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Methodology for enabling dynamic digital twins and virtual model evolution in industrial robotics-a predictive maintenance application

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2023年第7期36卷 947-965页

作者： Aivaliotis, Panagiotis Arkouli, Zoi Georgoulias, Konstantinos Makris, Sotiris Univ Patras Dept Mech Engn & Aeronaut Lab Mfg Syst & Automat Patras Greece Univ Patras Dept Mech Engn & Aeronaut Lab Mfg Syst & Automat Rion 26504 Greece

A methodology for enabling the implementation of the Digital Twins (DTs) of industrial robots and complex machines is presented. The enabled DT can provide a series of benefits, for instance when combined with the degradation curves of critical health indicators can allow predicting the robots' RUL. This paper suggests a systematic and generic methodology to address challenges such as (1) the definition of the physics-based model parameters for accurate DTs, (2) selection of the parameters to tune and the frequency of their tuning to capture the physical changes in the digital world, (3) calculation of new modeling parameters values based on the collected filed data and their automated propagation to the digital model. A software module to implement these functionalities was developed, whereas the testing and validation of the module were held for an industrial robotic manipulator for a manufacturing application. The results prove that the methodology is generic to accommodate the desired granularity per case, and that the tuning of the digital model ensures realistic DTs, which sets the foundation for physics-based predictive maintenance tools.

关键词： Manufacturing systems robot simulation applications robotics physics-based modeling parameters tuning

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Blended deformable models

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 1996年第4期18卷 443-448页

作者： DeCarlo, D Metaxas, D Department of Computer & Information Science University of Pennsylvania Philadelphia PA USA

This paper develops a new class of parameterized models based on the linear interpolation of two parameterized shapes along their main axes, using a blending function. This blending function specifies the relative contribution of each component shape on the resulting blended shape. The resulting blended shape can have aspects of each of the component shapes. Using a small number oi additional parameters, blending extends the coverage of shape primitives while also providing abstraction of shape. In particular, it offers the ability to construct shapes whose genus can change. Blended models are incorporated into a physics-based shape estimation framework which uses dynamic deformable models. Finally, we present experiments involving the extraction of complex shapes from range data including examples of dynamic genus change.

关键词： shape representation shape blending shape abstraction shape estimation physics-based modeling

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Virtual reality for assembly methods prototyping: a review

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VIRTUAL REALITY 2011年第1期15卷 5-20页

作者： Seth, Abhishek Vance, Judy M. Oliver, James H. Caterpillar Inc Appl Res Prod Dev Ctr Excellence Peoria IL 61629 USA Iowa State Univ Dept Mech Engn Virtual Real Applicat Ctr Ames IA 50011 USA

Assembly planning and evaluation is an important component of the product design process in which details about how parts of a new product will be put together are formalized. A well designed assembly process should take into account various factors such as optimum assembly time and sequence, tooling and fixture requirements, ergonomics, operator safety, and accessibility, among others. Existing computer-based tools to support virtual assembly either concentrate solely on representation of the geometry of parts and fixtures and evaluation of clearances and tolerances or use simulated human mannequins to approximate human interaction in the assembly process. Virtual reality technology has the potential to support integration of natural human motions into the computer aided assembly planning environment (Ritchie et al. in Proc I MECH E Part B J Eng 213(5):461-474, 1999). This would allow evaluations of an assembler's ability to manipulate and assemble parts and result in reduced time and cost for product design. This paper provides a review of the research in virtual assembly and categorizes the different approaches. Finally, critical requirements and directions for future research are presented.

关键词： Virtual assembly Collision detection physics-based modeling Constraint-based modeling Virtual reality Haptics Human-computer interaction

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modeling and Vibration Suppression of Rotating Machines Using the Sparse Identification of Nonlinear Dynamics and Terminal Sliding Mode Control

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IEEE ACCESS 2024年 12卷 119272-119291页

作者： Piramoon, Sina Ayoubi, Mohammad A. Bashash, Saeid Thermo Fisher Sci Lab Prod Div Santa Clara CA 95054 USA Santa Clara Univ Dept Mech & Aerosp Engn Santa Clara CA 95053 USA San Jose State Univ Dept Mech Engn San Jose CA 95192 USA

This paper presents a novel physics-based data-driven approach for reconstructing the nonlinear governing equations and suppressing vibrations in vertical-shaft rotary machines during transient motion. We first identify the key nonlinear terms using a physics-based methodology. Subsequently, a data-driven approach, known as the Sparse Identification of Nonlinear Dynamical Systems (SINDy), is employed to reconstruct the nonlinear governing equations of a typical rotary machine. After validating the model, a robust nonlinear controller is designed using the terminal sliding mode control (TSMC) technique to reduce lateral vibrations in the machine's shaft. Extensive experimental tests on a laboratory-scale rotary system confirm the stability and robustness of the proposed approach. The results also demonstrate that the proposed method significantly reduces lateral vibrations in rotary machines.

关键词： Vibrations Rotors Mathematical models Nonlinear dynamical systems Transient analysis Computational modeling Analytical models Vibration control Sliding mode control Active vibration control physics-based modeling rotary machines sparse identification of nonlinear dynamics (SINDy) terminal sliding mode control (TSMC)

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Transcapacitances in EPFL HEMT Model

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IEEE TRANSACTIONS ON ELECTRON DEVICES 2020年第2期67卷 758-762页

作者： Jazaeri, Farzan Shalchian, Majid Sallese, Jean-Michel Ecole Polytech Fed Lausanne Electron Device Modeling & Technol Lab EDLAB CH-2000 Neuchatel Switzerland Amirkabir Univ Technol Elect Engn Dept Tehran 158754413 Iran

In this article, we present a closed-form solution for transcapacitances in GaN HEMTs derived from a design-oriented charge-based model of the AlGaAs/GaAs- and AlGaN/GaN-based HEMTs that were recently proposed. The analytical expressions are based on the concept of normalized current and are validated with the technology computer-aided design simulations. This represents an essential step toward the ac analysis of the circuits based on the HEMT devices.

关键词： 2-D electron gas ac GaAs GaN HEMT physics-based modeling quantum well RF transcapacitances

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Analysis of Radiated EMI and Noise Propagation in Three-Phase Inverter System Operating Under Different Switching Patterns

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IEEE TRANSACTIONS ON MAGNETICS 2013年第5期49卷 2213-2216页

作者： Nejadpak, A. Sarikhani, A. Mohammed, O. A. Florida Int Univ Dept Elect & Comp Engn Energy Syst Res Lab Miami FL 33199 USA

In this paper, a numerical model using the finite-element (FE) method was used to predict the electromagnetic interference (EMI) generated by 325-V, 5-kW power inverter, supplying a variable three-phase load. A comparative analysis was performed to evaluate the effects of different switching patterns on the radiated and conducted EMI levels. An experimental setup was arranged to validate the simulation results. The proposed approach is suitable for prediction of radiated and conducted EMI generated by power converters. This helps reduce the post prototype EMC testing cost by minimizing redesign and modifications of final converter product.

关键词： Electromagnetic interference finite-element analysis physics-based modeling power inverter

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Wavelet-based Time-Domain Solutions for Common-Mode Currents on Open-Form Conductors Modeled With Band-Limited Scattering Parameters

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IEEE TRANSACTIONS ON COMPONENTS PACKAGING AND MANUFACTURING TECHNOLOGY 2019年第3期9卷 549-556页

作者： Rahmani, Maryam Mazzola, Michael S. Yarahmadian, Shantia Indiana Univ Purdue Univ Dept Elect & Comp Engn Indianapolis IN 46202 USA Univ N Carolina Dept Elect & Comp Engn William States Lee Coll Engn Charlotte NC 28223 USA Univ N Carolina Charlotte Res Inst Energy Prod & Infrastruct Ctr Charlotte NC 28223 USA Mississippi State Univ Dept Math Starkville MS 39762 USA

One of the technical challenges of future naval surface combatants in utilizing medium-voltage dc distribution systems is common-mode coupling and galvanic isolation for managing faults and personal safety. The behavioral modeling reported in this paper is computationally efficient to be used in modeling distributed common-mode currents and potentials throughout the open-form conductor, which in this case is the ship structure. physics-based modeling is used to form a multiport S-parameter behavioral model of the ship structure that complements the S-parameter models of parasitic paths to grounded equipment enclosures and cables sheaths. A time-domain common-mode conduction example is presented to illustrate the workflow that converts physics-based models of elementary hull elements into a complete S-parameter behavioral model of an arbitrary hull structure with power cables running along it. Because of the measurement and the simulation bandwidth limitation, the frequency domain model based on S-Parameters is band-limited. A novel approach for reconstructing the system impulse response in the time domain from its band-limited S-parameter model is introduced using continuous wavelet transform utilizing fast Fourier transform.

关键词： Behavioral modeling common-mode currents continuous wavelet transform (CWT) medium voltage dc distribution (MVDC) multiport S-parameters physics-based modeling

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Hybrid modeling of multibody vehicles with partially known physics: discovering complex behaviors of tires

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MULTIBODY SYSTEM DYNAMICS 2024年 1-32页

作者： Askari, Ehsan Gorgoretti, Davide Crevecoeur, Guillaume Univ Ghent Dept Electromech Syst & Met Engn B-9052 Ghent Belgium Flanders Make MIRO Core Lab B-3920 Lommel Belgium Siemens Digital Ind Software Interleuvenlaan 68 B-3001 Leuven Belgium

There are multibody systems whose physics are partially known owing to their complexity and nonlinearity. Therefore, motion equations are not utterly available to be utilized for the prediction, control, design, and monitoring of these systems. To alleviate this issue, this study aims at developing a hybrid modeling procedure to discover respective unidentified physics and, subsequently, provide a holistic governing model of the original mechanism. For approach development, a vehicle with unmodeled tires is thoroughly considered in this research work. Tires profoundly impact the dynamics of vehicles, influencing their handling, drivability, and ride comfort. Advanced chassis control systems used to improve vehicles' safety, performance, and reliability also require knowledge of tire behavior. Nevertheless, tires are very challenging to model as they are very complex and nonlinear components. Although simplified models are often employed, they are incapable of fully capturing tire behaviors. Using neural networks, i.e., black-box models, of the tire represents a common alternative. However, these approaches do not work outside the training data distribution, and they need costly and hard-to-measure experimental data for training purposes. Thus, this research study proposes a hybrid method by combining partially known physics of vehicle dynamics and a neural network to compensate for the unknown physics of tires. The developed approach learns the tire dynamics automatically from vehicle responses without requiring costly measured tire forces but solely relying on signals from an inertial measuring unit. The suggested methodology is validated experimentally, providing accurate and stable results. The time-depending behaviors of tires during cornering are also discovered and reported. The developed model is generic and can handle either linear or nonlinear physics-based models. However, the linear tire model integrated into the hybrid procedure in this study limits the

关键词： Hybrid modeling Multibody systems Tire lateral forces physics-based modeling Data-driven modeling Cornering stiffness

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Machine Learning for Cardiovascular Biomechanics modeling: Challenges and Beyond

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ANNALS OF BIOMEDICAL ENGINEERING 2022年第6期50卷 615-627页

作者： Arzani, Amirhossein Wang, Jian-Xun Sacks, Michael S. Shadden, Shawn C. No Arizona Univ Dept Mech Engn Flagstaff AZ 86011 USA Univ Notre Dame Dept Aerosp & Mech Engn Notre Dame IN 46556 USA Oden Inst Computat Engn & Sci James T Willerson Ctr Cardiovasc Modeling & Simua Austin TX USA Univ Texas Austin Dept Biomed Engn Austin TX USA Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

Recent progress in machine learning (ML), together with advanced computational power, have provided new research opportunities in cardiovascular modeling. While classifying patient outcomes and medical image segmentation with ML have already shown significant promising results, ML for the prediction of biomechanics such as blood flow or tissue dynamics is in its infancy. This perspective article discusses some of the challenges in using ML for replacing well-established physics-based models in cardiovascular biomechanics. Specifically, we discuss the large landscape of input features in 3D patient-specific modeling as well as the high-dimensional output space of field variables that vary in space and time. We argue that the end purpose of such ML models needs to be clearly defined and the tradeoff between the loss in accuracy and the gained speedup carefully interpreted in the context of translational modeling. We also discuss several exciting venues where ML could be strategically used to augment traditional physics-based modeling in cardiovascular biomechanics. In these applications, ML is not replacing physics-based modeling, but providing opportunities to solve ill-defined problems, improve measurement data quality, enable a solution to computationally expensive problems, and interpret complex spatiotemporal data by extracting hidden patterns. In summary, we suggest a strategic integration of ML in cardiovascular biomechanics modeling where the ML model is not the end goal but rather a tool to facilitate enhanced modeling.

关键词： Scientific machine learning Data-driven modeling physics-based modeling Deep learning Hemodynamics

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Power and force limiting on industrial robots for human-robot collaboration

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2019年 59卷 346-360页

作者： Aivaliotis, P. Aivaliotis, S. Gkournelos, C. Kokkalis, K. Michalos, G. Makris, S. Univ Patras Lab Mfg Syst & Automat Patras 26504 Greece

This paper proposes a method for limiting the forces applied by an industrial robotic manipulator by detecting the collision with its surroundings without the use of external sensors. Using time-invariant dynamic models and supervised feedforward input-delay neural networks on signal processing, the required current signals for a certain arm trajectory are predicted. The predicted nominal current signals are compared with the actual current signals of the motors that are continuously measured by the robot controller. The discussed models can be extended for application in the implementation of human robot collaborative applications. The proposed approach has been implemented on an industrial robot with 6 degrees of freedom and the results of the experiments show the efficiency of the power and force limiting approach.

关键词： Human-robot collaboration Robotic safety physics-based modeling

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