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25th IEEE international conference on Emerging Technologies and Factory automation (ETFA)

作者： Khaydarov, Valentin Heinze, Sebastian Graube, Markus Knuepfer, Andreas Knespel, Maximilian Merkelbach, Silke Urbas, Leon Tech Univ Dresden Proc To Order Lab Dresden Germany Tech Univ Dresden Chair Proc Control Syst Proc Syst Engn Dresden Germany Tech Univ Dresden Ctr Informat Serv & HPC ZIH Dresden Germany

ISBN: (纸本)9781728189567

the introduction of AI methods in production or production-related environments meets with resistance from operators due to their lack of relevant experience and their responsibility for plant safety. To overcome these inhibitions one requires prototypical implementations, which offer considerable benefits, meet the highest requirements for reliability, are accepted by the operating personnel, and get support from those in charge. As a result, AI technologies must be embedded into the complex IT/OT infrastructure of the companies. Traceability, maintainability and longevity must also be guaranteed. As a first step towards this, we present a concept of the demonstrator and its first results, which should make AI comprehensible by visualizing challenges and exploring possibilities in the process industry.

关键词： Modular plant Bioreactor AI-based surrogate models CFD-simulation object recognition AR-application

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Dynamics Effects on Natural Frequencies in modal analysis of PKMs 20

Dynamics Effects on Natural Frequencies in modal analysis of...

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20th international conference on methods and models in automation and robotics (MMAR)

作者： Prades, Julien Jourdan, Franck Company, Olivier Krut, Sebastien Pierrot, Francois Univ Montpellier Dept Robot LIRMM Montpellier France CNRS F-75700 Paris France Univ Montpellier LMGC Montpellier France

ISBN: (纸本)9781479987016

Technology improvement makes PKM faster and faster. From this speed it appears uncontrolled vibrations which disrupt PKM functioning. the urge to produce modelling enabling to predict dynamic perturbations is more and more important. To this day, linearized dynamic models are incomplete, ignoring account of speed and acceleration over trajectory. In this paper, a complete dynamic linearization will be presented, and will allow to reveal high speed influence among PKM eigenvalues.

关键词： pyruvate kinase, muscle modal analysis Natural frequencies technology improvement dynamic models trajectory acceleration Modeling speed

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Controllability conditions of rotating beams and a construction of an optimal control

Controllability conditions of rotating beams and a construct...

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Sklyar, Grigory Wozniak, Jaroslaw Univ Szczecin Inst Math PL-70451 Szczecin Poland

We present our works concerning controllability problem for Timoshenko beams rotating in a horizontal plane. Characterization of the set of null-reachability is given, the optimal control problem is stated and a numer... 详细信息

ISBN: (纸本)9781467321242

关键词： Optimal control controllability Numerical methods rotating beam TIMOSHENKO BEAM BEAM Beams and girders horizontal plane

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Machine learning methods for anomaly detection in computer networks 26

Machine learning methods for anomaly detection in computer n...

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26th international conference on methods and models in automation and robotics

作者： Gajda, Jakub Kwiecien, Joanna Chmiel, Wojciech AGH Univ Sci & Technol Dept Automat Control & Robot Al Mickiewicza 30 PL-30059 Krakow Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

With a large increase in the amount of data that are transferred via publicly available computer networks, the global demand for new protection and prevention methods could be observed in recent studies of many research groups. the paper deals with anomaly detection, focusing on cybersecurity applications, as there are only few papers that address this topic. Four methods, such as DBSCAN, One-class SVM, LSTM and Isolation forest were used to solve this problem. During the experimental part, the implementation and experiments were performed to examine the performance on common dataset to assess the ability and further possible applications.

关键词： anomaly detection machine learning cybersecurity

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Model-Based Development of Robotic Systems and Services in Construction robotics 25th

Model-Based Development of Robotic Systems and Services in C...

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25th international conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Schlette, Christian Rossmann, Juergen Rhein Westfal TH Aachen Inst Man Machine Interact MMI Aachen Germany

ISBN: (纸本)9783319490588;9783319490571

More and more of our indoor/outdoor environments are available as 3D digital models. In particular, digital models such as the CityGML (City Geography Markup Language) format for cities and the BIM (Building Information Modeling) methodology for buildings are becoming important standards for project management in the construction industry. In this contribution, we are proposing the combination of existing city and building models with methods from 3D simulation and 3D simulation-based system control in order to provide comprehensive geometries and semantics for the representation of large-scale working environments. In Virtual Testbeds for construction robotics, such large-scale working environments can then be systematically accessed as mental models for the model-respectively 3D simulation-based development and control of robotic systems and services.

关键词： Construction robotics Model-Based development CityGML BIM

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Model parameters variation in constrained discrete time sliding mode control 26

Model parameters variation in constrained discrete time slid...

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26th international conference on methods and models in automation and robotics

作者： Jaskula, Marek Lesniewski, Piotr Lodz Univ Technol Inst Automat Control 18 Stefanowskiego St PL-90537 Lodz Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

In this paper we take into account the variation of the model parameters, during the regulation process, in the discrete time sliding mode control approach. Moreover, the system is affected by unknown, but bounded external disturbances that do not need to satisfy the matching conditions. the controller guarantees the fastest, monotonic and finite time convergence of the representative point to the switching hyperplane, simultaneously ensuring constraints satisfaction on both state and input signal. Sufficient condition that assures all mentioned properties is formally proved and the simulation example demonstrates advantages of the theoretical considerations.

关键词： Sufficient conditions Uncertainty automation Process control Switches Regulation Sliding mode control

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Unsupervised 3D Primitive Shape Detection Using Mathematical models 16

Unsupervised 3D Primitive Shape Detection Using Mathematical...

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16th IEEE international conference on Control, automation, robotics and Vision (ICARCV)

作者： Ping, Guiju Esfahani, Mahdi Abolfazli Wang, Han Nanyang Technol Univ Singapore Singapore

ISBN: (纸本)9781728177090

this study aims to propose the first unsupervised deep learning based framework to detect primitive shapes in unorganized point clouds. the benefits of the proposed model are as follows: first, modeling primitive shapes mathematically and making the annotation and generation of training data automatically can assist in training a network in an unsupervised manner without using any pre-annotated datasets. the proposed approach is able to expand to other 3D point clouds related tasks when the datasets are not big enough. Experiments and results demonstrate that the proposed unsupervised methods can achieve an accuracy on par with supervised approach for primitive shape detection in 3d point clouds.

关键词： primitive shapes unsupervised point clouds machine learning

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Advanced methods of Controller Design for Pneumatic Servodrives 20

Advanced Methods of Controller Design for Pneumatic Servodri...

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20th international conference on methods and models in automation and robotics (MMAR)

作者： Ciganek, J. Kozak, S. Noge, F. Slovak Univ Technol Bratislava Fac Elect Engn & Informat Technol Bratislava Slovakia

ISBN: (纸本)9781479987016

A development of advanced control methods based on robustness, optimality and prediction is an important and challenging task. In recent years, a new control approaches have emerged to replace or augment conventional control engineering methods. the paper presents: design, verification and comparison of three advanced methods (IMC, MPC, PLM) applied in the control of dynamic processes with complex dynamics. In this paper three different methods were tested and applied to the position control of pneumatic servodrives. the presented and tested methods guarantee robust stability and high performance of the pneumatic servodrives control.

关键词： algebraic theory control system closed loop factorization filter IMC MPC pole-placement

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Using FEM simulations of cutting for evaluating the performance of different johnson cook parameter sets acquired with inverse methods

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2017年 47卷 95-101页

作者： Laakso, Sampsa V. A. Niemi, Esko Aalto Univ Sch Engn Dept Engn Design & Prod Espoo 02150 Southern Finlan Finland

Material model parameters are the primary source of error in the finite element analysis (FEM) of cutting processes. Expensive and time consuming material testing is required in order to describe the material's behavior in high temperature and high strain rate conditions during cutting. An alternative approach has been suggested in research papers;inverse analysis using cutting experiments together with FE analysis or analytical models. the latest approach is to combine an analytical model together with a material model capable of describing flow stress in terms of strain, strain rate and temperature, and using cutting experiments to acquire input parameters for inverse analysis, from which the material model parameters can be solved. In this paper, performance evaluation is done for five different sets of Johnson Cook parameters for AISI 1045, acquired with materials testing, inverse analysis with FEM, and the proposed combined inverse analysis with an analytical model and cutting experiments. the performance is evaluated by running simulations with a wide range of cutting parameters and comparing the simulated results of cutting forces and temperature to known experimental results found in literature. It was found that the proposed inverse method produces better performing model parameters than those found in literature.

关键词： Cutting FEM Johnson-Cook Model Inverse Analysis AISI 1045

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Calibration and test of a multi-touch tactile object

Calibration and test of a multi-touch tactile object

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25th IEEE/RSJ international conference on robotics and Intelligent Systems, IROS 2012

作者： Serio, Alessandro Gabiccini, Marco Sarakoglou, Ioannis Bicchi, Antonio Università di Pisa Pisa Italy Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

In this work we present different calibration methods for a custom made 36 axis F/T (Force/Torque) sensor used for a multi-touch tactile object. this object will be employed to perform human grasp experiments on contact forces and points. A comparison of the performance of the system in reconstructing contact points locations is reported.

关键词： Calibration

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