Luc Baron - Profile on Academia.edu (original) (raw)

Papers by Luc Baron

In this paper, the fault detection problem for a class of discrete-time Markov jump linear system... more In this paper, the fault detection problem for a class of discrete-time Markov jump linear system (MJLS) with partially known transition probabilities is investigated. The proposed class of systems is more general, which relaxes the traditional assumption in Markov jump systems that all the transition probabilities must be completely known. A residual generator is constructed and the corresponding fault detection and isolation (FDI) problem is formulated as an H∞ filtering problem by which the error between residual and fault are minimized in the H∞ sense. The LMI-based sufficient conditions for the existence of FDI filter are derived. A numerical example is given to illustrate the effectiveness and potential of the developed theoretical results.

The On-Line Direct Kinematics of Parallel Manipulators Under Joint-Sensor Redundancy

ABSTRACT

The Measurement Subspaces of Parallel Manipulators Under Sensor Redundancy

Using the concept of measurement subspaces of the leg-end-point position of general parallel mani... more Using the concept of measurement subspaces of the leg-end-point position of general parallel manipulators, a linear kinematic model is derived. For a class of 6-dof leg-kinematic architectures of general geometry, the sets of sensed joints that lead to a measurement subspace are classified into 16 different types. For each of these types, a geometric interpretation and the equations for the computation of the measurement subspace from the readouts of a set of sensed joints, are provided. The design rules on the sensing of parallel manipulators in order to obtain the linear kinematic model are also derived.

Magnetic attraction forces between permanent magnet group arrays in a mobile magnetic clamp for pocket machining

Cirp Journal of Manufacturing Science and Technology, Nov 1, 2015

Abstract A mobile magnetic clamp was recently tested for pocket milling on a fuselage panel. The ... more Abstract A mobile magnetic clamp was recently tested for pocket milling on a fuselage panel. The magnetic clamps need to provide sufficient support force against the milling thrust force and sufficient drag force to overcome the frictional force. Triangular arrays of cylindrical permanent magnets are used. Axial magnetic attraction forces between magnet groups are calculated based on recently published formula at various axial heights and lateral displacements. A model is here proposed to estimate lateral magnetic attraction forces as a function of lateral displacement between two cylindrical permanent magnets. Experiments conducted using a dynamometer table to validate the measured axial and lateral magnetic forces strongly support the analytically predicted magnetic forces.

In this note a new concept of force/position control approach for holonomically constrained rigid... more In this note a new concept of force/position control approach for holonomically constrained rigid body systems is introduced. With this force control approach, the forces of the mechanical constraints between the rigid bodies as well as the forces of the constraints when the system's end effector interacting with the environment are to be directly controlled to desired trajectories. Our force control strategy is based on the use of a new dynamic model for constrained rigid body systems that determines the equations of the mechanical constraints between the elements of the constrained rigid body system in closed form. Our controller for the rigid body system during constrained motion ensures exponential position, end effector contact force and mechanical force tracking, and requires only position measurements.

Instantaneous Kinematics

All in-text references underlined in blue are linked to publications on ResearchGate, letting you... more All in-text references underlined in blue are linked to publications on ResearchGate, letting you access and read them immediately.

Kinematics of 2-DOF AGVs with Differential Driving Wheels and Caster Wheels Modeling

ROMANSY 23 - Robot Design, Dynamics and Control, 2020

The International Journal of Advanced Manufacturing Technology, 2015

In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force... more In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force. A clamp is needed on the opposite side of the panel to limit such effects. The support must be able to withstand the thrust force generated by the milling process. In this paper, a specific model for torus cutter milling force and a general milling force model have been simulated to predict the cutting forces. In order to get higher cutting efficiency, the torus cutter needs to adopt different tilt angle relative to the workpiece which changes the thrust force. An equation has been developed to predict the resulting thrust force on the skin panel at different tilting angle. Simulated thrust force results have been validated against dynamometer readings acquired during milling operation.

Transactions of The Canadian Society for Mechanical Engineering, Jun 1, 2016

Designing mechatronic systems is known to be both a very complex and tedious process. This comple... more Designing mechatronic systems is known to be both a very complex and tedious process. This complexity is due to the high number of system components, their multi-physical aspects, the couplings between different engineering domains and the interacting and/or conflicting design objectives. Due to this inherent complexity and the dynamic coupling between subsystems of mechatronic systems, a systematic and multi-objective design approach is needed to replace the traditionally used sequential design methods. The traditional approaches usually lead to functional but non optimal designs solutions. In this paper, and based on an integrated and concurrent design approach called "Design-for-Control" (DFC), a quadrotor UAV equipped with a stereo visual servoing system is used as a case study. After presenting the dynamics and the control model of the Quadrotor UAV and its visual servoing system, the design process has been performed in four iterations and as expected, the control performance of the system has been significantly improved after finishing the final design iteration.

The multidisciplinary nature of Mechatronic Systems (MeSy) results in a highly complex design tas... more The multidisciplinary nature of Mechatronic Systems (MeSy) results in a highly complex design task, and it is believed that using an integrated approach to design would help reduce this complexity. However, integrated design is hard to implement due to the existing interactions between the components of MeSy. Some of these interactions are referred to as dependencies, and can affect the performance of MeSy while increasing the design task complexity. It is thus necessary to deal with them as early as possible. Although there are some methods to model dependencies, no methods exist to deal specifically with negative effect dependencies. Therefore, we propose a method that enables the identification and assess negative dependencies that exist within a mechatronic system. We first define negative dependencies between two components through four dimensions (affecting level, affected level, effect attenuation and functional closeness) and then assess these dimensions using fuzzy linguistic variables. We then demonstrate the effectiveness of the method by using a quadcopter drone as a case study which shows that it is possible to gain knowledge regarding potential design problems early on.

Journal of Cleaner Production, Dec 1, 2019

 Users may download and print one copy of any publication from the public portal for the purpose... more  Users may download and print one copy of any publication from the public portal for the purpose of private study or research.  You may not further distribute the material or use it for any profit-making activity or commercial gain  You may freely distribute the URL identifying the publication in the public portal If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim.

Engineering Applications of Artificial Intelligence, Jun 1, 2019

Mechatronics design is complex by nature as it involves a large number of couplings and interdepe... more Mechatronics design is complex by nature as it involves a large number of couplings and interdependencies between subsystems and components alongside a variety of sometimes contradicting objectives and design constraints. Mechatronics design activity requires cross-disciplinary and multi-objective thinking. In this paper, a fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase is presented. This index acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives. Then this function is optimized using a particle swarm optimization algorithm alongside all the constraints facing each subsystem. As an application, the mechatronics design of a vision-guided quadrotor unmanned aerial vehicle is carried out to demonstrate the effectiveness of the proposed method. Thus, a thorough modeling of system dynamics, structure, aerodynamics, flight control and visual servoing system is carried out to provide the designer with all necessary design variables and requirements. The final results and related computer simulations show the effectiveness of the proposed method in finding solutions for an optimal mechatronic design.

Investigation on Workpiece Microstructure and Wheel Performance on Grinding Titanium Metal Matrix Composites

International Journal of Abrasive Technology

Ce fichier a été téléchargé à partir de PolyPublie, le dépôt institutionnel de Polytechnique Mont... more Ce fichier a été téléchargé à partir de PolyPublie, le dépôt institutionnel de Polytechnique Montréal This file has been downloaded from PolyPublie, the institutional repository of Polytechnique Montréal http://publications.polymtl.ca

This paper presents a quantitative study on the effects of angle variation-disposition of actuato... more This paper presents a quantitative study on the effects of angle variation-disposition of actuators on the compliance of a class of Deformable Hybrid Serial-Parallel Manipulators (DHSPM). Although compliance is desired to achieve a secure and stable maneuverability, high stiffness is good to provide precision and reject perturbations. Thus, the compromises between compliance and stiffness can have different profiles along the degrees of freedom of deformable robots. The study is based on the simulation of the model of the robot derived from computational mechanics (Finite Element Method) and is conducted on a DHSPM with antagonistic actuation. We show that antagonistic actuation predominantly increases stiffness in torsion when activated and that by changing the orientation of the actuator it is possible to increase compliance in one direction while decreasing it in another. Finally, we provide guidelines for the design of soft robots having a parallel structure such as deformable h...

Journal of Computational Design and Engineering, 2020

Designing a mechatronic system is a complex task since it deals with a high number of system comp... more Designing a mechatronic system is a complex task since it deals with a high number of system components with multidisciplinary nature in the presence of interacting design objectives. Currently, the sequential design is widely used by designers in industries that deal with different domains and their corresponding design objectives separately leading to a functional but not necessarily an optimal result. Consequently, the need for a systematic and multiobjective design methodology arises. A new conceptual design approach based on a multicriteria profile for mechatronic systems has been previously presented by the authors, which uses a series of nonlinear fuzzy-based aggregation functions to facilitate decision-making for design evaluation in the presence of interacting criteria. Choquet fuzzy integrals are one of the most expressive and reliable preference models used in decision theory for multicriteria decision-making. They perform a weighted aggregation by the means of fuzzy meas...

Mechatronics, 2019

This paper introduces a product-related dependency index that can be used during the conceptual d... more This paper introduces a product-related dependency index that can be used during the conceptual design of mechatronic systems. The index uses fuzzy assessment of adverse effects dependencies combined with quantitative graph theory to compute the level of detrimental interactions present in a system. The paper also illustrates how the assessment of dependencies can be performed during early design stages and how components are differently affected by a specific adverse effect. Furthermore, the practicality of the new dependency index is exemplified with two case studies: a design experiment on a self-balancing robot and the conceptual design of a robotic arm for aerial manipulation. The design experiment demonstrates how adverse effects affect the performance of a mechatronic system and how the new dependency index is able to follow the decrease or increase of performance of the system. Then, the design of the robotic arm shows that decision-making can be improved when using this new dependency index as a criterion, as it allows one to select concepts for which less detrimental interactions exist. In both case studies, the index is shown to facilitate the design process as it can lead to fewer redesign loops which would result in reducing the development time and costs.

Engineering Applications of Artificial Intelligence, 2019

Mechatronics design is complex by nature as it involves a large number of couplings and interdepe... more Mechatronics design is complex by nature as it involves a large number of couplings and interdependencies between subsystems and components alongside a variety of sometimes contradicting objectives and design constraints. Mechatronics design activity requires cross-disciplinary and multi-objective thinking. In this paper, a fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase is presented. This index acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives. Then this function is optimized using a particle swarm optimization algorithm alongside all the constraints facing each subsystem. As an application, the mechatronics design of a vision-guided quadrotor unmanned aerial vehicle is carried out to demonstrate the effectiveness of the proposed method. Thus, a thorough modeling of system dynamics, structure, aerodynamics, flight control and visual servoing system is carried out to provide the designer with all necessary design variables and requirements. The final results and related computer simulations show the effectiveness of the proposed method in finding solutions for an optimal mechatronic design.

Advances in Acoustics and Vibration, 2015

A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The de... more A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The design includes a permanent magnet group follower (slave module) which slides laterally over the panel attracted by another permanent magnet group (master module) attached to the industrial robot end effector from the machined side of the panel. The lateral sliding motion of the slave module in response to the master module motion is studied using a transfer function based motion model established considering the lateral magnetic stiffness. The model is validated experimentally.

In this paper, the fault detection problem for a class of discrete-time Markov jump linear system... more In this paper, the fault detection problem for a class of discrete-time Markov jump linear system (MJLS) with partially known transition probabilities is investigated. The proposed class of systems is more general, which relaxes the traditional assumption in Markov jump systems that all the transition probabilities must be completely known. A residual generator is constructed and the corresponding fault detection and isolation (FDI) problem is formulated as an H∞ filtering problem by which the error between residual and fault are minimized in the H∞ sense. The LMI-based sufficient conditions for the existence of FDI filter are derived. A numerical example is given to illustrate the effectiveness and potential of the developed theoretical results.

The On-Line Direct Kinematics of Parallel Manipulators Under Joint-Sensor Redundancy

ABSTRACT

The Measurement Subspaces of Parallel Manipulators Under Sensor Redundancy

Using the concept of measurement subspaces of the leg-end-point position of general parallel mani... more Using the concept of measurement subspaces of the leg-end-point position of general parallel manipulators, a linear kinematic model is derived. For a class of 6-dof leg-kinematic architectures of general geometry, the sets of sensed joints that lead to a measurement subspace are classified into 16 different types. For each of these types, a geometric interpretation and the equations for the computation of the measurement subspace from the readouts of a set of sensed joints, are provided. The design rules on the sensing of parallel manipulators in order to obtain the linear kinematic model are also derived.

Magnetic attraction forces between permanent magnet group arrays in a mobile magnetic clamp for pocket machining

Cirp Journal of Manufacturing Science and Technology, Nov 1, 2015

Abstract A mobile magnetic clamp was recently tested for pocket milling on a fuselage panel. The ... more Abstract A mobile magnetic clamp was recently tested for pocket milling on a fuselage panel. The magnetic clamps need to provide sufficient support force against the milling thrust force and sufficient drag force to overcome the frictional force. Triangular arrays of cylindrical permanent magnets are used. Axial magnetic attraction forces between magnet groups are calculated based on recently published formula at various axial heights and lateral displacements. A model is here proposed to estimate lateral magnetic attraction forces as a function of lateral displacement between two cylindrical permanent magnets. Experiments conducted using a dynamometer table to validate the measured axial and lateral magnetic forces strongly support the analytically predicted magnetic forces.

In this note a new concept of force/position control approach for holonomically constrained rigid... more In this note a new concept of force/position control approach for holonomically constrained rigid body systems is introduced. With this force control approach, the forces of the mechanical constraints between the rigid bodies as well as the forces of the constraints when the system's end effector interacting with the environment are to be directly controlled to desired trajectories. Our force control strategy is based on the use of a new dynamic model for constrained rigid body systems that determines the equations of the mechanical constraints between the elements of the constrained rigid body system in closed form. Our controller for the rigid body system during constrained motion ensures exponential position, end effector contact force and mechanical force tracking, and requires only position measurements.

Instantaneous Kinematics

All in-text references underlined in blue are linked to publications on ResearchGate, letting you... more All in-text references underlined in blue are linked to publications on ResearchGate, letting you access and read them immediately.

Kinematics of 2-DOF AGVs with Differential Driving Wheels and Caster Wheels Modeling

ROMANSY 23 - Robot Design, Dynamics and Control, 2020

The International Journal of Advanced Manufacturing Technology, 2015

In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force... more In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force. A clamp is needed on the opposite side of the panel to limit such effects. The support must be able to withstand the thrust force generated by the milling process. In this paper, a specific model for torus cutter milling force and a general milling force model have been simulated to predict the cutting forces. In order to get higher cutting efficiency, the torus cutter needs to adopt different tilt angle relative to the workpiece which changes the thrust force. An equation has been developed to predict the resulting thrust force on the skin panel at different tilting angle. Simulated thrust force results have been validated against dynamometer readings acquired during milling operation.

Transactions of The Canadian Society for Mechanical Engineering, Jun 1, 2016

Designing mechatronic systems is known to be both a very complex and tedious process. This comple... more Designing mechatronic systems is known to be both a very complex and tedious process. This complexity is due to the high number of system components, their multi-physical aspects, the couplings between different engineering domains and the interacting and/or conflicting design objectives. Due to this inherent complexity and the dynamic coupling between subsystems of mechatronic systems, a systematic and multi-objective design approach is needed to replace the traditionally used sequential design methods. The traditional approaches usually lead to functional but non optimal designs solutions. In this paper, and based on an integrated and concurrent design approach called "Design-for-Control" (DFC), a quadrotor UAV equipped with a stereo visual servoing system is used as a case study. After presenting the dynamics and the control model of the Quadrotor UAV and its visual servoing system, the design process has been performed in four iterations and as expected, the control performance of the system has been significantly improved after finishing the final design iteration.

The multidisciplinary nature of Mechatronic Systems (MeSy) results in a highly complex design tas... more The multidisciplinary nature of Mechatronic Systems (MeSy) results in a highly complex design task, and it is believed that using an integrated approach to design would help reduce this complexity. However, integrated design is hard to implement due to the existing interactions between the components of MeSy. Some of these interactions are referred to as dependencies, and can affect the performance of MeSy while increasing the design task complexity. It is thus necessary to deal with them as early as possible. Although there are some methods to model dependencies, no methods exist to deal specifically with negative effect dependencies. Therefore, we propose a method that enables the identification and assess negative dependencies that exist within a mechatronic system. We first define negative dependencies between two components through four dimensions (affecting level, affected level, effect attenuation and functional closeness) and then assess these dimensions using fuzzy linguistic variables. We then demonstrate the effectiveness of the method by using a quadcopter drone as a case study which shows that it is possible to gain knowledge regarding potential design problems early on.

Journal of Cleaner Production, Dec 1, 2019

 Users may download and print one copy of any publication from the public portal for the purpose... more  Users may download and print one copy of any publication from the public portal for the purpose of private study or research.  You may not further distribute the material or use it for any profit-making activity or commercial gain  You may freely distribute the URL identifying the publication in the public portal If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim.

Engineering Applications of Artificial Intelligence, Jun 1, 2019

Mechatronics design is complex by nature as it involves a large number of couplings and interdepe... more Mechatronics design is complex by nature as it involves a large number of couplings and interdependencies between subsystems and components alongside a variety of sometimes contradicting objectives and design constraints. Mechatronics design activity requires cross-disciplinary and multi-objective thinking. In this paper, a fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase is presented. This index acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives. Then this function is optimized using a particle swarm optimization algorithm alongside all the constraints facing each subsystem. As an application, the mechatronics design of a vision-guided quadrotor unmanned aerial vehicle is carried out to demonstrate the effectiveness of the proposed method. Thus, a thorough modeling of system dynamics, structure, aerodynamics, flight control and visual servoing system is carried out to provide the designer with all necessary design variables and requirements. The final results and related computer simulations show the effectiveness of the proposed method in finding solutions for an optimal mechatronic design.

Investigation on Workpiece Microstructure and Wheel Performance on Grinding Titanium Metal Matrix Composites

International Journal of Abrasive Technology

Ce fichier a été téléchargé à partir de PolyPublie, le dépôt institutionnel de Polytechnique Mont... more Ce fichier a été téléchargé à partir de PolyPublie, le dépôt institutionnel de Polytechnique Montréal This file has been downloaded from PolyPublie, the institutional repository of Polytechnique Montréal http://publications.polymtl.ca

This paper presents a quantitative study on the effects of angle variation-disposition of actuato... more This paper presents a quantitative study on the effects of angle variation-disposition of actuators on the compliance of a class of Deformable Hybrid Serial-Parallel Manipulators (DHSPM). Although compliance is desired to achieve a secure and stable maneuverability, high stiffness is good to provide precision and reject perturbations. Thus, the compromises between compliance and stiffness can have different profiles along the degrees of freedom of deformable robots. The study is based on the simulation of the model of the robot derived from computational mechanics (Finite Element Method) and is conducted on a DHSPM with antagonistic actuation. We show that antagonistic actuation predominantly increases stiffness in torsion when activated and that by changing the orientation of the actuator it is possible to increase compliance in one direction while decreasing it in another. Finally, we provide guidelines for the design of soft robots having a parallel structure such as deformable h...

Journal of Computational Design and Engineering, 2020

Designing a mechatronic system is a complex task since it deals with a high number of system comp... more Designing a mechatronic system is a complex task since it deals with a high number of system components with multidisciplinary nature in the presence of interacting design objectives. Currently, the sequential design is widely used by designers in industries that deal with different domains and their corresponding design objectives separately leading to a functional but not necessarily an optimal result. Consequently, the need for a systematic and multiobjective design methodology arises. A new conceptual design approach based on a multicriteria profile for mechatronic systems has been previously presented by the authors, which uses a series of nonlinear fuzzy-based aggregation functions to facilitate decision-making for design evaluation in the presence of interacting criteria. Choquet fuzzy integrals are one of the most expressive and reliable preference models used in decision theory for multicriteria decision-making. They perform a weighted aggregation by the means of fuzzy meas...

Mechatronics, 2019

This paper introduces a product-related dependency index that can be used during the conceptual d... more This paper introduces a product-related dependency index that can be used during the conceptual design of mechatronic systems. The index uses fuzzy assessment of adverse effects dependencies combined with quantitative graph theory to compute the level of detrimental interactions present in a system. The paper also illustrates how the assessment of dependencies can be performed during early design stages and how components are differently affected by a specific adverse effect. Furthermore, the practicality of the new dependency index is exemplified with two case studies: a design experiment on a self-balancing robot and the conceptual design of a robotic arm for aerial manipulation. The design experiment demonstrates how adverse effects affect the performance of a mechatronic system and how the new dependency index is able to follow the decrease or increase of performance of the system. Then, the design of the robotic arm shows that decision-making can be improved when using this new dependency index as a criterion, as it allows one to select concepts for which less detrimental interactions exist. In both case studies, the index is shown to facilitate the design process as it can lead to fewer redesign loops which would result in reducing the development time and costs.

Engineering Applications of Artificial Intelligence, 2019

Mechatronics design is complex by nature as it involves a large number of couplings and interdepe... more Mechatronics design is complex by nature as it involves a large number of couplings and interdependencies between subsystems and components alongside a variety of sometimes contradicting objectives and design constraints. Mechatronics design activity requires cross-disciplinary and multi-objective thinking. In this paper, a fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase is presented. This index acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives. Then this function is optimized using a particle swarm optimization algorithm alongside all the constraints facing each subsystem. As an application, the mechatronics design of a vision-guided quadrotor unmanned aerial vehicle is carried out to demonstrate the effectiveness of the proposed method. Thus, a thorough modeling of system dynamics, structure, aerodynamics, flight control and visual servoing system is carried out to provide the designer with all necessary design variables and requirements. The final results and related computer simulations show the effectiveness of the proposed method in finding solutions for an optimal mechatronic design.

Advances in Acoustics and Vibration, 2015

A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The de... more A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The design includes a permanent magnet group follower (slave module) which slides laterally over the panel attracted by another permanent magnet group (master module) attached to the industrial robot end effector from the machined side of the panel. The lateral sliding motion of the slave module in response to the master module motion is studied using a transfer function based motion model established considering the lateral magnetic stiffness. The model is validated experimentally.

This paper presents a tool condition monitoring approach using Takagi-Sugeno-Kang (TSK) fuzzy log... more This paper presents a tool condition monitoring approach using Takagi-Sugeno-Kang (TSK) fuzzy logic incorporating a subtractive cluste- ring method. The experimental results show its effectiveness and satisfactory comparisons with several other artificial intelligence methods.

In this paper, type-2 fuzzy logic system is applied to analyse acoustic emission signal feature f... more In this paper, type-2 fuzzy logic system is applied to analyse acoustic emission signal feature for tool condition monitoring in a tool micromilling process. To make the comparison and evaluation of AE signal features easier and more transparent, Type-2 fuzzy analysis is used as not only a powerful tool to model AE SFs, but also a great estimator for the ambiguities and uncertainties associated with them. Depend on the estimation of root-mean-square error (RMSE) and variations in modeling results of all signal features, reliable ones are selected and integrated into tool wear evaluation. A discussion and comparison of results is given.

In this paper, type-2 fuzzy logic system is applied to analyse acoustic emission signal feature f... more In this paper, type-2 fuzzy logic system is applied to analyse acoustic emission signal feature for tool condition monitoring in a tool micromilling process. To make the comparison and evaluation of AE signal features easier and more transparent, Type-2 fuzzy analysis is used as not only a powerful tool to model AE SFs, but also a great estimator for the ambiguities and uncertainties associated with them. Depend on the estimation of root-mean-square error (RMSE) and variations in modeling results of all signal features, reliable ones are selected and integrated into tool wear evaluation. A discussion and comparison of results is given.