing was

Load applied by hydraulic jack

Fig. 3. Schematic diagram of the experimental test rig.

The corresponding HMM for discrete symbol observation is characterized by (i) N, the number of hidden states in the model. The hidden states are interconnected in such a way that any

Fig. 4. Experimental setup.

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Training sets of signals

Mel-Frequency Complex Cepstrum

MFCC Coefficients
Feature Extraction

Vector Quantization

Code book

HMM Training

Observation sequence O
HMM Parameters (A, B, )
Fig. 5. Flow chart of the HMM training procedure.

damaged on inner race, one on the outer race and one on a rolling ball. Similarly for multiple faults, one bearing was damaged, two on inner race and one on ball, two on outer race and one on ball, and one fault on each inner race, outer race and ball. Starting from the undamaged condition, pits of dimension 1 mm wide were produced by an electric pen to simulate the damage. Two piezoelectric accelerometers (Bruel and Kjaer, 4332) are magnet mounted on the housing of the test bearing and support bearing. The accelerometer is connected to a charge amplier (Bruel and Kjaer, 2626). The output of the charge amplier is fed to the Agilent 54624A oscilloscope and also to the Analog to Digital (A to D) card,NI 6024E and nally to the computer data acquisition unit using Lab VIEW software. Two sensors (piezoelectric accelerometers) are used to pick up the vibration signals, in the vertical direction, at the test bearing and support bearing housing. After allowing initial running of bearing for some time, the acceleration signal from the transducer mounted on the test bearing and support bearing is fed to a charge amplier and the data is acquired using data acquisition board. The signals are then analyzed using discrete wavelet transform.

Input signals from unknown fault state

Mel-Frequency Complex Cepstrum

MFCC Coefficients

Feature Extraction

Vector Quantization
Observation sequence O

Code book

HMM for fault state 1

HMM for fault state 2

HMM for fault state S

Likelihood Computation

Likelihood Computation

Likelihood Computation

P(O/1)

P(O/2)

P(O/s)

Select Maximum

Index of fault state

Fig. 6. Block diagram of the procedure for bearing fault condition detection.

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Table 1 Calculated Bearing Characteristic Frequency (BCF) for different faults Fault type BCF for shaft frequency 21.67 Hz Time intervals of impacts Ball pass outer-race 66.67 Hz 14.90 ms Ball pass inner-race 106.56 Hz 9.38 ms Ball pass roller 89.28 Hz 11.20 ms

5. HMM-based process monitoring The proposed method of process monitoring consists of two phases: training and detection. It is assumed that S faults are to be monitored. Each fault state is modeled by a HMM. It is also assumed that each fault state has nite training sets. Each training set is assumed to constitute an observation sequence OZ(o1,o2,.,oT), being an appropriate representation of the characteristics of the fault state. The design of the process monitoring system involves the following two steps. Step 1: The rst step is to build an HMM ls for each fault state S. In other words we must estimate the model parameters (A,B,p) that optimize the likelihood of the training set of the observation sequence for the sth fault state or maximize the P(Ojls) the probability of observation sequence O given the model ls. The method used is the BaumWelch re-estimation algorithm [18], also known as the expectation maximization (EM). Fig. 5 shows the ow chart of training the procedure. Step 2: The procedure for detecting the condition of an unknown fault type is depicted in Fig. 6. Features of the input signals (after calculating the Mel Frequency Complex Cepstrum (MFCC) coefcients) are extracted and feature vectors are formed for vector quantization. This is then followed by calculation of model likelihood for all possible models, P(Ojls), 1%s%S. The model with the highest

Fig. 8. Time signal of a bearing with outer race defect rotating at a speed of 1300 rpm (rms valueZ0.864).

likelihood is considered to be the best score for representing the fault condition, that is s Z argmaxPOjls ;
1%s%S

(9)

6. Results and discussion The time domain vibration signals of good and defective bearings have been considered for analysis with the following data: bearing classication SKF 6307 series deep groove ball bearings; ball diameter (d)Z13.2 mm; pitch diameter (Dp)Z57.5 mm; number of balls (n)Z8 and the contact angle (b)Z0. The characteristic bearing defect frequencies of ball, inner and outer race are calculated and given in the Table 1.

Fig. 7. Time signal of a good bearing rotating at a speed of 1300 rpm (rms valueZ0.781).

Fig. 9. Time signal of a bearing with inner race defect rotating at a speed of 1300 rpm (rms valueZ1.166).

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Fig. 10. Time signal of a bearing with ball defect rotating at a speed of 1300 rpm (rms valueZ0.594).

Fig. 12. Time signal of a bearing with one each of outer race defect, inner race defect and ball defect rotating at a speed of 1300 rpm (rms valueZ 1.957).

Time signals of good and defective bearings are shown in Figs. 713. Rms values of these time signals were found and are shown in the corresponding gures. The rms value is low for good bearing compared to defective bearings and the value is high for bearings with multiple faults compared to a single fault. However, one cannot nd the location of the defect in the bearing. For nding the location of the defect, the frequency domain approach and wavelets can be used and are discussed in Section 7. Figs. 1420 show the vibration spectra (FFT) of good as well as defective bearings. In all the spectra, a peak at running speed (21.67 Hz) is present. In the case of an inner race defective bearing, multiples of running frequencies are present [Fig. 15]. The characteristic defective frequency (106.56 Hz) is not clear from the vibration spectra. A peak at 108 Hz is present. This may be due to an inner race defect

or ve times the running frequency of the bearing. It can be seen from Figs. 16 and 17 that the peaks at the characteristic defect frequency of the outer race 89.28 Hz and its multiples 178.26, 267.87 Hz are present in the frequency spectrum of the outer race defective bearings. However, there are no clear symptoms of defects in the remaining cases (Figs. 1820). Therefore, from the FFT plots, the outer race defects can be detected from the spectra. The inner race and ball defects cannot be so observed in the spectra. This may be due to the fact that the inner race defects have more transfer segments, which transmitting the impulses to the outer race, which may become weak in the vibration signal. These impulses representing the inner race defects may be extracted using the wavelet transform.

Fig. 11. Time signal of a bearing with two outer race defects and one ball defect rotating at a speed of 1300 rpm (rms valueZ1.814).

Fig. 13. Time signal of a bearing with two inner race defects and one ball defect rotating at a speed of 1300 rpm (rms valueZ2.177).

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Zoomed FFT of 2 outer and one ball defects at 1300 rpm 0.012 Amplitude (cm/sec^2) e 0.01 0.008 1xRPM 0.006 0.004 0.002 0 0 50 100 Frequency (Hz) 150 200
1xBPOR 2xBPOR 3xBPOR

Fig. 14. Vibration spectra of good bearing rotating at a speed of 1300 rpm.

Fig. 17. Vibration spectra of a bearing with two outer race defect and one ball defect rotating at a speed of 1300 rpm.

Zoomed FFT of ball defect at 1300 rpm

Zoomed FFT of inner race defect at 1300 rpm 0.14 0.12 0.1 0.08 0.06 0.04 0.02 0 0 50 100 Frequency (Hz) 150 200 Amplitude (cm/sec^2)
Amplitude (cm/sec^2)

0.45 0.4 0.35 0.3 0.25 0.2 0.15 0.1 0.05 0 0 50 100 Frequency( Hz) 150 200

Fig. 15. Vibration spectra of a bearing with inner race defect rotating at a speed of 1300 rpm.

Fig. 18. Vibration spectra of a bearing with ball race defect rotating at a speed of 1300 rpm.

7. Wavelet analysis The impulses due to the bearing defects may appear in the time signal or embedded in the time signals due to noise. Since impulses are of high frequency in nature, they should appear in the high frequency range of wavelet decomposition. According to Nyquists rule, the maximum frequency of the vibration signals of all the bearings is 10 kHz because the sampling frequency is 20 kHz. The vibration signals are
Zoomed FFT of outer race defect at 1300 rpm 0.18 0.16 Amplitude (cm/sec^2) 0.14 0.12 0.1 0.08 0.06 0.04 0.02 0 0 50 100 Frequency (Hz) 150 200
1xRPM 2xBPOR 1xBPOR

then decomposed up to 4 levels using Daubechies2 (db2) [19,20] mother wavelet. The frequency bandwidths of approximation and detail coefcients of wavelet decompositions are shown in Fig. 21. As the bearing block frequency is between 1 and 2 kHz range the detail coefcients d3 and d4 will show the BCF, which is not observed in the time domain signal due to noise. The length of the time interval of the impacts is inversely proportional to BCF. The cause of the fault can be determined by measuring the time interval of each impact at the high frequency bearing excitation range in the time
Zoomed FFT of inner, outer and ball defects at 1300 rpm 0.035 Amplitude (cm/sec^2)

3xBPOR

0.03 0.025 0.02 0.015 0.01 0.005 0 0 50 100 Frequency( Hz) 150 200

Fig. 16. Vibration spectra of a bearing with outer race defect rotating at a speed of 1300 rpm.

Fig. 19. Vibration spectra of a bearing with one each of inner race defect, outer race defect and ball defect rotating at a speed of 1300 rpm.

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Zoomed FFT of 2 inner and one ball defectsat1300 rpm 0.04 0.035 Amplitude (cm/sec^2) 0.03 0.025 0.02 0.015 0.01 0.005 0 0 50 100 Frequency( Hz) 150 200

661

Fig. 20. Vibration spectra of a bearing with two inner race defects and one ball defects rotating at a speed of 1300 rpm. Fig. 23. DWT coefcients of bearing with Inner-race defect.

Original signal fmax=10 kHz

A1 05 kHz

D1 510 kHz

A2 02.5 kHz

D2 2.55 kHz

A3 01.25 kHz

D3 1.252.5 kHz

A4 00.625kHz

D4 0.6251.25kHz

Fig. 21. Frequency bandwidth of wavelet decomposition.

frequency distribution diagrams and comparing the time intervals listed in Table 1. The visual inspection of the time intervals of impacts, the results of wavelet analysis are displayed as plots of DWT coefcients in Figs. 2224. In the plots of DWT coefcients, the impacts are clearly identiable as well as the time period between the impacts can also be measured. The time intervals of impacts in Figs. 2224 are estimated as 14.80, 9.37 and 11.18 ms. These intervals are approximately equal to the inverse of the calculated BPFO (66.67 Hz), BPFI (106.56), and BPFR (89.28), corresponding to the defects of outer-race, inner-race and rollers, respectively, as given in Table 1. The acceleration response of the good bearing and corresponding approximation and detail coefcients (obtained by DWT) up to four levels are shown in Fig. 25. The time signal and its four level decomposition into approximation and detail coefcients of inner race defect bearing are shown in Fig. 26. The periodic impulses due to

Fig. 22. DWT coefcients of bearing with Outer-race defect.

Fig. 24. DWT coefcients of bearing with Ball fault defect.

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Fig. 25. DWT of good bearing at 1300 rpm.

Fig. 28. DWT of ball defect at 1300 rpm.

Fig. 26. DWT of inner-race defect at 1300 rpm.

inner race defects are not visible in time interval of about 9.37 ms, which corresponds to the inner race defect frequency (106.56 Hz) in the remaining levels. It is observed that these impulses do not appear in the lower levels because of their high frequency nature. Similarly, the outer race defect bearing shows the periodic impulses at a time interval of 14.8 ms in level two approximation coefcients Fig. 27. The time period of 14.8 ms corresponds to the outer race defect frequency of the bearing 66.77 Hz. In the case of ball defect, impulses occurring some times at the bearing defect characteristic frequency 89.28 Hz shown in Fig. 28. Mel frequency analysis is a type of wavelet in which the frequency scales are placed in a linear fashion (133 Hz apart13 scales, 01700 Hz). The complex cepstral coefcients of these wavelets are called as the Mel Frequency Complex Cepstral (MFCC) coefcients. These coefcients are obtained for time windows of the vibration data whose length is determined based on the defect characteristics. MFCC coefcients have been proved to be useful in speech/speaker recognition because they contain both time and frequency information [21]. Further all the above mentioned frequencies fall within these scales. Hence this type of wavelet was chosen as the feature.
Pattern recognition curve of bearing faults for various methods

120
Fault Recognition %

100 80 60 40 20 0
1

3 Methods

Fig. 27. DWT of outer race defect at 1300 rpm.

Fig. 29. Pattern recognition of bearings faults using various methods.

V. Purushotham et al. / NDT&E International 38 (2005) 654664 Table 2 Fault recognition of rolling bearings using various methods S. No. 1 2 3 4 5 Method Probability distribution function Gaussian distribution Least mean square distance HMM using Gaussian manifold HMM with MFCC % fault recognition rate 46.50 65.00 66.90 70.83 99.52

663

Pattern recognition curves for 200 ms window size 100 98 % Recognition 96 94 92 90 88 86 84 1-10 iteration 2-10 iteration

Table 3 Train data 1 splits Number of test splits 1 2 4 8 25 ms window size 100 100 99.4048 97.9167 50 ms window size 100 99.5238 98.2143 88.9881 100 ms window size 99.5238 98.5714 94.1667 85.2976 200 ms window size 98.5714 97.381 91.0714 85.8333
% Recognition

4 5 6 No of splits of test data

Fig. 31. Pattern recognition curve for 200 ms window size.

Pattern recognition curves for 50 ms window size 100 98 96 94 92 90 88 1 3 5 No of splits of test data 7 1-10 iteration 2-10 iteration

8. HMM analysis To increase the reliability of the detection of bearing defects, the vibration signals are split into a sequence of non-overlapping observations (frames). The length of the observation must be carefully chosen to reduce the computation time while at the same time containing enough information to capture the local features of the signal. The vibration data obtained from experiments was divided into two separate groups for training and testing. The training data was used to train the HMMs, but the testing data was not used during training. The rst task is to train the HMMs based on the data from different fault state. The initial parameters of the HMMs are chosen randomly. Different initial parameters in general produce different HMMs. However, the sensitivity of the detection rate to deviation in the initial hidden state probabilities is low, as reported by Rabiner [11]. The performance of HMM-based monitoring system was evaluated for different splits of training data. Fig. 29
Pattern recognition curves for 100 ms window size 100

Fig. 32. Pattern recognition curve for 50 ms window size.

shows the effect of splits of training data on the detection rate. The adopted model was a seven state HMM. It shows that the deduction rate reaches as high as 99% even when a small window size of (25 ms) training data is used. The pattern recognition of bearing faults using various methods is shown in Table 2. The pattern recognition curves for these methods are shown in Fig. 29. Similarly for different window sizes (25, 50, 100 and 200 ms) of test data and for
Pattern recognition curves for different window sizes 100 98 96 % Recognition 94 92 90 88 86 84 25 ms 50 ms 100 ms 200 ms

98
Recognition %

96 94 92 90 88 86 84
1 1-10 iteration 2-10 iteration 2-20 iteration 4-20 iteration

4 5 6 No of splits of test data

5 No of splits of test data

Fig. 30. Pattern recognition curve for 100 ms window size.

Fig. 33. Pattern recognition curve for various window sizes.

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V. Purushotham et al. / NDT&E International 38 (2005) 654664 [5] Prasad H, Ghosh M, Biswas S. Diagnostic monitoring of rolling element bearings by high frequency resonance technique ASLE paper 84-LC-3c3; 1984. p. 19. [6] Mori K, Kasashima N, Yoshioka T, Ueno Y. Prediction of spalling on a ball bearing by applying discrete wavelet transform to vibration signals. Wear 1996;195:1628. [7] James C, Li, Ma J. Wavelet decomposition of vibrations for detection of bearing-localized defects. NDT&E Int 1997;30(3):1439. [8] Lin Jing, Qu Liangsheng. Feature extraction based on morlet wavelet and its application for mechanical fault diagnosis. J Sound Vib 2000; 234(1):13548. [9] Seker Serhat, Ayaz Emini. Feature extraction related to bearing damage in electric motors by wavelet analysis. J Franklin Inst 2003; 340:12534. [10] Prabhakar S, Mohanty AR, Sekhar AS. Application of discrete wavelet transform for detection of ball bearing race faults. Tribol Int 2002;35:793800. [11] Rabiner LR. A tutorial on hidden Markov models and selected applications in speech recognition. Proc IEEE Ultrasonic Symp 1989; 77(2):25786. [12] Lee Kai-Fu. Automatic speech recognition. NewYork: Kluwer; 1989. [13] Heck LP, McClellan JH. Mechanical system monitoring using hidden Markov models. IEEE Int Conf Acoustics, Speech Signal Process Proceed 1991;91(3):1697700. [14] Cho Wongyu, Lee, Kim. Modeling and recognition of cursive words with Hidden Markov Models. Pattern Recogn 1991;28(11):194153. [15] Mallat SG. A theory for multiresolution signal decomposition: the wavelet representation. IEEE Trans Pattern Anal Machine Intelligence 1989;11(7):67493. [16] Newland DE. Wavelet analysis of vibration, part I: theory. J Vib Acoustics 1994;116:40916. [17] Newland DE. Wavelet analysis of vibration, part II: wavelet maps. J Vib Acoustics 1994;116:41725. [18] Litao Wang, Mehrabi Mostaga G, Elijah Kannatey- Asibu. Hidden Markov Model-based tool wear monitoring in turning. J Manuf Sci Eng 2002;124:6518. [19] Rubin R, Meneghetti U. Application of the envelope and wavelet transform analyses for the diagnosis of incipient faults in ball bearings. Mech Syst Signal Process 2001;15(2):287302. [20] Tse PW, Peng YH, Yam R. Wavelet analysis and envelope detection for rolling element fault diagnosis-their effectiveness and exibilities. J Vib Acoustics 2001;123:3039. [21] Davis SB, Mermelstein P. Comparison of parametric representations for monosyllabic word recognition in continuously spoken sentences. IEEE Trans Acoust, Speech, Signal Process 1980;ASSP28:35766.

different splits of train data (1,2,4 and 8) the pattern recognition was tested. The results are shown in Table 3 and are delineated in Figs. 3033.

9. Conclusions It is shown that, the impulses corresponding to bearing defects can be extracted from the time signals of the faulty bearings using discrete wavelet transform at Mel-frequency scales. The spacing of the impulses obtained by wavelet decompositions of the time signals are used to detect bearing race faults. Since wavelet transform is an emerging technique for fault detection, its use needs to be stressed in the fault detection of bearings. In this paper, a new approach for bearing monitoring was introduced by use of HMM classiers. The vibration data from the bearings were used to obtain features that are complex cepstral coefcients for wavelet transformed time windows at Mel-frequency scales. The present approach is model based, where the models are trained using the obtained features. No assumptions are made with regard to the measured signals. Training the models on processed data helps to ensure the validity of the models. The experimental results indicate that an average detection rate as high as 99% can be achieved. Hence the discrete HMM combined with Mel-frequency complex cepstrum analysis method is a successful tool for process monitoring.

References
[1] Mc Fadden PD, Smith JD. Model for vibration produced by a single point defect in a rolling element bearing. J Sound Vib 1984;96(1): 6982. [2] Mc Fadden PD, Smith JD. The vibration produced by multiple point defects in a rolling element bearing. J Sound Vib 1985;98(2):26373. [3] Braun S, Danter B. Analysis of roller/ball bearing vibrations, ASME paper. 77-WA/DE-5; 1977. p. 18. [4] Chaturvedi GK, Thomas DW. Bearing fault detection using adaptive noise canceling ASME paper, 81-DET-7; 1981. p. 110.