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Smartphone–controlled industrial robots: Design and user performance evaluation

Smartphone–controlled industrial robots: Design and user pe...

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International symposium on computational intelligence and Informatics

作者： Adrienn Deák Zoltán Szántó Áron Fehér Lőrinc Márton Department of Electrical Engineering Sapientia Hungarian University of Transylvania Corunca Romania

ISBN: (纸本)9798350398830

This work presents a solution for distant control of industrial robots using mobile devices. The developed application can monitor the motion of the robot based on video and sensor information, it can send commands and control scripts to the robot, and it ensures the jogging–like manual control of the robot. In addition to the aforementioned functionalities, the application can analyze the teleoperation performances of the user. A set of performance metrics were introduced to rate user performances. They are useful to evaluate and educate remote manual robot control techniques. Experimental measurements are also presented to show the applicability of the developed remote control application and user performance evaluation method.

关键词： Service robots Robot control Human factors Robot sensing systems Manipulators Software Software reliability

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Fuzzy Asynchronous Fault Tolerant control for Semi-Markov Jump Systems 14

Fuzzy Asynchronous Fault Tolerant Control for Semi-Markov Ju...

引用

14th International symposium on computational intelligence and Design, ISCID 2021

作者： Chen, Kaixuan He, Shuping School of Electrical Engineering and Automation Hefei230601 China

ISBN: (纸本)9781665438568

This work investigates the fault-tolerant control scheme for Takagi-Sugeno fuzzy semi-Markov jump systems with actuator faults. The hidden semi-Markov model is employed to describe the asynchronous phenomenon between the controller and plant. Based on Lyapunov theory, the fault tolerant controller depending on observable mode is presented to make sure that the semi-Markov jump systems is stochastically stable and satisfies the H∞ performance. A simulation example via a single-link robot is employed to prove the correctness of the studied approach. © 2021 ieee.

关键词： controllers

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Towards Digitalization of Steel Melt shop: A model-based approach 15

Towards Digitalization of Steel Melt shop: A model-based app...

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ieee 15th International symposium on Applied computational intelligence and Informatics (SACI)

作者： Nandwana, Anurag Ramapriya, Gautham Madenoor Nallasivam, Ulaganathan Mathur, Tarun Kc, Praveen ABB GISPL Control & Optimizat Res Grp Corp Res Ctr Bangalore Karnataka India ABB Germany Met Digital Portfolio Mannheim Germany ABB India Ltd HUB IMEA Peenya Ind Area Bangalore Karnataka India

ISBN: (纸本)9781728195438

Tracking of every ladle during the entire ladle-cycle. scheduling of ladle movement and processing in a melt shop are imperative to 1) ensure continuous operation 2) enhance productivity and 3) lower energy consumption. While tracking has recently evolved to digital with certain limitations, scheduling, is limited to expertise of the operator and is applicable up to a short horizon. Dependence on operator-expertise further extends to ladle furnace operation where lift temperature for desired superheat, a complex feature of several parameters, is decided by operator based on heat loss estimation and ladle history. Current work is a step towards digitalization of steel melt shop by minimizing the human involvement in tracking of ladle, scheduling of ladle movement and prediction of lift temperature. A novel technique is introduced for tracking of ladle in melt shop. Based on the ladle tracking and production planning, ladle transport across various units including assignment of appropriate cranes is automated. Finally, a mathematical model is developed to predict the temperature for ladle lifting to ensure desired superheat at caster and has been validated against industrial measurements. With efficient tracking, the visibility of ladles in the melt shop is improved to nearly 100%. With improved scheduling, idle time of ladles and processing units is reduced. Lastly, the numerical thermal model reduces the energy requirements, lowers the idle time and improves casting speed. This improves the overall productivity of the melt shop. With higher level of automation and model-based decision making, dependence on human expertise is reduced and safety of melt shop is improved.

关键词： steelmaking digitalization scheduling thermal modeling optimization Superheat productivity

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A Multiple Ant Colony System for the Electric Vehicle Routing Problem with Time Windows

A Multiple Ant Colony System for the Electric Vehicle Routin...

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ieee symposium Series on computational intelligence (SSCI)

作者： Michalis Mavrovouniotis Georgios Ellinas Changhe Li Marios Polycarpou Department of Electrical and Computer Engineering KIOS Research and Innovation Center of Excellence University of Cyprus Nicosia Cyprus School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781665487696

Ant colony optimization (ACO) has been found to be useful on several vehicle routing problem variations. In this work, ACO is applied to the electric vehicle routing problem with time windows (E-VRPTW). The E-VRPTW has a hierarchical multiple objective function, which is to minimize the number of electric vehicles and the total distance traveled. A multiple ACO is applied to E-VRPTW in which two colonies cooperate to minimize the objectives in parallel. A local search is embedded in ACO to improve the quality of the output. The experimental results on a set of benchmark instances show that the multiple ACO is competitive with existing methods.

关键词： Ant colony optimization Vehicle routing Benchmark testing Electric vehicles Routing Search problems Linear programming

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A Real Time Self-Generating control for AI Platforms

A Real Time Self-Generating Control for AI Platforms

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International symposium on Applied computational intelligence and Informatics ( SACI)

作者： Mircea Trifan Bogdan Ionescu Dan Ionescu School of Electrical Engineering and Computer Science University of Ottawa Ottawa Ontario Canada

ISBN: (数字)9798350329520

ISBN: (纸本)9798350329537

Recent advancements in hardware and software implementations of Artificial intelligence have sparked a multitude of revolutionary applications in the theory and implementation of AI algorithms and tools. Significant new developments have been driven by the application of the Transformer concept in the fields of Large Language Models (LLMs), Reinforcement Learning, and other areas. This in turn led to capturing long-range dependencies and contextual information based on data. More recently, strong positions in the AI research community, around the proper implementations and usage of certain Machine Learning (ML) applications, have been thoroughly debated. However, it is very much known, that ChatGPT and other like platforms, such as Llama, or large GNNs, suffer from a series of black-box drawbacks out of which the “factual accuracy”, “halucinations”, “overgeneralization” and others open loop LLMs were reported in the literature. This paper presents an Autonomic Computing (AC) closed-loop architecture that manages and gathers data from user prompts via a DOMifire module. The DOMifire acts as the sensor element of the LLM AC system, referred to as the Plant. This data is logically compared by an Expert System (ES), which serves as the core of the Autonomic Manager in the AC loop of the LLM, with the data obtained from the LLM's output―in this case, the responses generated by ChatGPT. After a reduced number of iterations, the results are evaluated using a Mean Absolute Scaled Error (MASE) metric. In the context of a time series, this process results in a stable set of sentences or rules produced by the Knowledge Base module. An example, in which the “Time Series” of AutoGluOn illustrates the AC - AI interactions for a complementary contributions to a more robust AI platform. An example of the interaction AC-AI is given in the Conclusion section of this paper.

关键词： Training automation computational modeling Architecture Time series analysis Computer architecture Chatbots

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Transparent Slide Detection and Gripper Design for Slide Transport by Robotic Arm

Transparent Slide Detection and Gripper Design for Slide Tra...

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International symposium on computational intelligence and Informatics

作者： Marianna Dimitrova Kucarov Mátyás Takács Béla Molnár Miklos Kozlovszky Doctoral School of Applied Informatics and Applied Mathematics BioTech Óbuda University 3DHistech Ltd. Budapest Hungary 3DHistech Ltd. Óbuda University University Research and Innovation Center (EKIK) Budapest Hungary 3DHistech Ltd. Budapest Hungary John von Neumann Faculty of Informatics Óbuda University Budapest Hungary

ISBN: (纸本)9798350398830

Transparent slide detection, pick and place automation are obtained in order to boost speed, accuracy and smooth workflow between slide coverslipping and digital scanning operation in digital pathology. Fully automatic, precise, robust solution has been developed by robotic arm using computer vision and image processing techniques. Magazine (slide holder) and gripper design, camera selection and mapping to robot base coordinate system are all guided. Python based software algorithms for slide detection and 3D position determination applied in dynamically changeable environment are also explained step by step. Complete automatic process control method is implemented and tested for different types of slide.

关键词： Pathology Computer vision Three-dimensional displays Robot kinematics Image processing Process control Reliability theory

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Continuous Improvement of Process Advisor Optimizing Furnace Model

Continuous Improvement of Process Advisor Optimizing Furnace...

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1st ieee Colombian Conference on Applications in computational intelligence (ColCACI)5th International symposium on Nickel and Cobalt (Ni-Co)

作者： Bjorklund, Peter Korpi, Mikko Grimsey, David Marjakoski, Miikka Outotec Finland Oy Rauhalanpuisto 9 Espoo 02231 Finland BHP Nickel West Kalgoorlie Smelter NKS Smelterman Dr Feysville WA 6431 Australia Boliden Harjavalta Smelter Teollisuuskatu 1 FI-29200 Harjavalta Finland

ISBN: (纸本)9783030656478;9783030656461

The Outotec (R) Process Advisor has successfully been used for automatic control of flash smelting furnace setpoints continuously for 5 years. This is one contribution that has enabled record long furnace campaign life due to the improved matte temperature control, which has prevented matte infiltration into the hearth. Building on this success, the Process Advisor has been enhanced to further utilize the online dynamic heat and material balance model also for other purposes than direct process control. This paper covers some of the latest improvements taken into use after the initial startup. These include, for example, an online maximum feed rate estimator, which continuously updates the maximum feed rate possible for the operator and an online matte level estimator to get a better matte level estimate also between sounding.

关键词： automation Digitalization Industry 4.0 Information management Process control Pyrometallurgy Smelting Expert system Process advisor

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Analysis of Network-based Data Collection Mechanisms Applicable in Securing Critical Infrastructures

Analysis of Network-based Data Collection Mechanisms Applica...

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International symposium on computational intelligence and Informatics

作者： Katalin Ferencz Ernő RigÓ Faculty of Technical and Human Sciences Sapientia Hungarian University of Transylvania Târgu Mureş Romania Doctoral School of Applied Informatics and Applied Mathematics Óbuda University Budapest Hungary Eötvös Loránd Research Network Institute for Computer Science and Control Budapest Hungary

ISBN: (纸本)9798350398830

One of the important directions of the digital trends defining our everyday life is the integration of smart devices into our systems, so that thanks to this we can collect more and more detailed data and control certain units remotely or automatically. As a result, our systems, which until now only operated in an isolated environment, are now connected to external services, or even establish a network connection to the Internet. However, this can have serious and dangerous consequences, pronounced in the case of systems that are considered critical infrastructure, because the wider the network range achieved, the more vulnerabilities and security gap can appear in the systems. In this article, we will present some options for network-based data collection methods, as well as highlight their most important properties and their parameters, which are useful to consider when planning a network system.

关键词： Mechatronics Scalability Data collection Critical infrastructure Planning Security Smart devices

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Nonlinear control of Crane Systems Based on intelligence Computing of Disturbance Observer Under Mismatched Disturbance

Nonlinear Control of Crane Systems Based on Intelligence Com...

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International symposium on Parallel and Distributed Processing with Applications, ISPA

作者： Tianlei Wang Yiyan Wang Meng Xu Jiajie Tian Jingling Zhang Zhiyong Hong School of Electronic and Information Engineering Wuyi University Jiangmen China Jiangmen Key Laboratory of Kejie Semiconductor Bonding Technology and Control System Jiangmen China School of Mechanical and Automation Engineering Wuyi University Jiangmen China Guangdong Kejie Technology Co. Ltd Jiangmen China

ISBN: (数字)9798331509712

ISBN: (纸本)9798331509729

A control method based on disturbance observer is proposed to address the positioning drift issue of the gantry crane under unmatched disturbances, aiming at precise positioning of the trolley and effective payload swing angle attenuation in a variable-length two-dimensional lifting system. The control scheme comprises a combination of a proportional-derivative controller and a disturbance observer. Firstly, the design of the coupling function in this paper is based on the observation of the natural characteristics of the dynamical model. It cleverly designs the coupling function, which not only helps to effectively reduce the swing angle but also prevents the problem of positioning drift under non-matching disturbances, subsequently, design a controller by integrating intelligent computing with control theory. Secondly, the designed disturbance observer observes and compensates for the system output to achieve disturbance suppression. Thirdly, a thorough stability analysis has been conducted to demonstrate that the proposed controller satisfies the desired conditions. Finally, simulation results illustrate that the pro-posed method success-fully addresses the limitations of existing methods and exhibits superior performance and robustness.

关键词： Couplings Cranes computational modeling Simulation Attenuation Disturbance observers Stability analysis Robustness Mathematical models Payloads

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On the Simulation of Lower Order control Strategies for Higher Order Systems

On the Simulation of Lower Order Control Strategies for High...

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International symposium on computational intelligence and Informatics

作者： Awudu Atinga János F. Bitó József K. Tar Doctoral School of Applied Informatics and Applied Mathematics Óbuda University Budapest Hungary ABC iRob John von Neumann Faculty of Informatics Óbuda University Budapest Hungary Doctoral School of Applied Informatics and Applied Mathematics ABC iRob John von Neumann Faculty of Informatics Óbuda University Budapest Hungary

ISBN: (纸本)9798350398830

In model-based control of dynamical systems the order of the necessary controller is that of the time-derivative of the generalized coordinate of the system that immediately can be set by the controller. It is determined by the “physics” of the system to be controlled. In finite time-resolution approach the digital controllers model the derivatives by finite differences, and the simplest numerical integration via Euler’s method also uses such differences. Whenever some fractional order derivative of the tracking error is fed back, this long memory term allows the realization of such control strategies for various integer order systems by appropriately masking” and weighting certain elements of longer sequences. On this mathematical basis the idea of controlling a higher order system by the application of a lower order strategy can be formulated, too. The main benefit may be achieving monotonic decrease in the components of the tracking error. In this paper the first order control of a popular second order system often used for benchmark applications, the van der Pol oscillator is considered. The realization of a simple proportional feedback first order controller in two variants, and a PID-type Computed Torque control are considered in the fixed point iteration-based adaptive framework to tackle the problems caused by modeling imprecisions. The applicability and the limits of the investigated approaches are concluded.

关键词： Adaptation models computational modeling Torque control Kinematics Transforms Benchmark testing control systems

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