2018 International Conference on Computing, Power and Communication Technologies (GUCON)
Galgotias University, Greater Noida, UP, India. Sep 28-29, 2018
Bearing Fault Diagnosis of Induction Motor Using
Thermal Imaging
Anurag Choudhary Shimi S.L
ME Student Assistant Professor
Electrical Department Electrical Department
NITTTR, Chandigarh NITTTR, Chandigarh
anurag.choudhary087@gmail.com shimi.reji@gmail.com
Abstract—Temperature is one of the most important
indicators of health of rotating machines. To provide automatic
fault diagnosis using temperature information it is meaningful
to extract optimal featureswhich can be used to identify the
potential fault. An automatic bearing fault diagnosis approach
using non-invasive contactless thermal infrared imaging is
proposed for early fault diagnosis of an induction motor. The
authors analyse thermal images of four different bearing
conditions in a three phase induction motor: outer race
defected bearing, inner race defected bearing, lack of
lubrication and healthy bearing. As a first step thermal images
of induction motor were acquired then preprocessed using 2D-
DWT to decomposed the thermal images.This is followed
extracting relevant features and selecting the strongest feature
using Mahanabolis distance critera. Finally the selected
features are given to a SVM classifier for classification of
bearing condition. The experimental results indicate decent
classification performance of the proposed technique for
bearing fault detection.
Index Terms— Thermal Imaging; Condition Monitoring;
Thermal Camera; Preventive Maintanence.
I. INTRODUCTION
Bearing is an important element used in rotating
machines to establish a free rotational motion by reducing
friction on the rotor shaft. Bearings are designed for rotaing
machines to have a useful and long life. In all practical
scenarios, bearing must be perfectly installed, lubricated and
maintained.Improper handling, poor operating environments
and contaminated areas invite immature bearing failure. Itis
important to find the exact cause of bearing failurefor repair
and maintainence. Bearings cause for bearing defects are
loose or tight fits, misalignment, excessive and reverse
loading, wear and tear, contamination in lubricants, lubricant
failure, corrosion, and overheating. Many researchers have
investigated that the primary causation of failure of electrical
rotating machinery is bearing deficiency [1–2].
Unpredictable damage of bearings may affect other
rotating parts of the machines and also increase the severity
of the plant breakdown [3]. Traditional methods for
inspecting the bearing systems are motor current analysis,
wear debris analysis, vibration monitoring, etc. [4]. Thermal
Imaging Technique (TIT), is emerging as an alternative
technique as it is non-intrusive, contactless, and less complex.
The thermal cameras sense radiation in a long-infrared range
(9-14μm) of the electromagnetic-spectrum, and produces
thermal images, known as thermograms. According to the
Stefan-Boltzmann’s law, temperature measurement depends
on the intensity of the emitted radiation. TIT has a vast range
978-1-5386-4491-1/18/$31.00 ©2018 IEEE
Aparna Akula
Scientist
Computational Instrumentation
CSIR-CSIO, Chandigarh
aparna.akula@csio.res.in
of applications such as electrical and mechanical maintenance
[5], agriculture [6], defense [7], aviation, geological survey
[8], automotive [9], medical [10], electronics [11] etc. for
fault detection. It is also used in industries to detect serious
faults in equipment, quality control and process control. In
order to perform automatic health monitoring as well as fault
diagnosis of the rotating machines using thermal imaging
three important stages are involved, image acquisition, image
pre-processing, feature extraction and selection and
classification.
It is very important to understand the factors that
contribute to the variations in the thermal behavior of the
bearings. In this work we study these factors by examing the
thermal images of the bearing region of the induction motor.
The mutual effects of the thermal behaviour and bearing
health conditions are analyzed accordingly.The
characteristics of the temperature are stable to wear and tear,
type of fault, and its severity [12]. Signal processing
techniques employed for extracting the features of the
temperature play an important role in the systems intended
for the automated analysis and interpretation of bearing
faults. Hence, it is necessary to identify suitable signal
processing techniques, which can detect and categorise the
fault accurately. In this study, we focus of designing one such
automatic bearing fault diagnosis frameworkcapable of
identifying four different bearing states of a induction motor
(as shown in Fig.1)using thermal images.
This paper is organised as follows: related work using
thermal imaging techniques for diagnosis of rotating
machinery faults has been discussed in section II. Then, the
methodology of bearing fault diagnosis and classification is
presented in section III. In the section IV, the experimental
study of the bearing fault diagnosis has been discussed. The
experimental results arepresented in section V. Lastly done
with the conclusion of the proposed work in section VI.
Fig. 1. Fig.1 Bearing in different faulty and healthy condition (a) Healthy
(b) inner race defected bearing (c) outer race defect bearing (d) Lack
of lubrication
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 II. THERMAL IMAGING AS A DIAGNOSTICS TOOL
Diagnosis is the art of health monitoring of machine by
observing its symptoms to identify the cause of failure. It is
mainly utilized for monitoring, detection of abnormal
condition of machines during an operation. Temperature
signatures of the rotating machine can give an early warning
to the technician or operator to make a crucial decision before
occurrence of any critical problem in process or plant.
Few approaches [13-19] which makes use of the
temperature features of thermal imaging to study the status of
rotating machines are available in the literature. Among
these approaches, thermal imaging for fault detection and
diagnosis of electrical rotating machineries have been
effectivelypresented in the literature [20-23] such as
misalignment, bearing, mass unbalance. Deep learning
network is applied for diagnosis of rolling or roll bearing
related fault [24] Vibration signature has good capability with
the tunable Q-wavelet transform to classify defects through
various machine learning algorithms [25]. A non-contact
method has been developed for the bearing fault diagnosis
systems, based on frequency domain features of the vibration
data [26]. TIT is applied in the detection of abnormality
caused by overheating of stator windings [27-28]. A novel
method based on IR images Method of Areas Selection of
Image Differences (MoASoID) has been developed for
diagnosis of the broken bars and defected ring of squirrel-
cage rotor in induction motor [29-30]. A self adaptive
approach for fault diagnosis of cooling radiator based on six
types of radiator conditionhas been investigated with higher
classification accuracy using TIT [31]. Finally, the latest
study investigated for the self-adaptive roller bearingfault
diagnosis system based on thermal images [32].
III. PROPOSED METHOD
In this section, the proposed methodology for bearing
fault detection and classification using 2D-DWT,
Mahalanobis distance, and SVM Classifier. Fig. 2 presents
the flow chart of the proposed methodology.
A. Discrete Wavelet Transform
The DWT has high performance and attains good ranks
among the best decomposition techniques. It can perform
multi-resolution analysis in both frequency and timedomain.
The second decomposition level of the 2D-DWT was
applied on the thermal images of induction motor. The four
types of wavelet coefficients namely (vertical coefficients,
horizontal coefficients or detailed components, diagonal and
approximation coefficients ) are obtained from each image.
The 2D-DWT decompose an image at each level providing
four sub images, three coefficient sub-image (HL, LH, HH)
and low-resolution sub-image (LL). The scale of the original
thermal image (Io) at n= 0 can be specified by 2n = 20 = 1.
Furthermore the sub-images in the result at n = 1 can be
written as;
‫ݓ‬଴ଵ ሺ‫݌‬ǡ ‫ݍ‬ሻ ൌ  ൣ‫ܮ‬௫ ‫ כ‬ൣ‫ܮ‬௬ ‫ܫ  כ‬௢ ൧ ՝ଶ ൧ ՝ଶ ሺ‫݌‬ǡ ‫ݍ‬ሻ
‫ݓ‬ଵଵ ሺ‫݌‬ǡ ‫ݍ‬ሻ ൌ  ൣ‫ܮ‬௫ ‫ כ‬ൣ‫ܪ‬௬ ‫ܫ  כ‬௢ ൧ ՝ଶ ൧ ՝ଶ ሺ‫݌‬ǡ ‫ݍ‬ሻ
‫ݓ‬ଶଵ ሺ‫݌‬ǡ ‫ݍ‬ሻ ൌ  ൣ‫ܪ‬௫ ‫ כ‬ൣ‫ܮ‬௬ ‫ܫ  כ‬௢ ൧ ՝ଶ ൧ ՝ଶ ሺ‫݌‬ǡ ‫ݍ‬ሻ
‫ݓ‬ଷଵ ሺ‫݌‬ǡ ‫ݍ‬ሻ ൌ  ൣ‫ܪ‬௫ ‫ כ‬ൣ‫ܪ‬௬ ‫ܫ  כ‬௢ ൧ ՝ଶ ൧ ՝ଶ ሺ‫݌‬ǡ ‫ݍ‬ሻ(4)
where,
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Convolution and down sampling process is denoted by *
and ՝, respectively. Here ൫‫ܮ‬௫ ǡ ‫ܮ‬௬ ൯and ൫‫ܪ‬௫ ǡ ‫ܪ‬௬ ൯ are low-pass
and high-pass filters.
The filtering and down sampling process for ‫ݓ‬଴ଵ can be
written as,
ܻ௟௢௪ ሺ‫݌‬ǡ ‫ݍ‬ሻ ൌ  ൣ‫ܮ‬௬ ‫ܫ  כ‬௢ ൧ ՝ଶ ሺ‫݌‬ǡ ‫ݍ‬ሻ (5)
ଵ
ൌ  ෍ ‫ܫ‬௢ ሺ‫݌‬ǡ ݇ሻ‫ܮ‬௬ ሺ‫݌‬ǡ ʹ‫ ݍ‬െ ݇ሻǡ
௞ୀିଶ
‫ݓ‬଴ଵ ሺ‫݌‬ǡ ‫ݍ‬ሻ ൌ  ൣ‫ܮ‬௫ ‫ כ‬ൣ‫ܮ‬௬ ‫ܫ  כ‬௢ ൧ ՝ଶ ൧ ՝ଶ ሺ‫݌‬ǡ ‫ݍ‬ሻ(6)
ଵ
ൌ  ෍ ܻ௟௢௪ ሺ݇ǡ ‫ݍ‬ሻ‫ܮ‬௫ ሺʹ‫ ݌‬െ ݇ǡ ‫ݍ‬ሻǡ
௞ୀିଶ
Similar steps are performed to obtain ‫ݓ‬ଵଵ ǡ ‫ݓ‬ଶଵ ƒ†‫ݓ‬ଷଵ
Fig. 2. Two-level 2D DWT (a) Sub-bands functional diagram (b) Wavelet
sub-bands block diagram
The three coefficient sub-image (HL, LH, HH) and low-
resolution sub-image (LL)as shown in Fig.3. A detailed
literature about2D-DWThas been presented in [31].
B. Feature Extraction
Image Feature may be determined and extracted by a
number of different approaches. These featuresmay include
pixel information, boundary, region, and texture information.
In this work, ten feature are extracted on the 2D
approximation coefficient image computed according to
DWT [20]. The ten features are correlation, contrast, entropy,
energy, kurtosis, homogeneity, RMS,mean, skewness and
Standard Deviation (STD). They are extracted from thermal
imagesof the data set for four different faulty and healthy
conditions of bearing in three phase induction motor. In each
condition, there are twenty four samples of the thermal
images acquired in each condition of bearing.
C. Feature Selection
Feature selection is different from dimension reduction.
Feature selection methods include and exclude attributes
present in the image data set without changing them. Itis the
distance between two points in multivariate space. In
(1) multivariate statistics, it is one of the most common
measureswhich can be used to determine whether a data
(2) sample is a part of a class or not. The Indian statistician P. C.
Mahanobis was first proposed Mahalanobis distance in 1936
(3) [32]. It is given as:
d= [(x-y) C^(-1) (x-y)] (7)
where,
 x, y: points from the same distribution
C: covariance matrix
d : Mahalanobis distance
The distances amidst all the selected features
arecomputed using Mahalanobis distance. Hither, distance
between the three categories, healthy versus inner race
condition, healthy versus outer race condition and healthy
versus lubrication problem. After finding Mahalanobis
distance, the average distances of all different conditions are
calculated and six strongest features are selected. The six
features are mean, skewness, entropy, STD, energy, kurtosis.
Furthermore, the unnecessary features have been neglected,
conforming to the limit of relevance level.
Fig. 3. Flow chart of proposed system
D. Support Vector Machines
The self – adaptive fault diagnosis system has to
automaticallydiscriminate between different
bearingdefectcondition without human innervation for result
interpretation. SVM is a supervised learning algorithm that
can be used for both regression challenges and
classification.SVM is shown to be more effective for thermal
imaging based fault diagnosis than other learning techniques
due to risk depreciation with higher accuracy for rotating
machines [33-35]. The main objective of SVM is to make a
multi-dimensional hyperspace with the selected features and
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then draw an optimal hyperplane to dividedinto different
bearing defects. In this work we use SVMs for multi-class
classification, four cases of bearing condition, healthy inner
race, outer race and lack of lubrication.
IV. EXPERIMENTAL STUDY
Thermal images of induction motor were acquired using
FLIR E-60 (thermal camera) in an electrical laboratory at
NITTTR, Chandigarh. The camera was installed at a distance
of 2 feet from the induction motor during the experimental
setup as shown in Fig. 5. In this paper, thermal images of
inductuion motor are captured under laboratory conditions.
The specification of used induction motor is discussed in
Table 1.
Fig. 4. Thermal image in four type of bearing conditions (a) Lack of
lubrication (b) Inner race defect (c) Outer race defect (d) Healthy
The thermal images of the four condition of bearing in the
three phase squirrel-cage induction motor: outer race, inner
race, lake of lubrication faults and healthy were acquired, in
each condition 24 thermal images are captured. The same
experiment is performed under the load conditions of the
motor full load,half-load and no-load. Therefore the total
number of thermal images are 288 (24*4*3). The
performance of the proposed approached is validate for
individual loading conditions, i.e each data set consider of 96
images which is divided into two group, training and testing
data sets. Fig.4 and Fig.5 illustrates the thermal images of
different faulty condition of bearings and experimental setup
respectively.
V. EXPERIMENTAL RESULT
At the ambient temperature, the induction motor is
switched ON. Its thermal signature will start to increase from
its ambient temperature to a higher valuesteady state. In this
work it was observered tht after two hours of motor
operation steady state temperature was achieved. Thermal
images measured from the induction motor at three loading
condition (no load, half load, full load ) and four faulty
conditions (outer race, inner race, lubricant fault and healthy,)
were firstly decomposed the themal images using 2D-DWT,
after that desired wavelet coefficients are selected which is
used as input forthe stagethe feature extraction.
 TABLE I. SPECIFICATION OF INDUCTION MOTOR steady state temperature can be seen in Fig.6. Thermal
AND THERMAL CAMERA signature of healthy motor is lower than the faulty conditions.
Machine Machine
The rate of change of thermal signature is more in the case of
/Equipment
Specification
/Equipment lubricant, outer and inner race defect that of healthy bearing.
Induction Power Supply : 3 Phase 440V, Induction However, the difference between than the healthy and the
Motor 0.75A, 50Hz Motor three faulty bearing condition the bearing thermal signature
Power-: 0.5 HP increase with time. The fault size of outer and inner race
Speed: 1440 rpm defect is a 2mm hole as shown in Fig.1. In this paper, after
Thermal spectral range: 7.5–13 μm ( Thermal decomposition, six strongestfeatures were selected based on
Camera Uncooled microbolometer) Camera Mahalanobis distance methods.the best six features mean,
pixels : 320 × 240 skewness, entropy, STD, energy, kurtosis,are selected for
temperature range of Storage: passing onto the classifier. Figure 7 shows the results of the
– 40°C to +70°C classifier in terms of confusion matrix.It can be seen that the
temperature range (Operating) developed method is able to classify the four bearing
–15°C to +50°C conditions accurately.There is only one case of false
Relative humidity : +25°C to classification of lubrication fault as inner race fault in casee
+40°C / 2 cycles of no-load and half load conditions. In all the scenarios,
faulty conditions were identified from healthy bearning
This study, two levels of decomposition are applied to the condition. Therefore, it can be stated that the proposed
thermal images of the induction motor. Indeed, the intelligent thermal imaging based fault diagnosis and
approximation coefficient was considered since the most monitoring system is able to classify and diagnosticate the
prominent information contain in a low frequency signal in thermal images of three faulty and one healthy condition of
the original thermal image.The thermal signature of the bearing with a higher classification accuracy on the
proposed bearing conditions during 120 min to achieve its experimental dataset.

Fig. 5. Experimental Setup (1) FLIR E-60 (Thermal Camera), (2) Digital Multimeter (3) 3 Phase Power Supply (4) Direct On Line Starter (5) Digital
Tachometer (6) Induction Motor with Bearing Faults (7) Computer GUI

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Fig. 6. Thermal signature of different bearing conditions (a) at no load (b) at half load (c) at full load
Fig. 7. Confusion matrix of SVM (a) at no-load (b) at half -load (c) at full-load
VI. CONCLUSION
In this paper, authors develop an approach for intelligent
or self-adaptive bearingfault diagnosis system for the
induction motor using thermal imaging techniques. The
proposed system is based on the thermal images of induction
motor in different loading and faulty conditions. The authors
analyzed the thermal images of four states of bearing in the
induction motor: healthy bearing, outer and inner race
faultsand lubricant problem in the three phase induction
motor. The results seems promising and need to be validated
on a larger data set so that the proposed intelligent fault
diagnosis system can be implemented as a condition
monitoring tool for other rotating machines.
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