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Latent-Variable-Modeling-Based Fault Diagnosis for Unknown Nonlinear Distributed Parameter Systems with Application to Snap Curing Oven 2

Latent-Variable-Modeling-Based Fault Diagnosis for Unknown N...

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2nd International conference on robotics, automation and Intelligent control, ICRAIC 2022

作者： Luo, Zhao-Dong Li, Han-Xiong State Key Laboratory of High-Performance Complex Manufacturing Central South University Changsha China Department of Advanced Design and Systems Engineering City University of Hong Kong Hong Kong

A novel fault detection method based on time/space separation and latent variable model is proposed for unknown nonlinear distributed parameter systems in sensor-constrained environments. By performing time/space separation, the augmented matrix formed by the spatio-temporal distribution data of the DPSs can be split into a spatial basis function (SBFs) and a time series model, and the dimensionality reduction capability of the SBF is further utilized to obtain a low-order temporal model. Then, the temporal model is further extracted by using a dynamic latent variable modeling method to obtain the dominant time components and establish the corresponding monitoring statistics. Utilizing the appropriate kernel density function, confidence bounds are selected for the monitoring statistics when the system is normal. As a data-based fault diagnosis method, it requires only the past data records of the system and no reliance on complex mathematical models. Two sets of experiments performed on a snap curing oven verified the effectiveness of the proposed method. © Published under licence by IOP Publishing Ltd.

关键词： Fault detection

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Self-learning Time-varying Digital Twin System for Intelligent Monitoring of Automatic Production Line 2

Self-learning Time-varying Digital Twin System for Intellige...

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2nd International conference on robotics, automation and Intelligent control, ICRAIC 2022

作者： Hao, Caihua Wang, Zhaoyu Zou, Yi Zhao, Zunyuan School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China Wuhan Intelligent Equipment Industrial Technology Institute Company Limited Wuhan China

At present, the automation production line has problems such as insufficient intelligence level. The intelligent monitoring, control and improvement of product quality and efficiency are the key common technologies faced by advanced manufacturing industry. Self-learning time varying digital twin (DT) system for intelligent monitoring is proposed in the paper. In the process of automatic production line processing and workpiece detection, an DT consisting of physical production line layer, edge monitoring layer and cloud evolution layer is built. The DT system realizes self-learning time-varying through active excitation of processing parameter optimization. The workpiece quality is a real-time representation of the tool condition, and the tool wear sensitive features extracted by the deep learning algorithm. Through the two-way drive of time-varying physical and virtual data, the tool wear characterization model can be evaluated, self-learning, updated and verified timely in the light of the actual condition to achieve tool condition monitoring and processing parameter optimization. The prediction model is self-iterative and simplified in the cloud, and the edge side is quickly matched and adaptive. Self-learning time-varying DT system based on self-driving of manufacturing process can adaptively improve the ability of intelligent monitoring. © Published under licence by IOP Publishing Ltd.

关键词： Iterative methods

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A Bipolar Pulsed Power Supply Based on H-Bridge Circuit and Transformer Coupling

A Bipolar Pulsed Power Supply Based on H-Bridge Circuit and ...

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Power and Electrical Technology conference (APET), asia

作者： Aijia Xin Bing Zhang Yongfang Liu Chao Zhu School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Advanced Research Institute Chinese Academy of Sciences

For the demand of bipolar pulses in irreversible electroporation (IRE) applications, a pulse power supply incorporating the structure of an H -bridge and transformer is presented in this paper. Based on the traditional linear transformer driver circuit topology, the H-bridge structure is used to output bipolar pulses. However, this structure brings about a reverse superposition of the induced electromotive force, which causes a reverse overshoot of the output pulse. Therefore, in this paper, an energy dissipation path applied to output bipolar pulses is designed to reduce the reverse voltage. Based on the principle of H-bridge operation, a divider circuit is utilized, which makes it possible to realize the control of the state of four bridge arm switches with only one drive signal. The simulation results show that the output pulse voltage of the bipolar pulse power supply has an amplitude range of O-500V and a pulse width of I-5us.

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The Research on Navel Oranges Detection Systems of Harvesting Robots Based on an Improved YOLOv5

The Research on Navel Oranges Detection Systems of Harvestin...

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Artificial Intelligence, Human-Computer Interaction and robotics (AIHCIR), International conference on

作者： Peipei Zhou Jiehan Wei Ting Zhong Haoyu Zheng School of Mechatronic Engineering Guangdong Polytechnic Normal University Guangzhou China School of Automation Guangdong University of Technology Guangzhou China

As a typical intelligent agricultural equipment, the harvesting robot integrates various advanced technologies such as robotic, recognition and control. Because of the need the complexity of agricultural scenes, the major bottleneck restricting the performance of harvesting robots is the accuracy of the detection system. In this paper, we proposed a method for navel orange recognition based on the attention mechanism the selection of detection frames. Firstly, the attention mechanism module was incorporated into the feature extraction network to obtain important features. Then, the overlapping area and centroid distance between the target frame and detection frame were considered. And DIoU-NMS was used instead of NMS to improve the localization accuracy. Finally, a dataset based on navel oranges has been collected, with a total sample size of 811 images. The training-set and dataset have been randomly differentiated according to 4:1. The results showed that the improved YOLOv5 research algorithm can obtain 99.4% average accuracy, which is a 7.4% improvement compared to the YOLOv51 algorithm. The new improved YOLOv5 algorithm provided a more accurate and faster method for the navel orange detection.

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Saffron Harvesting using Robotic Arm Embedded on a Rover

Saffron Harvesting using Robotic Arm Embedded on a Rover

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automation, Computing and Renewable Systems (ICACRS), International conference on

作者： J. Priyadharshini T. Arunn B. Rithick Roshan S. Vinoth Kumar Department of ElectronicsAnd Communication Engineering Sri Sairam Engineering College Tambaram Chennai

In India, floriculture is regarded as a high-growth industry in India since it has the potential to produce considered a high-growth industry due to its potential to produce significant earnings and job opportunities. Due to the rising demand for flowers across numerous industries, including weddings, events, festivals, and decorations, the production and trading of the flowers has experienced tremendous expansion in recent years. Due to the delicate nature of saffron harvesting is a labor-intensive operation that can be revolutionized by incorporating robotics and automation. In this study, a method of saffron harvesting employing a 6-degree-of-freedom robotic arm mounted on an autonomous rover is proposed. The robotic arm is fitted with cameras. When a mature saffron flower is found, the arm positions itself correctly for harvesting, employing precise kinematics to cut the blossom without damaging it and specialized end-effectors to carefully grasp and remove the saffron stigmas. The method utilizes the accuracy and consistency provided by robotics and CNN-based image processing to address the difficulties associated with manual saffron harvesting. The autonomous rover travels over the saffron fields while taking pictures of the saffron blooms with its internal cameras. The CNN module, which has been trained to recognize the distinctive characteristics of ripe saffron flowers and their stigmas, processes these photos after that. advanced navigation, sensing, and control systems are integrated into the rover. In this case the rover is outfitted with navigation system that incorporates sensors like GPS and IMU, as well as possible cameras for environment perception. Due to the system’s ability to work continuously without the constraints of human labor, efficiency is considerably boosted. Our proposal eliminates the inherent uncertainty in manual harvesting while also lowering labor costs. This system’s successful implementation provides a window into the future of

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Surface Topography of the Metal surface in Robot Polishing under control Force 2

Surface Topography of the Metal surface in Robot Polishing u...

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2020 2nd asia conference on automation engineering, ACAE 2020

作者： Zhao, Wenliang Mohsin, Imran Huang, Longlong He, Kai Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen China University of Chinese Academy of Sciences Beijing China Yanshan University Qinhuangdao Hebei China Chinese University of Hong Kong Hong Kong Hong Kong

Polishing is an important finishing process in the field of manufacturing, which enhances product quality and increases its life span. Compared with manual polishing, robotics polishing has advantages in terms of cost and productivity. This paper presents a new study on the surface topography of metal workpiece in the robotic polishing test. Various workpieces with different surface roughness were polished with the industrial robot under similar polishing parameters, and the variation of surface topography with polishing was studied utilizing microscopic scanning. © Published under licence by IOP Publishing Ltd.

关键词： Polishing

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An Improved Method for Traffic control Relying on Close-Loop control theory

An Improved Method for Traffic Control Relying on Close-Loop...

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2nd International asia conference on Informatics in control, automation and robotics (CAR)

作者： Liu Bohang Yan Xiaoyong Li Qingbing Huang Shougang Shijiazhuang Railway Inst Sch Traff & Transportat &Traff Safety Shijiazhuang Hebei Peoples R China Shijiazhuang Railway Inst Control Lab Hebei Prov Shijiazhuang Hebei Peoples R China

ISBN: (纸本)9781424451944

Urban traffic adaptive control has been considered the most advanced traffic control in the traffic engineering, however, it belongs to the low-level (open-loop control)in the control engineering theory. In recent years, the promotion and application of computer video detection technology have made the real-time detection of delays possible, and have also provided a platform and opportunity for the open-loop control turning into closed-loop control in the traffic control. The parameters referring to traffic control are extracted from video traffic detection, therefore, the control effect is evaluated. Based on the evaluation results, the requirement for adjustment scheme can be analyzed, and a new traffic control scheme can be generated to construct the urban roads traffic control closed-loop self-tuning system. So the system control strategy can be adjusted real-timely according to the system output, and the open-loop control will be upgraded to the closed-loop control in the traffic control.

关键词： close-loop control traffic control adaptive control

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Mobile robot simultaneous localization and mapping in unstructured environments

Mobile robot simultaneous localization and mapping in unstru...

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International asia conference on Informatics in control, automation and robotics, CAR

作者： Tingting Wan Chongwei Zhang Wei Bao Mulan Wang School of Electric Engineering and Automation Hefei University of Technology Hefei China Jiangsu Province College Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China

This paper describes a method of mobile robot simultaneous localization and mapping (SLAM) based on laser range finder in unstructured environments. Considering drawbacks of the traditional iterative closest point (ICP) algorithm, matching laser range scans gets into local extrema when severe occlusions occur, the iterative dual closest point based on clustering (IDCP BoC) algorithm is proposed. Scan data are filtered and divided into clusters firstly, and then a procedure of reducing of data is conducted. The closest point (CP) rule is modified and dual closest point (DCP) rule is advanced when choosing the closest points. The reduced data is used for iterative computation before the error of two consecutive iterations' residual errors less than a preset threshold to speed up the algorithm, after that the data which is not reduced is used to guarantee the accuracy. Experimental results show that the method improves the accuracy of localization and mapping.

关键词： Mobile robots Simultaneous localization and mapping Iterative algorithms Clustering algorithms Robot kinematics Iterative closest point algorithm robotics and automation Paper technology Iterative methods Orbital robotics

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Linkage under-actuated humanoid robotic hand with control of grasping force

Linkage under-actuated humanoid robotic hand with control of...

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International asia conference on Informatics in control, automation and robotics, CAR

作者： Wenzeng Zhang Deyang Zhao Qiang Chen Dong Du Department of Mechanical Engineering Ministry of Education Key Laboratory for Advanced Materials Processing Technology Beijing China

ISBN: (纸本)9781424451920

The single-motor multiple DOFs under-actuated finger is the focus of robot research. The grasping force of traditional under-actuated hands based on linkages is hard to control. The traditional hands also have many differences from human hands in appearance. Aiming to solve these problems, this paper has presented a novel under-actuated hand based on linkages, which also comprises of slider mechanisms and springs. Its finger has a changeable force output controlled by a motor with humanoid appearance. It also can adapt to the shape of objects. This article analyzed the force properties of the finger. According to this, a 2-DOF finger and a 3-DOF finger were designed. Finally, they are included in the hand named TH-3L, which comprises of five fingers and six motors with 15 DOFs.

关键词： Force control Couplings Humanoid robots Robot control Grasping Fingers Springs robotics and automation Grippers Educational robots

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An improved method for traffic control relying on close-loop control theory

An improved method for traffic control relying on close-loop...

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International asia conference on Informatics in control, automation and robotics, CAR

作者： Bohang Liu Xiaoyong Yan Qingbing Li Shougang Huang Traffic Safety & Control Lab. of Hebei Province Shijiazhuang Railway Inst. Shijiazhuang China

关键词： Traffic control control theory Open loop systems control systems Adaptive control control engineering Application software Computer applications Delay Turning

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