Lightweight Convolutional Transformers Enhanced Meta Learning for Compound Fault Diagnosis of Industrial Robot

Chong Chen, Tao Wang, Chao Liu, Yuxin Liu, Lianglun Cheng

Research output: Contribution to journalArticlepeer-review


Recent advance of deep learning has seen remarkable progress in compound fault diagnosis modeling for industrial robots. Nevertheless, the data scarcity of compound fault samples jeopardizes the modeling performance of deep learning algorithms. Meta-learning has become an effective tool in few-shot fault diagnosis modeling. However, due to the training instability of meta-learning, it is challenging to deploy advanced networks such as transformers as the base learner due to the extremely large model size. Therefore, this study proposes a lightweight convolutional transformers (LCT) network enhanced meta-learning (Meta-LCT) method to achieve accurate compound fault diagnosis with limited compound fault samples. Specifically, the LCT is first designed by taking the advantage of linear spatial reduction (LSR) attention and spatial pooling mechanism to achieve high computational efficiency. LCT is adopted as the base learner in the Meta-stochastic gradient descent (SGD) algorithm, and then, the meta-training is performed based on the single fault data. Subsequently, the limited compound fault samples are used in the meta testing stage to obtain a compound fault diagnosis model. An experimental study based on the real-world compound fault dataset of industrial robots is presented. The experimental results indicate that the proposed Meta-LCT can achieve the compound fault diagnosis accuracy of 81.1% when only 40 data samples in each compound fault category are available.

Original languageEnglish
Article number3520612
Number of pages12
JournalIEEE Transactions on Instrumentation and Measurement
Early online date29 May 2023
Publication statusPublished - 29 May 2023

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Funding Information:
This work was supported in part by the Key Program of NSFC-Guangdong Joint Funds under Grant U2001201 and Grant U1801263, in part by the Industrial Core and Key Technology Plan of Zhuhai City under Grant ZH22044702190034HJL, in part by the Natural Science Foundation of Guangdong Province under Grant 2020B1515120010, and in part by the Guangdong Provincial Key Laboratory of Cyber-Physical System under Grant 2020B1212060069.


  • Compound fault diagnosis
  • Compounds
  • Deep learning
  • Fault diagnosis
  • Feature extraction
  • Industrial robot
  • Industrial robots
  • Meta learning
  • Task analysis
  • Training
  • Transformers
  • Transformers networks


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