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An intelligent modular modelling approach for quality control of CNC machines product using adaptive fuzzy Petri nets

An intelligent modular modelling approach for quality contro...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Z. Kasirolvalad M.R.J. Motlagh M.A. Shadmani Department of Electrical and Computer Engineering Iran University of Science and Technology Tehran Iran Department of Mechanical Engineering Iran University of Science and Technology Tehran Iran

the paper first presents an AND/OR nets approach for planning of a CNC machining operation and then describes how an adaptive fuzzy Petri nets (AFPNs) can be used to model and control all activities and events within CNC machine tools. It also demonstrates how product quality specification such as surface roughness and machining process quality can be controlled by utilising AFPNs. Utilising fuzzy Petri nets (FPN), a technique based on nine weighted fuzzy rules is developed. the machine tool vibration (V), cutting force (F), spindle speed (S) and feed rate (f) throughout the machining operation are used to determine surface roughness (R). then machining time (t) and surface roughness (R) are used in order to specify the machining process quality (Q). Next, control architecture model of fuzzy rule-based expert systems is shown with FPN. At the end of paper, a case study review for the application of AFPNs to a product manufacturing by a CNC machine.

关键词： Machine intelligence Quality control Computer numerical control Programmable control Adaptive control Fuzzy control Petri nets Machining Rough surfaces Surface roughness

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Predicting the product yield profile and cracking degrees in an industrial ethylene pyrolysis furnace

Predicting the product yield profile and cracking degrees in...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Qiang Zhou Jie Zhang Yongmao Xu Institute of Process Control Department of Automation Tsinghua University Beijing Beijing China Centre for process Analytics and Control Technology School of Chemical Engineering & Advanced Materials University of Newcastle Newcastle-upon-Tyne UK

ISBN: (纸本)0780386531

this paper presents two soft-sensing models for predicting the product yields profile and the cracking degree of an ethylene pyrolysis furnace. the model based on single neural network with only one hidden layer trained by Levenberg-Marquardt algorithm with regularisation was first developed. It was found that the single neural network lack generalisation capability in that they can give undesirable performance when applied to unseen data. To improve the generalisation capability of the soft-sensing model, multi-model soft-sensors based on bootstrap aggregated neural networks with sequential training are used. In the sequential training of bootstrap aggregated networks, the first network is trained to minimise its prediction error whereas the rest of the networks are trained not only to minimise their prediction errors but also minimise the correlation among the trained networks. the overall output is obtained by combining all the individual networks. Application results show that the multi-model soft-sensors possess good generalisation capability in that they give good performance when applied to unseen data.

关键词： Furnaces Neural networks Process control Predictive models Petrochemicals Chemical industry automation Postal services Chemical analysis Automatic control

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Generalized H/sub /spl infin// performance and mixed H/sub 2//H/sub /spl infin// optimization for time delay systems

Generalized H/sub /spl infin// performance and mixed H/sub 2...

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international conference on control, automation, robotics and vision (ICARCV)

作者： L.O. Guo Yumin Zhang Chun-bo Feng Research Institute of Automation South-East University Nanjing China

In this paper, a multi-objective optimization problem is investigated for a class of nonlinear continuous-time systems with time-varying delays. the controlled plant is supposed to have nonlinear dynamics and time delays which exist simultaneously in the state, the input and the measured output. To present the compatible mixed H/sub 2//H/sub /spl infin// control problem, the generalized H/sub /spl infin// performance index is firstly introduced for the nonlinear delay systems instead of the standard H/sub /spl infin// performance one. As such, the novel mixed H/sub 2//H/sub /spl infin// optimization problem can be formulated and the solvability conditions can be provided via convex computation approaches. After some algebraic transformations and decompositions, the involved nonlinear constraints can be eliminated and LMI-based convex algorithms can be given for the both state feedback and the output feedback design. these results can cover many previous works on the pure guaranteed cost control and the standard H/sub /spl infin// control, and can be generalized to other multiple objective optimization problems with quadratic performance indexes.

关键词： Delay systems Performance analysis Time varying systems Delay effects Time measurement Nonlinear control systems control systems State feedback Output feedback Algorithm design and analysis

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X-ray image segmentation using wavelet method

X-ray image segmentation using wavelet method

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international conference on control, automation, robotics and vision (ICARCV)

作者： X. Wang B.S. Wong W.M. Bai C.G. Tui Robotics research Centre School of Mechanical and Production Engineering Nanyang Technological University Singapore Republic of Singapore Air Force Singapore

the X-ray radiographic testing method is often used for detecting defects as a non-destructive testing method (NDT). In many cases, NDT is used for aircraft components, welds, etc. Hence, the backgrounds are always more complex than a piece of steel. It is difficult to detect defects using conventional image processing methods, in this paper, we apply wavelet method to segment X-ray images. In our algorithms, after obtaining the X-ray image, we firstly use wavelet thresholding to reduce image noise to improve the quality of the radiographic image. then we extract defects from the radiographic image. In the process of extracting edge features, according to the wavelet multi-scale character, we integrate the coefficients of wavelet transforms on a series of scales to look for the best scale where the edges are well discriminated from noise to extract edge features. With the help of wavelet algorithm, an objective and fast computer based evaluation of defect indications is possible.

关键词： X-ray imaging Image segmentation Radiography Nondestructive testing X-ray detection X-ray detectors Feature extraction Aircraft Welding Steel

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Analysis of contact localization of dexterous robot hand using force/torque measurement

Analysis of contact localization of dexterous robot hand usi...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Zhuangzhi Han Yuru Zhang Chaoxun Shang Jingyan Cai Zhonghua Cheng Department of Optical and Electrical Engineering Shijiazhuang Mechanical Engineering College Hebei China Robotics Institute Beihang University Beijing China

ISBN: (纸本)0780386531

It is important to detect the position of contact points between the grasped object and the fingertips of dexterous hand. the method using force/torque sensor mounted at fingertip is simpler and easier than the tactile sensor to get the contact position. However, there are two problems held back the application of the former when the sensing data is contaminated with disturbance. First, when the hard finger contact model is used to calculate the points, the solution may not exist. this paper investigates the problem under the contact models of hard finger and soft finger respectively. Mathematical verification is developed to find the existence condition of solutions. A simple criterion is provided to determine which contact model must be selected for calculating contact points. the next problem is accuracy. the error of soft finger contact model is analyzed. Some strategies are given to improve the accuracy of the contact localization. Simulations and experiments show that the reliable and precise measurement of contact points can be achieved by the proposed approaches.

关键词： Force measurement Torque measurement Fingers Robot sensing systems Force sensors Ellipsoids Contacts Tactile sensors Pollution measurement Friction

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Select eigenfaces for face recognition with one training sample per subject

Select eigenfaces for face recognition with one training sam...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Jie Wang Yuantao Gu K.N. Plataniotis A.N. Venetsanopoulos The Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto ONT Canada Department of Electronics Engineering Tsinghua University Beijing Beijing China

In many real applications for face recognition, such as surveillance photo identification, each subject only has one image sample for training which makes many supervised learning techniques fail to apply. Furthermore, since subject appearance has large variabilities due to aging, illumination and camera viewpoints, the face images to be identified are usually different from the stored templates. In this paper, a novel solution to this problem is proposed based on the well known unsupervised methodology, eigenface. We proposed a criterion to select the eigenfaces forming a feature subspace in which the intrapersonal variation is small compared to interpersonal variation and as well as most discriminating power is retained. the selection criterion maximizes the ratio between inter and intra personal variation, and at the same time takes total inter variation into account. Extensive experimentation following the FERET evaluation protocol indicates that the proposed scheme improves significantly the recognition performance.

关键词： Face recognition Probes Principal component analysis Application software Image recognition Surveillance Aging Lighting Pattern recognition Computer vision

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Development of a distributed bearing health monitoring and assessing system

Development of a distributed bearing health monitoring and a...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Yongsheng Zhao Guangfan Zhang Jialu Du Guofeng Wang G. Vachtsevanos School of Automation and Electrical Engineering Dalian Maritime University Dalian China School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Rolling element bearings are widely used components in industrial equipments and their failure may result in severe damage of critical processes. Bearing plants are required to provide estimated performance data to their customers. these statistically based data are usually got through various testing experiments with product samples via bearing test rig. However, it is usually hard to get convincible results from traditional method due to the limitation of monitoring device and analysis methods. this paper designs an intelligent system for a bearing testing and inspection center of a bearing plant to monitor the health status and assess the performance of bearings being tested. the system has a distributed infrastructure and can continually collect testing data, analyze vibration signals, extract features of bearing fault, diagnose bearing faults and further assess the quality of the bearings. Fuzzy logic, wavelet neural network and dynamic wavelet neural network are employed as diagnostic/prognostic algorithm.

关键词： System testing Neural networks Condition monitoring Rolling bearings Design methodology Intelligent systems Inspection Data analysis Signal analysis Data mining

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A robust feature-based matching of two uncalibrated images

A robust feature-based matching of two uncalibrated images

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international conference on control, automation, robotics and vision (ICARCV)

作者： Wenbo Zhang Xinting Gao E. Sung F. Sattar R. Venkateswarlu School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue Singapore

this paper presents a method that matches interest point features detected on two images taken from different view points. A new multi-scale Plessey corner detector (MPCD) is used to detect the interest points. the geometric constraint between two images is exploited as in [R. Deriche, et al., 1994]: the fundamental matrix is derived using least median of squares (LMedS) from an initial set of matches, and then it is used to guide new matches. However, we propose a new energy function that can approximate affine transformation in a more effective way. then, the initial set of matches is derived by minimizing the energy function. As a result, our method can perform well even when the pose variation is large between the two images. We compare our method using the proposed MPCD against two standard corner detectors on image matching. Also we evaluate our proposed matching criterion against Zhang's. Our method gave better results in both experiments on real face images.

关键词： Robustness Detectors Computer vision Object detection Transmission line matrix methods Image matching Face detection Layout Image reconstruction Shape

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Stabilizing synchronization control of magnetic bearing-based flywheel energy storage systems

Stabilizing synchronization control of magnetic bearing-base...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Y. Xiao K.Y. Zhu C. Zhang K.J. Tseng K.V. Ling School of Electrical and Electronic Engineering Nanyang Technological University Singapore

With the advances of high strength/light weight composite material, high performance magnetic bearings, and power electronics technology, flywheel energy storage systems (FESS) are becoming an exciting alternative to traditional battery systems. One of the challenging problems of the FESS is to stabilize the rotor which is very sensitive to outside disturbances and plant uncertainties. In this paper, a stabilizing synchronization design of the FESS is proposed by incorporating cross-coupling technology into the optimal control architecture, which can be decomposed into two problems: a robust optimal control problem to improve the synchronization performance of the rotor in the radial directions and a stability problem. the control scheme is based on minimization of a new quadratic performance index in which the synchronization errors are embedded. Stability of the control scheme is investigated through linear quadratic Gaussian (LQG) optimal control technique. It is shown that with adequate control parameters the resulting control system can provide satisfactory synchronization performance, and the closed-loop stability can be guaranteed theoretically. Simulations on a compact and efficient flywheel energy storage system with integrated magnetic bearings demonstrate that the proposed approach is very effective to recover the unstable system when outside disturbances are present.

关键词： control systems Magnetic levitation Flywheels Energy storage Optimal control Robust stability Composite materials Power electronics Batteries Rotors

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Remote decentralized control strategy for cooperative mobile robots

Remote decentralized control strategy for cooperative mobile...

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international conference on control, automation, robotics and vision (ICARCV)

作者： P. Fraisse D. Andreu R. Zapata J.P. Richard T. Divoux LIRMM Université Montpelher II Montpellier France LAIL Ecole Centrale de Lille Villeneuve d'Ascq France Vandoeuvre-les-Nancy France

the main goal of this paper is to define, study and analyse a remote control architecture for a set of nonholonomic robotic vehicles. this project (ACCORD) gathers three laboratories and the French Army Research Office. Each of these laboratories deals with a part of this multidisciplinary project which includes coordinated control, the control architecture, control with time delay and monitoring of the wireless network. In this paper, we propose to present the whole goal of this project including the basis experimental setup developed to validate our control algorithm. Secondly, we focus on a new decentralized control strategy that uses the leader-follower principle. the originality of this paper stems from the use of the signal level of the wireless connection as a control vector. Indeed, each vehicle is fitted with two wireless devices. One of them is equipped with a sector antenna fitted on a DC-motor to track the direction of better receiving level. thus, it allows us to know the relative angular position of the follower pointing out the leader. By using the wireless technology as sensor instead of vision for instance, allows a longer distance of coordinated control loop between each vehicle (approx. 100 m) even if the GPS information is not available.

关键词： Distributed control Mobile robots Laboratories Wireless sensor networks Robot kinematics Remotely operated vehicles Delay effects Remote monitoring Wireless networks Directive antennas

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