A comparative study of acoustic, vibration and stator current signatures for gear tooth fault diagnosis

Shahin Hedayati Kia, Humberto Henao, Senior Member IEEE, Grard-Andr Capolino, Fellow IEEE
Abstract The condition monitoring of a gearbox is an important task due to its significance in the mechanical power transmission in industrial applications. The vibration analysis has been commonly used as an effective tool for gear fault diagnosis in several researches. Other alternatives, such as stator current analysis or acoustic pressure analysis which are known as non-invasive methods have received great attention over the years. The effect of gearbox torsional vibration in the stator current has been recently studied based on real frequency components observation in the mechanical torque. A possible monitoring of gearbox-based electromechanical system through the stator current analysis has been investigated as well. This paper aims to provide a comparative study of vibration, acoustic pressure and stator current analysis capabilities for a gear tooth wear fault diagnosis. A test-rig based on a 250W squirrel-cage induction machine shaft-connected to a single-stage gearbox has been used for this purpose. Index Terms-- AC motor protection, Acoustic emission, Asynchronous rotating machines, Envelope analysis, Fault diagnosis, Gears, Induction motors, Monitoring, Signal processing, Vibration measurement.

HE condition monitoring of electromechanical systems is considered vital to several industrial processes. This task is commonly realized using vibration analysis. The vibration signal is the oscillatory response of a mechanical system that may be representative of its free and natural dynamic behavior which can be excited by external sources [1]. This behavior will be changed in case of any kind of mechanical abnormality in the electromechanical system. Gearboxes, which are known as a principal element of mechanical power transmission, have received considerable attention in the field of condition monitoring and fault diagnosis for years [2]. In spite of wide use of vibration measurement for diagnosis of different types of gear faults, it has several drawbacks such as signal background noise due to external excitation motion, inaccessibility in mounting the vibration transducer and the sensitivity to the installation position [3]. The acoustic pressure analysis using an external microphone and the stator current analysis are two non-invasive methods can represent good alternatives to the vibration analysis with minimum changes in the system installation. The effect of gearbox torsional vibration in the stator current has been analytically studied recently with base on the observation of torque spectrum [4]. It is shown that the gearbox produces the rotation and mesh frequency components in the torque signature due to
This work is supported by the Regional Council of Picardie, Amiens, France. Shahin Hedayati Kia, Humberto Henao and Grard-Andr Capolino are with the Department of Electrical Engineering, University of Picardie Jules Verne, 80000 Amiens, France. E-mails: shahin.hedayati.kia@upicardie.fr, humberto.henao@u-picardie.fr and gerard.capolino@upicardie.fr.

I.

INTRODUCTION

the torsional vibration provoked by the input and output wheels transmission errors and the gear teeth contact stiffness variation [5]. This effect makes the stator current multi-component phase modulated [4], [6], [7]. The amplitude of each gearbox-related frequency component in the stator current spectrum depends on its respective modulation index value. It is observed that the mesh frequency component cannot be easily detected due to its weak amplitude in the stator current spectrum. The presence of mesh-related frequencies in the stator current is principally due to modulation phenomenon around the mesh frequency in the vibration and consequently in the mechanical torque [8]. The condition monitoring based on acoustic pressure measurement has received less attention probably due to industrial environments embedded noise in the acoustic signal [9]. However, by choosing an adequate instrumentation together with using advanced signal processing techniques, this noise can be minimized. This paper aims to make a comparison between the diagnosis capabilities of acoustic pressure, vibration and stator current signals for diagnosis of pinion tooth surface wear fault. Initially, the previously analytical developments are reformulated for a healthy gearbox in order to illustrate the possible localization of mesh and mesh-related frequencies in the stator current power spectrum density (PSD) using a high resolution acquisition system and Welch technique. The envelope analysis is an effective method for detection of mechanical shocks produced by this type of fault in the vibration signal. Therefore, the PSD of acoustic pressure and vibration envelopes are used for pinion tooth surface wear fault diagnosis. Then, a possible pinion tooth surface wear fault diagnosis by amplitude sensitivity analysis of rotation, mesh and mesh-related frequency components in the stator current PSD is demonstrated. A test-rig based on a 250W squirrel-cage induction machine connected to a single-stage gearbox is used for this purpose. II. STATOR CURRENT SIGNATURE

Generally, the vibration signal generated from a healthy gearbox is dominated by mesh frequency accompanied by some modulation effects caused by geometric and assembly errors related to input and output rotation frequencies [8]. Due to torsional vibration these harmonics can be observed in the mechanical torque as well [4]. Therefore, taking into account the gear mesh modulation effect, the stator current can be represented by using only the main frequency components associated to the torsional vibrations induced in gearbox [4], [6], [7]:

I ( t ) I s sin ( s t ) + I r sin (s t + ( t ) + r )

(1)

where

978-1-4673-0142-8/12/$26.00 2012 IEEE

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 ( t ) = r1 cos (r1t + r1 ) + r 2 cos (r 2t + r 2 ) + m cos (mt + m )

+ mr11 cos (m + r1 ) t + mr11 + mr12 cos (m r1 ) t + mr12 + mr 21
m

III. SIGNAL PROCESSING TECHNIQUES

( cos ( (

+ r 2 ) t + mr 21

) ) +

mr 22

( cos ( (

r 2 ) t + mr 22

) )

r1

Tr1 J r21

r 2

Tr 2 J r22

Tm 2 J m

mr11 mr 21

Tm11 Tm12 mr12 J (m + r1 ) 2 J (m r1 ) 2 Tm 21 Tm 22 mr 22 2 J (m + r 2 ) J (m r 2 ) 2

Welch method The power spectrum density (PSD) gives the distribution of signal power with respect to the frequency. It is often used to analyze a stationary random signal. The classical method for PSD estimation of a discrete signal is periodogram which assume that the observed samples are wide-sense-stationary. The PSD estimation using periodogram can be written directly in term of the observed samples s[n] [10]:
2 1 N 2 j f (5) PPER ( f ) = s [ n] e N n=0 In fact, the periodogram is proportional to the squared magnitude of the discrete Fourier transform of the signal. Actually, the periodogram is asymptotically an unbiased estimator where its variance does not converge to zero by increasing the data samples. The Welch technique improves this weakness by dividing the data length into equal segments and evaluates the average value of the soobtained periodogram for each one. Assuming that K data segments are available, it is defined as [10]: 1 K 1 ( m ) PWEL ( f ) = P (6) PER ( f ) K m=0 where the periodogram for the mth segment is: 2 (m) 1 L 1 2 j fn (7) PPER f = w n s n e ( ) [ ] m[ ] L n =0 with L is the data length and sm[n] is data in the segment m. The use of window function w[n] can minimize the sidelobes amplitudes in order to extract weak amplitude close frequency components. The variance will be also decrease by a factor K in Welch method since the data segments are independent: (m) 1 var var (8) P f = P ( ) WEL K PER ( f )

A.

with Tr1, Tr2, Tm, Tm11, Tm12, Tm21, Tm22 are the torque amplitude oscillations due to the torsional vibration induced by the transmission error in the input and output wheels (Tr1, Tr2) and the stiffness variation of the gear teeth contact (Tm) and the related gear modulation effect (Tm11, Tm12, Tm21, Tm22), respectively. fr1, fr2 and fm are the input and output gear rotating and mesh frequencies, and r1, r2, and m are their related phases. mr11, mr12, mr21 and mr22 are phase related to the gear mesh modulation effect. In the most case the modulation indexes are very small (r1 << 1, r2 << 1, m << 1) with m, mr11, mr12, mr21, mr22 << r1, r2. Assuming sin(y) y and cos(y) 1 for y << 1, and neglecting the multiplication of two or three modulation index terms, expression (1) can be rewritten as: I ( t ) I s sin (st ) + I r sin (st + r ) + I r cos (st + r )

r1

cos (r1t + r1 ) + r 2 cos (r 2t + r 2 ) + m cos (mt + m )

+ mr11 cos (m + r1 ) t + mr11 + mr12 cos (m r1 ) t + mr12 + mr 21

m

( cos ( (

+ r 2 ) t + mr 21

) ) +

mr 22

( cos ( (

r 2 ) t + mr 22

) )}
(2)

or in the other form: I ( t ) I s sin (st ) + I r sin (st + r ) +

1 I r r1 cos (s r1 ) t + r r1 2 + r 2 cos (s r 2 ) t + r r 2 + m cos (s m ) t + r m

+ mr11 cos s (m + r1 ) t + r mr11

((

+ mr12 cos s (m r1 ) t + r mr12 + mr 21 cos s (m + r 2 ) t + r mr 21

((

((

using a rectangular window function. This technique is used in the further section. B. Envelope analysis The Hilbert transform is well known as a classical method to define the envelope of a signal by determining its analytical form [9]. The Hilbert transform of a signal s(t) is defined as: 1 s( ) H [ s(t)] = p.v. d (9) t where p.v. is the Cauchy principal value. Then, (9) can be written in the following form: 1 H [ s (t )] = p.v. s (t ) (10) t where * represents the convolution operator. The Fourier transform (named F[]) of 1/t can be calculated as: F [1 t ] = j sgn( ) (11) where sgn() is the sign function and is the frequency. This means that the Hilbert transform makes a 90 phase shift depending on the sign of s(t) frequency components. In practice, an efficient way to determine the Hilbert transform of a discrete signal is resumed as: 1) Computation of the signal discrete Fourier transform (DFT)

+ mr 22 cos s (m r 2 ) t + r mr 22

((

) )}

(3) The frequency components in the PSD of stator current as it was previously predicted are the following [4]: f Gr1 = f s f r1

f Gr 2 = f s f r 2 f Gmesh = f s f m f Gr1mesh = f s f r1 f m f Gr 2 mesh = f s f r 2 f m

(4) Then, the amplitude of each frequency component in expression (4) can be predicted based on (3).

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2) Computation of product by jsgn() 3) Computation of the inverse DFT In this way, for a signal s(t) the Hilbert transform allows the computation of signal envelope a(t) with:
a (t ) = s (t )2 + H 2 [ s (t )]

(12)

This technique is used in further section in order to compute the envelope of both vibration and acoustic pressure. IV. EXPERIMENTAL RESULTS Experimental set-up A 250W, 50-Hz, 400V, star-connected, 0.77A, 4-pole, 1380rpm, 24 rotor bars, three-phase squirrel-cage induction machine is connected to a digital controllable brake through a one-stage gearbox with number of teeth at the input Nr1=25 and at the output Nr2=75 (Fig. 1). fr1 and fr2 represent the rotation frequencies at the input and output stages of gearbox, respectively. The digital controllable brake system can simulate the load by keeping rotation speed constant. The system instrumentation consists of three current sensors with 0.1A/V sensitivity in addition to a direct field microphone with 50mV/Pa sensitivity and an accelerometer with 500mV/g sensitivity. The microphone is placed very near to the gearbox in order to minimize the environment noise effect. For data collection a 24-bit resolution modular data acquisition system with built-in signal conditioning filter has been used. The acquisition time is Tacq=120s. In order to minimize the PSD variance, data samples are divided into 24 segments with 10s length (overlap of 50%) in order to obtain 0.1Hz frequency resolution in the averaged PSD. The averaged PSD of vibration and acoustic pressure are normalized to g (10m/s2) and 10Pa respectively. The averaged PSD of stator current is normalized to the amplitude of fundamental frequency component. Finally, the squared value of averaged PSD (SPSD) is calculated in order to fit the amplitude scale between -120dB and 0dB. The Hanning window is used as a window function for Welch method. A. Healthy condition experimental results Initially, the healthy gearbox is studied. Fig. 2 shows the vibration, acoustic pressure and stator current in the steadystate and at rated-load condition. As it was previously
3 stator currents Microphone

mentioned, the cause of torsional vibrations in the gearbox is mainly due to tooth profile error, the eccentricities of sources of excitation give rise to the input and output rotating and the mesh and mesh-related frequencies in the vibration and consequently in the mechanical torque. The rotating frequencies fr1=23Hz and fr2=7.7Hz, mesh frequency fmesh=Nr1fr1=Nr2fr2=574.9Hz and mesh-related frequencies 597.9Hz, 551.9Hz (fmeshfr1) and 567.2Hz, 582.6Hz (fmeshfr2) are observed in the normalized vibration SPSD (Fig. 3). The same components are detected in the SPSD of normalized acoustic pressure, unless, the output rotation frequency due to the fact that this weak-amplitude frequency component is masked by the environment low frequency acoustic noise (Fig. 4). The results show the capability of acoustic measurement for monitoring of electromechanical system. The SPSD of stator current is shown in Figs. 5 and 6. The rotation-related frequencies 27Hz, 73Hz (fsfr1) and 42.3Hz, 57.7Hz (fsfr2) are detected as it was predicted in (4). Since the modulation index related to the mesh (m) and mesh-related frequencies (mr11, mr12, mr21, mr22) are very small, it is practically impossible to localize these components without using a high resolution data acquisition system and SPSD variance minimization through a long data acquisition. Providing these former conditions, the mesh 524.9Hz, 624.9Hz (fsfm) with -85dB and -86dB amplitudes and some mesh-related frequencies 547.9Hz, 647.9Hz (fsfm+fr1) with -100dB and 103dB amplitudes respectively are detected in the SPSD of stator current. The mesh-related frequencies fsfmfr2 are not detected and fsfm-fr1 frequencies are confused with space harmonics in the stator current.
Vibration [m/s2] 0.5 0 -0.5

(a)
0 0.05 0.1 0.15 0.2 0.25 Time [s] 0.3 0.35 0.4 0.45 0.5

Acoustic pressure [Pa]

0.5 0 -0.5

(b)
0 0.05 0.1 0.15 0.2 0.25 Time [s] 0.3 0.35 0.4 0.45 0.5

B.

Current [A]

2 0 -2

(c)
0 0.05 0.1 0.15 0.2 0.25 Time [s] 0.3 0.35 0.4 0.45 0.5

Fig. 2. Steady-state experimental results at rated-load in healthy condition: (a) Vibration (b) Acoustic pressure (c) Stator current.

R S T

Accelerometer

Nr1 = 25

fr1
Pinion 250W

Acquisition system

PC

Nr2 = 75

Asynchronous Machine

Coupling

fr2
Pinion tooth surface wear fault Fig. 1. Schematic of test-rig.

Wheel

Digital controllable break

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Fault condition experimental results The experiments are carried out by replacing the healthy -50 (a) pinion with one having pinion tooth surface wear fault. Fig. 7.7Hz 7 shows the vibration, acoustic pressure and stator current -100 in the steady-state at rated-load condition. This type of fault 0 5 10 15 20 25 30 35 40 45 50 commonly generates mechanical shock pulses in the f [Hz] gearbox-based electromechanical system. This can be well 0 observed in the vibration signal (Fig 7.a) with input rotation 574.9Hz 597.9Hz time period. This also produces a high level of acoustic 551.9Hz 567.2Hz 582.6Hz -50 (b) perturbation which is localized with nearly the same effect in the acoustic pressure (Fig. 7.b). However, this effect -100 cannot be detected in time domain in the stator current. In 520 530 540 550 560 570 580 590 600 610 620 all figures the faulty condition is related to the pinion f [Hz] tooth surface wear fault [8], [9]. The SPSD of vibration Fig. 3. SPSD of normalized vibration at rated-load in healthy condition in the frequency bandwidths: (a) [0Hz, 50Hz] (b) [520Hz, 620Hz]. envelope which contains multiple of input rotation 0 frequency in the healthy and faulty conditions is shown in 23Hz 7.7Hz Fig. 8. The amplitude sensitivity of vibration and
0

C.

23Hz

Amplitude [dB]

Vibration [m/s2]

-50

(a)

0.5 0 -0.5

1/fr1

(a)
0 0.05 0.1 0.15 0.2 0.25 Time [s] 0.3 0.35 0.4 0.45 0.5

Amplitude [dB]

-100 0 5 10 15 20 25 f [Hz] 30 35 40 45 50

551.9Hz 567.2Hz
-50

574.9Hz 582.6Hz

597.9Hz (b)

Acoustic pressure [Pa]

0.5 0 -0.5

(b)
0 0.05 0.1 0.15 0.2 0.25 Time [s] 0.3 0.35 0.4 0.45 0.5

520

530

540

550

560

570 f [Hz]

580

590

600

610

620

Current [A]

-100

2 0 -2

(c)
0 0.05 0.1 0.15 0.2 0.25 Time [s] 0.3 0.35 0.4 0.45 0.5

Fig. 4. SPSD of normalized acoustic pressure at rated-load in healthy condition in the frequency bandwidths: (a) [0Hz, 50Hz] (b) [520Hz, 620Hz].
0

27Hz
-50

42.3Hz

57.7Hz

73Hz (a)

Fig. 7. Steady-state experimental results at rated-load in faulty condition: Vibration (b) Acoustic pressure (c) Stator current.
0

23Hz
-50

46Hz

69Hz

(a)

Amplitude [dB]

-100 0 10 20 30 40 50 f [Hz] 60 70 80 90 100

Amplitude [dB] -100 0 10 20 30 40 50 f [Hz] 60 70 80 90 100

524.9Hz
-50

624.9Hz (b)

23Hz
-50

46Hz

69Hz (b)

-100 520 530 540 550 560 570 580 f [Hz] 590 600 610 620 630
-100 0 10 20 30 40 50 f [Hz] 60 70 80 90 100

Fig. 5. SPSD of normalized stator current at rated-load in healthy condition in the frequency bandwidths: (a) [0Hz, 100Hz] (b) [520Hz, 630Hz].
0

Fig. 8. SPSD of normalized vibration envelope at rated-load in the frequency bandwidth [0Hz, 50Hz]: (a) Healthy gearbox (b) Faulty gearbox.
0

-50

547.9Hz

(a)
-50

23Hz

46Hz

69Hz (a)

Amplitude [dB]

-100
Amplitude [dB]

540

541

542

543

544

545 f [Hz]

546

547

548

549

550

-100

10

20

30

40

50 f [Hz]

60

70

80

90

100

-50

647.9Hz

23Hz
-50

46Hz

(b)

69Hz (b)

-100 640 641 642 643 644 645 f [Hz] 646 647 648 649 650
-100

10

20

30

40

Fig. 6. SPSD of normalized stator current at rated-load in healthy condition in the frequency bandwidths: (a) [540Hz, 550Hz] (b) [640Hz, 650Hz].

50 f [Hz]

60

70

80

90

100

Fig. 9. SPSD of normalized acoustic pressure envelope at rated-load in the frequency bandwidth [0Hz, 50Hz]: (a) Healthy gearbox (b) Faulty gearbox.

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27Hz

42.3Hz

57.7Hz

73Hz (a)

-50

Amplitude [dB]

-100 0 10 20 30 40 50 f [Hz] 60 70 80 90 100

524.9Hz
-50

624.9Hz (b)

this table the mean amplitude of left and right frequency components is calculated. It can be observed that the fault give rise the mean amplitude of input rotation frequency component. Nevertheless, the amplitude of input rotation frequency component can be affected either by eccentricity fault. The mean amplitude of mesh-related frequency components (fsfm+fr1) shows reliable amplitude sensitivity in all levels of charge to the pinion tooth surface wear fault in the SPSD of stator current. V. CONCLUSION In this paper, the diagnostic capabilities of acoustic, vibration and stator current for pinion tooth surface wear fault detection in a gearbox-based electromechanical system is studied. The results demonstrate the best amplitude sensitivity using envelope analysis of vibration signal. The acoustic seems to be a good candidate for diagnosis of this type fault with considerable reliability for loads near to the induction machine rated-load. The gearbox induce several harmonics in the stator current of induction machine, nevertheless their amplitude are near to the spectrum noise level. Using a long data acquisition in addition to using a high resolution acquisition system it was possible to detect mesh and mesh-related frequencies in the SPSD of stator current. The amplitude of some of these harmonics is sensitive to the gear tooth surface wear fault. VI. REFERENCES

-100 520 530 540 550 560 570 580 f [Hz] 590 600 610 620 630

Fig. 10. SPSD of normalized stator current at rated-load in faulty condition in the frequency bandwidths: (a) [0Hz, 100Hz] (b) [520Hz, 630Hz].
0

-50

547.9Hz

(a)

Amplitude [dB]

-100 540 541 542 543 544 545 f [Hz] 546 547 548 549 550

-50

647.9Hz

(b)

-100 640 641 642 643 644 645 f [Hz] 646 647 648 649 650

[1]

Fig. 6. SPSD of normalized stator current at rated-load in faulty condition in the frequency bandwidths: (a) [540Hz, 550Hz] (b) [640Hz, 650Hz]. TABLE I Amplitude sensitivity of rotating frequencies in the SPSD of vibration and acoustic pressure envelopes for pinion tooth wear fault (dB). fr1 2fr1 3fr1 Load 20% 5 12 11 40% 12 4 6 Vibration 60% 11 11 13 80% 13 17 14 100% 14 22 14 20% 3 -6 11 40% 7 13 17 Acoustic 60% 0 4 -11 pressure 80% 11 7 8 100% 14 12 7 TABLE II Amplitude sensitivity of input rotating, output rotating, mesh and meshrelated frequencies in the SPSD of stator current for pinion tooth wear fault (dB). fsfr1 fsfr2 fsfm fsfm+fr1 Load 20% 7 -4 -2 8 40% 5 8 5 7 Stator 60% 7 0 2 7 current 80% 6 15 -2 7 100% 5 6 -6 5

acoustic pressure to pinion tooth wear fault for different load levels is shown in Table I. The vibration envelope is very sensitive to this type of fault even at light load level. The acoustic pressure gives comparable results with the vibration for load levels greater than 60% of rated-load in which the fault acoustic perturbation is much greater than environment noise. The SPSD of stator current is shown in Figs. 10 and 11. The amplitude sensitivity of stator current gearbox-related frequencies are is analyzed in Table II. In

C. W. de Silva, Vibration: Fundamentals and Practice, Boca Raton, FL: CRC Press, 2000. [2] J. Ma and C. J. Li, "Gear defect detection through model-based wideband demodulation of vibration, Journal of Mechanical Systems and Signal Processing, vol. 10, no. 5, pp. 653-665, 1996. [3] A. R. Mohanty, C. Kar, Monitoring gear vibrations through motor current signature analysis and wavelet transform, Mechanical Systems and Signal Processing, vol. 20, no. 1, pp. 158-187, January 2006. [4] S. H. Kia, H. Henao, G.-A. Capolino, Analytical and experimental study of gearbox mechanical effect on the induction machine stator current signature, IEEE Transactions on Industry Applications, vol. 45, no. 4, pp. 1405-1415, Jul./Aug. 2009. [5] S. H. Kia, H. Henao, G.-A. Capolino, Torsional vibration effects on induction machine current and torque signatures in gearbox-based electromechanical system, IEEE Transactions on Industrial Electronics, vol. 56, no. 11, pp. 4689-4699, Nov. 2009. [6] M. Bldt, Condition monitoring of mechanical faults in variable speed induction motor drives: application of stator time-frequency analysis and parameter estimation, Ph.D. Thesis, Institut de National de Toulouse, Laboratoire dElectrotechnique et Electronique Industrielle de lENSEEIT, 2006. available online at: http://ethesis.inp-toulouse.fr/archive/00000313/01/blodt.pdf [7] M. Bldt, M. Chabert J. Regnier, and J. Faucher, Mechanical load fault detection in induction motors by stator current time-frequency analysis, IEEE Transactions on Industry Applications, vol. 42, no. 6, pp. 14541463, Nov./Dec. 2006. [8] W. Wang, "Early detection of gear tooth cracking using the resonance demodulation technique, Journal of Mechanical Systems and Signal Processing, vol. 15, no. 5, pp. 887-903, 2001. [9] N. Baydar, A. Ball, "A comparative study of acoustic and vibration signals in detection of gear failures using Wigner-Ville distribution, Journal of Mechanical Systems and Signal Processing, vol. 15, no. 6, pp. 1091-1107, 2001. [10] S. M. Kay, Modern Spectral Estimation, Englewood Cliffs, PrenticeHall, 1988. [11] R. E. Ziemer and W. H. Tranter, Principles of Communications: Systems, Modulation, and Noise. Boston, MA: Houghton Mifflin, 1990.

VII.

BIOGRAPHIES

Shahin Hedayati Kia received the MSc in electrical engineering from the Iran University of Science and Technology (IUST), Tehran, Iran, in 1998 and the MSc and the PhD in power electrical engineering from the University of Picardie Jules Verne, Amiens, France, in 2005 and 2009,

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respectively. From 2008 to 2009, he was a lecturer at INSSET de SaintQuentin, France. From September 2009 to September 2011 he was a postdoctoral associate at the School of Electronic and Electrical Engineering of Amiens (ESIEE Amiens). In September 2011, he joined the University of Picardie Jules Verne as an Associate Professor in the Department of Electrical Engineering. His research interests include application of modern digital signal processing in electrical power systems and diagnosis of electrical machines. Humberto Henao (M95, SM05) received the MSc in electrical engineering from Universidad Tecnologica de Pereira, Colombia in 1983, the MSc in power system planning from Universidad de los Andes, Bogota, Colombia in 1986, the PhD in electrical engineering from Institut National Polytechnique de Grenoble, Grenoble, France in 1990. From 1987 to 1994, he was consultant for companies as Schneider Industries and GEC Alstom in the Modeling and Control Systems Laboratory (UMCS), Mediterranean Institute of Technology, Marseille, France. In 1994, he joined the Ecole Suprieure dIngnieurs en Electrotechnique et Electronique, Amiens, France as Associate Professor. In 1995, he joined the University of Picardie Jules Verne, Amiens, France as an Associate Professor in the Department of Electrical Engineering. He was promoted Professor of Electrical Engineering within the same University in 2010. He is currently the Department representative for the international programs and exchanges (SOCRATES). He is also the power group leader within the Laboratory of Inoovative Technologies (LTI) of the University of Picardie Jules Verne.

Dr. Henao main research interests are modeling, simulation, monitoring and diagnosis of electrical machines and electrical drives. Grard-Andr Capolino (A77, M82, SM89, F02) was born in Marseille (France). He received the BSc in electrical engineering from Ecole Centrale de Marseille, Marseille, France in 1974, the MSc from Ecole Suprieure d'Electricit, Paris, France in 1975, the PhD from University Aix-Marseille I, Marseille, France in 1978 and the DSc from InstitutPolytechnique de Grenoble (Grenoble INP), Grenoble, France in 1987. He held positions in the University of Yaound I, Cameroon, the University of Dijon, Dijon, France and the Mediterranean Institute of Technology, Marseille, France. In 1994, he joined the University of Picardie "Jules Verne" in Amiens, France as a full Professor, Head of the Department of Electrical Engineering (1995-1998), Director of the Energy Conversion & Intelligent Systems Laboratory (1996-2000) and now Director of the European Master in Advanced Power Electrical Engineering (MAPEE) recognized by the European Commission in 2004. He has published more than 450 papers and technical reports in journals, conference Proceedings and both national and international institutions. Dr. Capolino has been the recipient of the 2008 IEEE-IES Dr.-Ing. Eugene Mittelmann Achievement Award, the 2010 ICEM Arthur Ellison Achievement Award and the 2011 IEEE-PELS Diagnostics Achievement Award. Dr. Capolino is a Distinguished Lecturer of the IEEE industrial Electronics Society (IES) and the 2012-2013 President of IEEE-IES. He has been the acting Steering Committee Chair of the International Conference on Electrical Machines (ICEM) since 2006.

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