Springer Series in Reliability Engineering Kodo Ito Toshio Nakagawa Optimal Inspection Models with Their Applications Springer Series in Reliability Engineering SeriesEditor HoangPham,DepartmentofIndustrialandSystemsEngineering RutgersUniversity,Piscataway,NJ,USA Today’s modern systems have become increasingly complex to design and build, while the demand for reliability and cost effective development continues. Reli- ability is one of the most important attributes in all these systems, including aerospace applications, real-time control, medical applications, defense systems, humandecision-making,andhome-securityproducts.Growinginternationalcompe- titionhasincreasedtheneedforalldesigners,managers,practitioners,scientistsand engineerstoensurealevelofreliabilityoftheirproductbeforereleaseatthelowest cost.Theinterestinreliabilityhasbeengrowinginrecentyearsandthistrendwill continueduringthenextdecadeandbeyond. TheSpringerSeriesinReliabilityEngineeringpublishesbooks,monographsand edited volumes in important areas of current theoretical research development in reliabilityandinareasthatattempttobridgethegapbetweentheoryandapplication inareasofinteresttopractitionersinindustry,laboratories,business,andgovernment. Nowwith100volumes! **IndexedinScopusandEICompendex** Interestedauthorsshouldcontacttheserieseditor,HoangPham,Departmentof IndustrialandSystemsEngineering,RutgersUniversity,Piscataway,NJ08854, USA. Email: [email protected], or Anthony Doyle, Executive Editor, Springer,London.Email:[email protected]. · Kodo Ito Toshio Nakagawa Optimal Inspection Models with Their Applications KodoIto ToshioNakagawa FacultyofEngineering,SocialSystems DepartmentofBusinessAdministration andCivilEngineering AichiInstituteofTechnology TottoriUniversity Toyota,Japan Tottori,Japan ISSN 1614-7839 ISSN 2196-999X (electronic) SpringerSeriesinReliabilityEngineering ISBN 978-3-031-22020-3 ISBN 978-3-031-22021-0 (eBook) https://doi.org/10.1007/978-3-031-22021-0 ©SpringerNatureSwitzerlandAG2023 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthors,andtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressedorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictional claimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Preface Inspectionsareneededgreatlyforeverythingwithhighreliability.Today,hard-time maintenances rarely apply to new products to avoid high operation cost. On the otherhand,conditionmonitoringmaintenancesarewidelyappliedtomostsystems, andtheirsystemstatuscanbejudgedfrominspectionresultsandminimumneces- sarymaintenancescanbeperformed.Mostpeopleknowstheimportanceofinspec- tions, however, we do not feel its necessary on daily life because relaibilities of productsaresohigh.Occasionalcatastrophessuchastunnelcollapseaccidentand reactorpipedeteriorationruptureaccident,tellustheimportanceofinspectionfor oursocialinfrastructures.Reliabilitiesofvariousdevicesaroundushaveimproved, however,systemswithhighreliabilitystillcannotsatisfytheexpectationsofsociety. When a space rocket is launched, inspections before launching are indispensable for successful launch, but such complicated and time-consuming works should be eliminatedwithadvancesinautomationtechnologies. The purpose of this book is to bridge theory and practice by providing various theories and application examples of inspection. Many books have already been publishedconcerningtheories,sothat,principalinspectionmodelsareoutlined,and new themes such as inspection fast, last and overtime are described in this book. One special topic is the problem of failure detections: When failures occur, there existtwotypesoffailures.Onecanbedetectedimmediatelyandanothercannotbe detectedunlessinspectionisundergone.Inspectionpoliciesfortwotypesoffailures are taken up. Another topic is the problem of hierarchical structure reliabilities, andtheoreticalstudiesontheirreliabilitiesareimportant.Applicationexamplesof storagesystem,phasedarrayradar,gasturbine,thermalpowerplantandairframeare introduced.Eachsystemhasitsownuniquecharacteristicsandrequiresappropriate modificationsforapplications. The logical dependence of chapters is shown in Fig. 1: Chap. 1 is devoted to explainingtheimportanceofreliabilityengineering,thegapbetweenmathematical models and their applications, problems of inspection, and briefly reviewing the following 9 chapters. Chapter 2 summarizes the results of past inspection models. v vi Preface Fig.1 Logicaldependence ofchapters Chapter 3 is devoted to inspection first, last and overtime which are new models. Chapter 4 summarizes the extension of inspection firstand lasttogeneral models. Chapter5isdevotedtoinspectionmodelsoftwotypesoffailures.Chapter6summa- rizes a hierarchical structure reliability. Chapters 7–10 are devoted to application examplesofstoragesystem,phasedarrayradar,powergenerator,andairframe. This book provides readers with inspiration for theoretical extensions based on practicalideas.Thesystemhasvariousuniquecharacteristicsfromtheviewpointof peopleinvolvedinitsdesignandoperation.Whenconventionalinspectionmethods areimprovedbyautomationtechnologies,itisnecessarytoestimatequantitatively howmuchithasimprovedcomparedtoconventionalones,andatthattime,extended modelsthatreflectcharacteristicsofactualsystemsareneeded. WewishtothankMr.K.D.A.TruongforChaps.6,8,10,andMr.S.Kawakami for Chap. 3. We wish to thank all members of Nagoya Computer and Reliability ResearchGroupfortheircooperationandvaluablediscussions.Especially,wewish toexpressourspecialthanktoProf.S.MizutaniandProf.X.Zhaowithcooperation ofourworks.Finally,IwouldliketoexpressoursincereappreciationtoProf.Hoang Pham,RutgersUniversity,andEditorKavithaSathish,Springer-Verlag,London,for providingustheopportunitytowritethisbook. Tottori,Japan KodoIto Toyota,Japan ToshioNakagawa Contents 1 Introduction .................................................. 1 1.1 ImportanceofReliabilityEngineering ....................... 1 1.2 StochasticModelsandPracticalApplications ................ 3 1.3 TwoProblemsofInspection ............................... 5 1.4 StandardandRandomInspections .......................... 7 1.5 GeneralInspection ....................................... 8 1.6 InspectionModelwithMinimalRepair ...................... 8 1.7 HierarchicalStructureReliability ........................... 9 1.8 ApplicationExamples ..................................... 11 1.9 Problems ................................................ 16 References .................................................... 16 2 StandardInspectionModels .................................... 19 2.1 StandardInspectionPolicy ................................. 20 2.1.1 AsymptoticInspectionTimes ....................... 23 2.2 InspectionforFiniteInterval ............................... 26 2.2.1 AsymptoticInspectionTimes ....................... 29 2.3 InspectionforRandomInterval ............................. 31 2.4 ModifiedInspectionModels ............................... 34 2.4.1 ImperfectInspection .............................. 34 2.4.2 IntermittentFault ................................. 35 2.4.3 InspectionforScale ............................... 39 2.5 Problems ................................................ 42 References .................................................... 42 3 RandomInspectionModels .................................... 45 3.1 PeriodicandRandomInspections ........................... 46 3.1.1 SequentialInspection .............................. 50 3.1.2 ComparisonofPeriodicandRandomInspections ...... 52 3.2 RandomInspection ....................................... 55 vii viii Contents 3.3 InspectionFirstandLast .................................. 58 3.3.1 InspectionFirst ................................... 58 3.3.2 InspectionLast ................................... 61 3.3.3 ComparisonofInspectionFirstandLast ............. 63 3.4 InspectionOvertime ...................................... 65 3.4.1 ComparisonsofPeriodicInspectionandInspection Overtime ........................................ 66 3.4.2 ComparisonsofInspectionOvertimewithFirst andLast ......................................... 67 3.5 Problems ................................................ 69 References .................................................... 69 4 GeneralInspectionModels ..................................... 71 4.1 InspectionFirstandLast .................................. 71 4.1.1 InspectionFirst ................................... 72 4.1.2 InspectionLast ................................... 73 4.2 GeneralInspectionModels ................................ 75 4.2.1 InspectionFirst ................................... 75 4.2.2 InspectionLast ................................... 76 4.3 InspectionModelswithThreeVariables ..................... 79 4.3.1 InspectionFirst,LastandMiddle ................... 79 4.3.2 ComparisonsofInspectionFirst,LastandMiddle ..... 82 4.4 ModifiedInspectionModels ............................... 84 4.4.1 ModifiedInspectionFirst .......................... 84 4.4.2 ModifiedInspectionLast ........................... 86 4.4.3 ComparisonsofModifiedInspectionFirstandLast .... 88 4.5 Problems ................................................ 89 References .................................................... 89 5 InspectionModelswithMinimalRepair ......................... 91 5.1 InspectionwithTwoFailures ............................... 92 5.1.1 PeriodicInspection ................................ 93 5.1.2 SequentialInspection .............................. 94 5.2 ModifiedInspectionModel ................................ 95 5.2.1 PeriodicInspection ................................ 96 5.2.2 SequentialInspection .............................. 98 5.3 InspectionforaFiniteInterval ............................. 100 5.3.1 StandardInspection ............................... 100 5.3.2 ModifiedInspectionModel ......................... 102 5.4 Problems ................................................ 105 References .................................................... 105 Contents ix 6 HierarchicalStructureReliability ............................... 107 6.1 BasicSystem ............................................ 109 6.1.1 n-UnitParallelSystem ............................ 109 6.1.2 n-UnitSeriesSystem .............................. 110 6.1.3 k-Out-of-nSystem ................................ 112 6.2 Random K-Out-of-nSystem ............................... 114 6.2.1 Series-ParallelSystem ............................. 115 6.2.2 Parallel-SeriesSystem ............................. 117 6.2.3 Consecutive K-Out-of-5:F System .................. 119 6.3 ComparisonofSeries-ParallelandParallel-SeriesSystems ..... 122 6.3.1 ReliabilityProperties .............................. 122 6.3.2 ReplacementTime ................................ 123 6.3.3 InspectionTime .................................. 125 6.4 Problems ................................................ 127 References .................................................... 128 7 ApplicationExamplesofStorageSystem ........................ 129 7.1 BasicInspectionModel ................................... 130 7.2 ModifiedInspectionModel ................................ 134 7.3 FiniteNumberofInspections .............................. 141 7.4 DegradationatInspection ................................. 145 7.5 Problems ................................................ 153 References .................................................... 153 8 ApplicationExamplesofPhasedArrayRadar ................... 155 8.1 CostModel .............................................. 156 8.1.1 CyclicMaintenance ............................... 157 8.1.2 DelayedMaintenance ............................. 160 8.2 AvailabilityModel ....................................... 162 8.2.1 CyclicMaintenance ............................... 162 8.2.2 DelayedMaintenance ............................. 165 8.2.3 CombinedCyclicandDelayedMaintenances ......... 167 8.3 Problems ................................................ 172 References .................................................... 173 9 ApplicationExamplesofPowerGenerator ....................... 175 9.1 Self-DiagnosisPolicyforGasTurbineFADEC ............... 176 9.1.1 StandardFADECSystem .......................... 176 9.2 MaintenanceofPowerGenerator ........................... 179 9.2.1 ShockModelwithDamageLevel ................... 180 9.2.2 TwoModifiedSchockModels ...................... 185 9.2.3 ShockModelwithMulti-echelonRisks .............. 188 9.3 Problems ................................................ 194 References .................................................... 194