CN111504450A - Equipment fault alarm method and device - Google Patents
Equipment fault alarm method and device Download PDFInfo
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- CN111504450A CN111504450A CN202010351302.9A CN202010351302A CN111504450A CN 111504450 A CN111504450 A CN 111504450A CN 202010351302 A CN202010351302 A CN 202010351302A CN 111504450 A CN111504450 A CN 111504450A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/04—Bearings
- G01M13/045—Acoustic or vibration analysis
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/187—Machine fault alarms
Abstract
The invention provides an equipment fault alarm method and device, and belongs to the field of equipment fault alarm. The method comprises the following steps: collecting a vibration signal of equipment to be tested, and calculating the statistic of the vibration signal; monitoring the operation condition of the equipment to be tested, and if the operation condition does not change, comparing the statistic of the vibration signal with an alarm threshold corresponding to the current operation condition; if the operation condition changes, recalculating the alarm threshold, comparing the statistic of the vibration signal with the alarm threshold corresponding to the changed operation condition, and determining whether to generate an alarm signal according to the comparison result; the alarm threshold value corresponds to the operation condition of the equipment to be tested, under a certain operation condition, the statistic of the vibration signal of the equipment to be tested in a time window is calculated, and the alarm threshold value of the operation condition is determined according to the statistic of the vibration signal of the equipment to be tested in the time window. The method can adapt to various operation working conditions, and improves the fault alarm accuracy of equipment with complex working conditions.
Description
Technical Field
The invention relates to an equipment fault alarm method and device, and belongs to the technical field of equipment fault alarm.
Background
Bearings and gears are the most used parts of rotary machine equipment, and if the bearings and gears are out of order and not discovered and eliminated in time, the bearings and gears will cause the equipment to vibrate and damage the equipment in severe cases. Therefore, it is important to perform fault alarm and fault diagnosis for bearings or gears. The fault alarm refers to sending an alarm signal when the change of the acquired equipment vibration signal meets a set alarm rule, for example, sending the alarm signal to perform fault alarm when the amplitude of the equipment vibration signal exceeds a set alarm threshold, and the fault diagnosis refers to further determining whether the equipment really fails or not after receiving the alarm signal and accurately judging the type of the equipment fault when the equipment really fails, that is, the fault alarm gives a primary recognition result of whether the equipment is faulty or not, and the fault diagnosis gives a final recognition result of whether the equipment is faulty or not, so that the fault alarm is a precondition of fault diagnosis, and the fault alarm accuracy can be effectively improved.
At present, an alarm threshold value is generally set by a vibration alarm standard (hereinafter referred to as a vibration alarm standard) provided by international or national standardization organization to realize fault alarm, and fault alarm is performed when the amplitude of a vibration signal of a bearing or a gear is greater than the alarm threshold value set according to the vibration alarm standard, which has strong universality, but the vibration alarm standard still has the following defects when applied to engineering practice:
(1) in the actual engineering, each device has the characteristics of itself, and if the same vibration alarm standard is adopted for different types of devices, the alarm accuracy of some types of devices is very low; even if the types of the equipment are the same, the situation of inaccurate alarm can still occur due to the fact that the structural parameters and the use working conditions of the equipment are different and the vibration alarm standard is completely the same, so that the pertinence of the vibration alarm standard is weak, and high alarm accuracy rate is difficult to obtain in engineering practice.
(2) The vibration alarm standard requires equipment to operate under a rated rotating speed and a stable working condition when in application, but most of equipment (including low-speed heavy-load equipment) is often in the operating conditions of variable working conditions (including variable rotating speed, variable load and variable load) in engineering practice, the vibration signal of the equipment is easily influenced by rotating speed fluctuation or impact load, if the equipment operates under the variable working conditions, the vibration alarm standard which is the same as the stable working conditions is still adopted, the condition of alarm error is easy to occur, and the alarm accuracy is low.
In conclusion, the vibration alarm standard has poor applicability, cannot adapt to different types of equipment, and cannot adapt to the situation that the operation working conditions of the equipment are complex.
Disclosure of Invention
The invention aims to provide a method and a device for alarming equipment faults, which are used for solving the problem that the equipment fault alarming accuracy is low when the equipment fault alarming is carried out by adopting a vibration alarming standard provided by the international or national standardization organization at present.
In order to achieve the purpose, the invention provides an equipment fault alarm method, which comprises the following steps:
(1) collecting a vibration signal of equipment to be tested, and calculating the statistic of the vibration signal;
(2) monitoring the operation condition of the equipment to be tested, judging whether the operation condition of the equipment to be tested changes, if not, comparing the statistic of the vibration signal with an alarm threshold value corresponding to the current operation condition, and determining whether to generate an alarm signal according to the comparison result;
(3) if the operation condition of the equipment to be tested changes, recalculating the alarm threshold, comparing the statistic of the vibration signal with the alarm threshold corresponding to the changed operation condition, and determining whether to generate an alarm signal according to the comparison result;
the alarm threshold value corresponds to the operation condition of the equipment to be tested, under a certain operation condition, the statistic of the vibration signal of the equipment to be tested in a time window is calculated, and the alarm threshold value of the operation condition is determined according to the statistic of the vibration signal of the equipment to be tested in the time window.
The invention also provides a device fault alarm device which comprises a processor and a memory, wherein the processor executes a computer program stored by the memory to realize the device fault alarm method.
The equipment fault alarm method and the equipment fault alarm device have the beneficial effects that: firstly, the operation condition of the equipment to be tested is monitored, when the operation condition of the equipment to be tested changes, the alarm threshold value is recalculated, whether an alarm signal is generated or not is judged by using the alarm threshold value corresponding to the changed operation condition, namely the alarm threshold value is changed when the operation condition changes, so that the equipment fault alarm is performed by using the alarm threshold value which is consistent with the operation condition no matter which condition the equipment operates, higher fault alarm accuracy can be obtained under each operation condition, and compared with the condition that the same alarm threshold value is adopted by all the operation conditions in the prior art, the equipment fault alarm method can adapt to the condition that the operation condition of the equipment is more complex, and the fault alarm accuracy of the equipment with more complex operation condition is improved; secondly, whether an alarm signal is generated or not is determined by using a comparison result of the statistic of the vibration signal and an alarm threshold value, and compared with the vibration signal amplitude of the equipment to be tested, early failure of the equipment is easier to find.
Further, in the equipment fault alarm method and device, when the operation condition of the equipment to be tested changes, the time window is updated, and the alarm threshold value is recalculated on the updated time window.
The beneficial effects of doing so are: when the operation condition of the equipment to be tested changes, the alarm threshold value is recalculated on the updated time window, so that the calculated alarm threshold value can better accord with the actual operation condition of the equipment, and the fault alarm accuracy of the equipment can be further improved.
Further, in the above method and apparatus for alarming a device failure, the operation conditions include a stable condition, a variable rotation speed condition, a variable load condition and a variable load condition, wherein the length of the time window is the largest under the stable condition.
Further, in the above method and apparatus for alarming a device failure, the method further includes the step of alarming according to the generated alarm signal.
Further, in order to reduce the interference of irrelevant signals in the vibration signals of the equipment to be tested on the fault alarm result, the equipment fault alarm method and device further comprise the step of carrying out zero averaging processing on the vibration signals before calculating the statistic of the vibration signals.
Further, in the above method and apparatus for alarming a device failure, the statistics of the vibration signal include one statistic or two or more statistics, and the statistics are low-order statistics or high-order statistics.
Further, in the above method and apparatus for alarming a device failure, the calculating an alarm threshold includes calculating an alarm threshold corresponding to each statistical value.
Further, in the above method and apparatus for alarming a device failure, the determining whether to generate an alarm signal according to the comparison result includes: when more than one statistic exceeds the respective alarm threshold, generating an alarm signal; or when more than two statistical values exceed the respective alarm threshold values, generating an alarm signal.
Further, in the above method and apparatus for alarming on a device failure, the alarm threshold corresponding to each statistical value is 3 times of the standard deviation of the corresponding statistical value.
Drawings
Fig. 1 is a block diagram of an apparatus failure alarm device according to embodiment 1 of the present invention;
fig. 2 is a flowchart of an apparatus failure alarm method in embodiment 1 of the present invention;
fig. 3 is a schematic diagram of an alarm threshold corresponding to a kurtosis index in embodiment 1 of the present invention;
fig. 4 is a trend graph of the pass frequency amplitude of a bearing in embodiment 1 of the present invention;
fig. 5 is a kurtosis index trend chart of a bearing in embodiment 1 of the present invention;
in the figure, 1 is a fixed alarm line, 2 is a communication amplitude curve, 3 is an adaptive alarm line, and 4 is a kurtosis index curve.
Detailed Description
In the embodiment, when the device failure alarm is performed, the acceleration sensor is mounted on the bearing or the gear of the device to be tested, the acceleration sensor is used for collecting the vibration signal of the device to be tested under the condition that the sampling theorem is met, the collected vibration signal of the device to be tested is sent to the device failure alarm device, and the device failure alarm device processes the received vibration signal of the device to be tested, so that the device failure alarm method of the embodiment is realized, and the device failure alarm is further realized.
The device failure alarm apparatus of the present embodiment is shown in fig. 1, and includes a processor and a memory, and the processor executes a computer program stored in the memory to implement the device failure alarm method of the present embodiment.
The processor refers to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The memory includes a physical device for storing information, and generally, information is digitized and then stored in a medium using an electric, magnetic, optical, or the like. For example: various memories for storing information by using an electric energy mode, such as RAM, ROM and the like; various memories for storing information by magnetic energy, such as hard disk, floppy disk, magnetic tape, magnetic core memory, bubble memory, and U disk; various types of memory, CD or DVD, that store information optically. Of course, there are other ways of memory, such as quantum memory, graphene memory, and so forth.
The following describes an apparatus failure alarm method according to the present embodiment, which may form a computer program that is stored in a memory and called when a processor runs, thereby implementing the apparatus failure alarm method. As shown in fig. 2, the method specifically includes the following steps:
(1) collecting vibration signals of the equipment to be tested, and calculating the statistic of the vibration signals of the equipment to be tested (hereinafter referred to as the statistic of the vibration signals); the method comprises the following steps of calculating the statistic of the vibration signal by taking a sampling period as a unit in the running process of the equipment to be tested, and specifically comprises the following steps:
firstly, sampling the vibration signal of the device to be tested, wherein the sampling period is TcAnd a sampling interval tcThe sampling period T is set according to actual requirements in this embodimentc1min, sampling interval tc3s, then 20 sampled signals C are obtained for one sampling periodi}(i＝1,2,…20)；
Then, 20 sampling signals { C obtainediCarrying out zero equalization processing to obtain a sampling signal (X) after the zero equalization processingi}；
Finally, the sampling signals { X after zero equalization processing are respectively calculatediAnd obtaining the skewness index and the kurtosis index, namely the statistic of the vibration signal corresponding to one sampling period.
Wherein the distortion index SkThe calculation formula of (2) is as follows:
kurtosis index SkvThe calculation formula of (2) is as follows:
in the formula, XrmsIs XiRoot mean square value of (d).
(2) Monitoring the operation condition of the equipment to be tested, judging whether the operation condition of the equipment to be tested changes, if not, comparing the statistic of the vibration signal with an alarm threshold value corresponding to the current operation condition, and determining whether to generate an alarm signal according to the comparison result;
(3) if the operation condition of the equipment to be tested changes, recalculating the alarm threshold, comparing the statistic of the vibration signal with the alarm threshold corresponding to the changed operation condition, and determining whether to generate an alarm signal according to the comparison result;
the alarm threshold value corresponds to the operation condition of the equipment to be tested, and the specific calculation process of the alarm threshold value corresponding to a certain operation condition is as follows:
firstly, under the operation condition, a vibration signal of the device to be tested in a time window is selected optionally, the length T of the time window is set according to actual needs, and T is set to be 10min in the embodiment;
then, calculating the statistic of the vibration signal of the device to be tested in the time window: similar to the method in step (1), firstly sampling the vibration signal of the device to be tested in the time window according to the set sampling period and sampling interval (the sampling period and the sampling interval are set according to actual needs), and here, still according to the sampling period Tc1min, sampling interval tcIf the time window is 3s, 10 groups of sampling signals can be obtained in the time window, then the skewness index and the kurtosis index of the 10 groups of sampling signals are respectively calculated by adopting the method in the step (1), one group of sampling signals corresponds to one skewness index and one kurtosis index, and finally obtained 10 skewness indexes and 10 kurtosis indexes are the statistic of the vibration signals of the equipment to be tested in the time window;
finally, calculating the standard deviation sigma 1 of the 10 distortion indexes, and taking +/-3 sigma 1 as an alarm threshold value 1 corresponding to the distortion indexes; and calculating the standard variance sigma 2 of the 10 kurtosis indexes, taking +/-3 sigma 2 as an alarm threshold 2 corresponding to the kurtosis indexes, and obtaining alarm thresholds 1 and 2 which are the alarm thresholds corresponding to the operation working condition.
In this embodiment, the statistics of the vibration signal include two higher-order statistics (a skewness index is a 3-order statistic, and a kurtosis index is a 4-order statistic), and accordingly, the alarm thresholds corresponding to the two higher-order statistics together form the alarm threshold corresponding to the operating condition, and as long as one of the statistics of the vibration signal exceeds its own alarm threshold, an alarm signal is generated, for example, a black dot in fig. 3 represents the statistics of the vibration signal, two real straight lines respectively represent the alarm thresholds ± 3 σ 2 corresponding to the kurtosis index calculated in a time window with a length of T, and when the black dot exceeds the range of the two real straight lines, that is, the statistics of the vibration signal exceeds the alarm threshold corresponding to the kurtosis index, an alarm signal is generated.
In another embodiment, the alarm signal may be generated when both of the statistics of the vibration signal of the two higher-order statistics exceed respective alarm thresholds.
As another embodiment, the statistic of the vibration signal may also include only one statistic, where the statistic may be a high-order statistic or a low-order statistic (such as a peak value index, a pulse index, or a margin index), and at this time, the alarm threshold corresponding to the statistic is the alarm threshold corresponding to the operating condition, and the alarm signal is generated as long as the statistic exceeds the alarm threshold of the alarm threshold; the statistic of the vibration signal can also comprise more than two statistic values, the more than two statistic values can be all low-order statistic values or all high-order statistic values or both low-order statistic values and high-order statistic values, at the moment, the alarm threshold values corresponding to all the statistic values jointly form the alarm threshold value of the operation condition, and under the condition, when more than one statistic value exceeds the respective alarm threshold value, an alarm signal is generated; or when more than two statistical values exceed the respective alarm threshold values, generating an alarm signal.
Wherein, the peak index refers to the ratio of the maximum value to the root mean square value, and the peak index CfThe calculation formula of (2) is as follows:
the pulse index is the ratio of the absolute value of the maximum value to the average amplitude value, and the pulse index IfThe calculation formula of (2) is as follows:
the margin index is the ratio of the maximum value to the root mean square value, and the margin index C LfThe calculation formula of (2) is as follows:
in the formula, XmaxDenotes the maximum value, Xmax＝max{|xi|}(i＝1,2,...N)，XrmsWhich represents the root-mean-square value,
which represents the average amplitude value of the signal,
(4) and alarming according to the generated alarm signal.
In the present embodiment, the standard deviation of 3 times of the statistical value is used as the alarm threshold corresponding to the statistical value; in another embodiment, the standard deviation of 2 times the statistical value may be used as the alarm threshold corresponding to the statistical value.
In this embodiment, in order to reduce the interference of an irrelevant signal in a vibration signal of a device to be tested on a fault alarm result, a step of performing zero-averaging processing on the vibration signal is further included before calculating the statistic of the vibration signal; in another embodiment, when the vibration signal has less interference signals, the step of zero averaging may be omitted.
The equipment fault alarming method of the embodiment realizes that no matter which working condition the equipment operates under, the equipment fault alarming is carried out by the alarming threshold value which is consistent with the working condition, so that the higher fault alarming accuracy rate can be ensured under each operating working condition; secondly, whether an alarm signal is generated or not is determined by using a comparison result of the statistic of the vibration signal and an alarm threshold value, and compared with the vibration signal amplitude of the equipment to be tested, early failure of the equipment is easier to find.
The validity of the device failure alarm method of the present embodiment is verified below.
The equipment fault alarm method of the embodiment is applied to a certain bearing of a high-temperature fan (stable working condition) of a certain chemical plant, fig. 4 is a communication amplitude trend graph of the bearing from 10 month 1 day to 12 month 24 days in 2019, a curve 1 in fig. 4 is a fixed alarm line set by referring to a vibration alarm standard, a curve 2 is a communication amplitude curve of a vibration signal of the bearing, and fig. 4 shows that the communication amplitude does not reach the alarm line from 10 month 1 day to 12 month 24 days; fig. 5 is a graph showing the kurtosis index trend of the bearing in the same time, in fig. 5, a curve 3 is an adaptive alarm line according to the operation condition obtained by the equipment fault alarm method of the embodiment, a curve 4 is a kurtosis index curve of the vibration signal of the bearing, and it can be seen from fig. 5 that: and in 11 months and 10 days, the kurtosis index reaches the alarm line and continues to be above the alarm line, in 12 months and 10 days, the on-site shutdown maintenance finds that the outer ring of the bearing is worn, in 12 months and 20 days, after the bearing is replaced on site, the kurtosis index value is obviously reduced and is lower than the self-adaptive alarm line. Compared with the existing method, the equipment fault alarm method of the embodiment can be more suitable for the condition that the operation working condition of the equipment is more complex, can improve the fault alarm accuracy of the equipment with the more complex operation working condition, and is easier to find the early fault of the equipment.
Embodiment mode 2
Embodiment 2 relates to an apparatus failure alarm method embodiment and an apparatus failure alarm device embodiment.
The device failure alarm apparatus of the present embodiment has the same configuration as that of embodiment 1, except for the following: the method of alarming for a device failure that can be realized by the device failure alarm apparatus of the present embodiment is different from that of embodiment 1.
The equipment failure alarm method of the present embodiment is different from embodiment 1 only in that: and when the operation condition of the equipment to be tested changes, updating the time window, and recalculating the alarm threshold value on the updated time window. For example, the operation condition of the device to be tested is changed from a stable condition to a variable rotation speed condition, and then the alarm threshold value is recalculated on the time window corresponding to the variable rotation speed condition.
As shown in table 1, the operation conditions of the device to be tested include a stable condition, a variable rotation speed condition, a variable load condition and a variable load condition, each operation condition has a corresponding time window length and a sampling interval, and the length of the time window is the largest under the stable condition.
TABLE 1 time window length and sampling interval corresponding table under different operation conditions
| Type of device | Working conditions | Length of time window | Sampling interval |
| Universal device | Steady state operation | 10min | 5s |
| Universal device | Steady state operation | 10min | 5s |
| Universal device | Variable speed or load | 5min | 3s |
| Universal device | Variable speed or load | 5min | 3s |
| Low-speed heavy-load equipment | Variable load | 5min | 3s |
| Low-speed heavy-load equipment | Variable load | 5min | 3s |
It should be noted that the data in table 1 is only a reference, and in the engineering practice, the operation condition of the equipment, the length of the time window, and the sampling interval may all be adjusted according to the actual need.
In order to obtain a better fault alarm effect, when the equipment is just started or the working condition is obviously changed, the time window is updated. After the equipment is started and stably operates for half an hour, the time window begins to take effect; the time window does not take effect in the process of changing the working condition, and the time window starts to take effect after the working condition is changed.
Claims (10)
1. An equipment fault alarm method is characterized by comprising the following steps:
(1) collecting a vibration signal of equipment to be tested, and calculating the statistic of the vibration signal;
(2) monitoring the operation condition of the equipment to be tested, judging whether the operation condition of the equipment to be tested changes, if not, comparing the statistic of the vibration signal with an alarm threshold value corresponding to the current operation condition, and determining whether to generate an alarm signal according to the comparison result;
(3) if the operation condition of the equipment to be tested changes, recalculating the alarm threshold, comparing the statistic of the vibration signal with the alarm threshold corresponding to the changed operation condition, and determining whether to generate an alarm signal according to the comparison result;
the alarm threshold value corresponds to the operation condition of the equipment to be tested, under a certain operation condition, the statistic of the vibration signal of the equipment to be tested in a time window is calculated, and the alarm threshold value of the operation condition is determined according to the statistic of the vibration signal of the equipment to be tested in the time window.
2. The equipment fault alarm method according to claim 1, characterized in that when the operation condition of the equipment to be tested changes, the time window is also updated, and the alarm threshold is recalculated on the updated time window.
3. The equipment fault warning method of claim 2, wherein the operating conditions include a steady condition, a variable speed condition, a variable load condition, and a variable load condition, wherein the length of the time window is the largest in the steady condition.
4. The device malfunction alerting method according to any one of claims 1 to 3, further comprising the step of alerting based on the generated alert signal.
5. The device malfunction alerting method according to any one of claims 1 to 3, further comprising a step of zero-averaging the vibration signal before calculating the statistic of the vibration signal.
6. The device malfunction alerting method according to any one of claims 1 to 3, wherein the statistic of the vibration signal includes one statistic or two or more statistics, and the statistic is a lower order statistic or a higher order statistic.
7. The device malfunction alerting method of claim 6, wherein the calculating an alert threshold value includes calculating an alert threshold value corresponding to each statistical value.
8. The device malfunction alerting method of claim 7, wherein the process of determining whether to generate the alert signal according to the comparison result comprises: when more than one statistic exceeds the respective alarm threshold, generating an alarm signal; or when more than two statistical values exceed the respective alarm threshold values, generating an alarm signal.
9. The device malfunction alerting method of claim 7, wherein the alarm threshold value corresponding to each statistical value is 3 times the standard deviation of the corresponding statistical value.
10. An equipment failure alarm arrangement, characterized in that the arrangement comprises a processor and a memory, the processor executing a computer program stored by the memory to implement the equipment failure alarm method according to any of claims 1-9.
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| CN112946471A (en) * | 2021-02-04 | 2021-06-11 | 郑州恩普特科技股份有限公司 | Variable frequency motor fault monitoring system |
| CN113884301A (en) * | 2021-09-29 | 2022-01-04 | 上海电气风电集团股份有限公司 | Threshold determination method, system and readable storage medium |
| CN113884301B (en) * | 2021-09-29 | 2024-02-23 | 上海电气风电集团股份有限公司 | Threshold determination method, system and readable storage medium |
| CN114112366A (en) * | 2021-12-03 | 2022-03-01 | 郑州恩普特科技股份有限公司 | Method for monitoring running state of pump |
| CN117326435A (en) * | 2023-11-30 | 2024-01-02 | 中国特种设备检测研究院 | Staircase fault diagnosis method and diagnosis system |
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