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Automated Disassembly Sequence Prediction for Industry 4.0 Using Enhanced Genetic Algorithm

Computers, Materials & Continua 2021年第11期69卷 2531-2548页

作者： Anil Kumar Gulivindala M.V.A.Raju Bahubalendruni R.Chandrasekar Ejaz Ahmed Mustufa Haider Abidi Abdulrahman Al-Ahmari Department of Mechanical Engineering Industrial Robotics and Manufacturing Automation LaboratoryNational Institute of TechnologyKariakal609609India Department of Computer Science Engineering National Institute of TechnologyKariakal609609India Raytheon Chair for Systems Engineering Advanced Manufacturing InstituteKing Saud UniversityRiyadh11421Saudi Arabia Industrial Engineering Department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The evolution of Industry 4.0 made it essential to adopt the Internet of Things(IoT)and Cloud Computing(CC)technologies to perform activities in the new age of *** technologies enable collecting,storing,and retrieving essential information from the manufacturing *** collected at sites are shared with others where execution automatedly *** obtained information must be validated at manufacturing to avoid undesirable data losses during the de-manufacturing ***,information sharing from the assembly level at the manufacturing stage to disassembly at the product end-of-life state is a major *** current research validates the information optimally to offer a minimum set of activities to complete the disassembly *** optimal disassembly sequence plan(DSP)can possess valid information to organize the necessary actions in ***,finding an optimal DSP is complex because of its combinatorial *** genetic algorithm(GA)is a widely preferred artificial intelligence(AI)algorithm to obtain a near-optimal solution for the DSP *** converging nature at local optima is a limitation in the traditional *** study improvised the GA workability by integrating with the proposed priori crossover *** optimality function is defined to reduce disassembly effort by considering directional changes as *** enhanced GA method is tested on a real-time product to evaluate the *** obtained results reveal that diversity control depends on the operators employed in the disassembly *** proposed method’s solution can be stored in the cloud and shared through IoT devices for effective resource allocation and disassembly for maximum recovery of the *** effectiveness of the proposed enhanced GA method is determined by making a comparative assessment with traditional GA and other AI methods at different population sizes.

关键词： automation internet of things disassembly sequence planning priori cross over operator enhanced GA disassembly predicates

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Gesture Control Method for Oral Blood Mixed Liquid Removal Robot∗ 5

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

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5th World Robot Conference Symposium on advanced robotics and automation, WRC SARA 2023

作者： Ma, Xudong Kuang, Ziao Li, Han Chen, Anqi Li, Changsheng Liu, Wenyong Wang, Junchen Hu, Yida David Gao, Li Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Beijing University of Posts and Tele-communications School of Computer Beijing100876 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States Peking University School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Stomatological Center Department of Periodontology Beijing China

ISBN: (纸本)9798350307320

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it's demonstrated that an oral surgeon controls the robot's motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal. © 2023 IEEE.

关键词： Blood

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Design of magnetorheological brake with adjustable interdigitated comb for lower limb prostheses and exoskeletons *

Design of magnetorheological brake with adjustable interdigi...

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IEEE International Conference on robotics and Biomimetics

作者： Qiuyu Shi Xuan Zhao Haisu Liao Yongji Lin Ruisen Huang Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Shatin China

Magnetorheological (MR) fluids-based devices such as MR dampers and brakes can output a continuously controllable damping force via modulating the magnitude of the applied magnetic field. Owing to low energy consumption and fast response, recently vast MR dampers and brakes are widely studied and explored for lower limb prostheses and exoskeletons. This paper proposed a novel MR brake with adjustable interdigitated comb for lower limb prostheses. Through actively adjusting the area the of the comb engagement, the maximum viscous and field-induced damping torque can be increased or decreased. Because of that, the dynamic adjustment interval of the output damping torque can be increased to meet the function requirements of the prosthetic knee in different walking modes. Magnetic analysis via ANSYS is performed to check the magnetic density of the MR fluid under different excitations. Mathematical models of the damping torque are built. Finally, a prototype of the novel MR brake is fabricated.

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A framework for human-exoskeleton interaction based on sEMG interface and electrotactile feedback

A framework for human-exoskeleton interaction based on sEMG ...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Duan, Shengcai Wang, Can Li, Mengyao Su, Zhilong Liu, Jiaqing Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical and Automation Engineering Chinese University of Hong Kong

ISBN: (纸本)9781665436786

The lower extremity rehabilitation exoskeleton provides a priceless opportunity for paraplegics to stand up and walk normally. In this paper, a framework for human-exoskeleton interaction with sEMG interface and electrotactile feedback is presented. Firstly, the exoskeleton recognises human motion intention through the Long Short Term Memory (LSTM) Neural Network based on surface electromyogram (sEMG). Secondly, electrotactile based on spatiotemporal coding scheme feeds back the exoskeleton states to the sensory skin, as a compensation for paraplegic's absent proprioception in lower limbs. Thirdly, physiological information, i.e. muscle fatigue, of arms is monitored and quantified with sEMG. Three healthy subjects participate the experiments including the motion intention recognition experiment, electrotactile perception experiment and online exoskeleton experiment. The online exoskeleton experiments demonstrate the feasibility and efficiency of the proposed framework. Furthermore, it is proved experimentally that the performance of collaborative control in rehabilitation human-exoskeleton interaction can be facilitated via the framework. © 2021 IEEE.

关键词： Long short-term memory

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A smart wearable device for capturing biomechanical energy from human knee motion

A smart wearable device for capturing biomechanical energy f...

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IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Hugo Hung-Tin Chan Haisu Liao Xuan Zhao Junrui Liang Wei-Hsin Liao Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin Hong Kong China School of Information Science and Technology ShanghaiTech University Shanghai China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Sustainable power supply is a challenge for portable and wearable electronic devices such as cell phones and headsets. To address this, researchers proposed capturing biomechanical energy from human motion to generate electricity. This paper proposed and developed a lightweight wearable device to capture the biomechanical energy from the human knee motion. To reduce the effect of inertial force on human gait, we developed a lightweight and compact transmission chain to convert the bidirectional rotation of the knee to a unidirectional rotation of the generator. Two input bevel gears with opposite one-way bearings on the same shaft are engaged with a single output bevel gear of the generator thereby only one input bevel gear is engaged for each input direction, achieving unidirectional output. In addition, to reduce velocity fluctuation and further minimize the effect of inertial force, a flywheel was fixed to the motor shaft via a gearbox. A prototype of the wearable device was developed and tested on a subject walking on a treadmill. Experimental results shows the flywheel enabled the harvester to achieve a continuous output while halving voltage fluctuations compared to a conventional harvester. The harvesters average power output can reach 0.11 W with minimal effects on the subject’s walking gait.

关键词： Knee Legged locomotion Biomechanics Shafts Fluctuations Voltage fluctuations Torque

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Paper-Based Microfluidic Chips for Wide Time Range Fluid Control Based on Knife Crafting and Laser Cutting

SSRN

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SSRN 2024年

作者： Zhong, Songyi Xue, Liqian Wang, Yue Liu, Na Li, Long Zhang, Quan Yue, Tao School of Mechatronics Engineering and Automation Shanghai University Shanghai200444 China School of Future Technology Shanghai University Shanghai200444 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200444 China Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province Hangzhou310058 China

In recent years, paper-based microfluidic chips have emerged as a promising microfluidic platform due to their simplicity, low cost, portability, and ease of fabrication. They have been applied in various fields such as biological analysis, environmental monitoring, and medical diagnostics. However, the current paper-based chips made of nitrocellulose membrane still can be improved in liquid flow rate control. To address these issues, a novel paper-based microfluidic chip is designed to control liquid in a wide time range, and the liquid delay and acceleration control are realized by laser cutting and knife crafting respectively. Microfluidic chip’s hydrophobic boundaries can be manufactured in a one-step process using laser cutting, taking less than 10 seconds. Additionally, the structural parameters of microgrooves, which have a significant impact on flow rate, can be precisely controlled using a scalpel-based cutting platform. This enables efficient and consistent microgroove processing. Furthermore, experimental optimization of laser cutting and knife crafting parameters is performed, along with an exploration of factors influencing the delay and acceleration effects in the chip structures. The effectiveness of these processing methods is validated through practical applications. In summary, this study realizes a wide time range fluid control in paper-based microfluidic chips, which can achieve delay and acceleration in the range of −57.8% to +828.3%, thus expanding the application range of paper-based microfluidic chips. © 2024, The Authors. All rights reserved.

关键词： Microfluidic chips

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A Vision-Based Two-Stage Fruit Outer Diameter Detection Method

A Vision-Based Two-Stage Fruit Outer Diameter Detection Meth...

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IEEE International Conference on robotics and Biomimetics

作者： Yifei Hao Shuaizheng Yan Zhengxing Wu Bingwei He Chenghua Li Junzhi Yu Department of Mechanical Engineering Fuzhou University Fuzhou China Laboratory of Cognitive and Decision Intelligence for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Key Laboratory of Cognition and Decision Intelligence for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Guangzhou Shenghui Cleaning Service Co. Ltd. Guangzhou China Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems BIC-ESAT College of Engineering Peking University Beijing China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Regarding the mobile monitoring system in agricultural automation, the outer diameter monitoring of greenhouse vegetables has significant implications for accurately regulating fruit growth and cultivation plans. In this paper, a novel vision-based two-stage outer diameter detection method is proposed, including the segmentation and outer diameter calculation of greenhouse tomato images. To address the issues of multiple tomatoes in a single image and the similarity in color between tomatoes and the background, a YOLOv8 network embedded with convolutional block attention module is constructed for detection and segmentation in the first stage. Additionally, to solve the problem of inaccurate outer diameter detection caused by different tomato poses and pedicles, a defined central axis method is proposed, which can adaptively filter out the maximum outer diameter candidates and calculate accurate values utilizing depth information in the world coordinate system. The backbone network is fine-tuned on the pre-trained YOLOv8 model with 1000 tomato images. Extensive measurement experiments, involving 215 tomatoes in 80 images, is conducted to validate the effectiveness of our proposed approach. Compared to the ground truth, we obtain a measurement error of 4.27 mm, the coefficient of determination value R2 is 0.9349.

关键词： Image segmentation Measurement errors Adaptation models automation Image color analysis Robot kinematics Biomimetics Adaptive filters Information filters Monitoring

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Lateral Walking Gait Phase Detection with Data Optimization for a Hip Exoskeleton in Resistance Exercise

Lateral Walking Gait Phase Detection with Data Optimization ...

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IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Wujing Cao Xinbo Zhu Rui Xu Changyu Li Hongliu Yu Mingming Zhang Haoyong Yu Worawarit Kobsiriphat Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society and SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. College of Automation Engineering Nanjing University of Aeronautics and Astronautics Jining Zhongke Intelligent Technology Co. Ltd. University of Shanghai for Science and Technology Southern University of Science and Technology Department of Biomedical Engineering National University of Singapore. National Metal and Materials Technology Center Thailand

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

The accurate detection of lateral walking gait phases is essential for the effective implementation of hip exoskeleton systems in lateral resistance walking exercises. However, limitations in hardware, such as memory and computing power, in the microcontrollers of wearable devices, significantly impact the size and training speed of the lateral walking gait phase detection model, thus affecting the exoskeleton system. This study proposes a data optimization algorithm that utilizes K-means clustering combined with commonly used machine learning algorithms, including Random Forests (RF), Support Vector Machines (SVM), and k-Nearest Neighbors (KNN), to reduce both the training time and size of the model. With the implementation of this algorithm, the training time and model size of RF, SVM, and KNN-based models are reduced by 89.6%, 99.8%, and 97.9%, and 89.6%, 92.7%, and 95.2% respectively. The corresponding gait phase prediction accuracy experiences only a slight decrease of 1.6%, 1.7%, and 2.8% respectively. This method ensures a sufficiently high accuracy in detecting lateral walking gait phases while simultaneously achieving higher efficiency and a smaller model size.

关键词： Legged locomotion Training Support vector machines Solid modeling Machine learning algorithms Accuracy Exoskeletons

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Multiple Functions Printed Circuit Triboelectric Nanogenerators-Based Metauniverse Sport Interactive System

SSRN

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SSRN 2023年

作者： Zhu, Yongsheng Zhao, Tianming Sun, Fengxin Jia, Changjun Ye, Hui Jiang, Yawei Wang, Kuo Huang, Chaorui Xie, Yannan Mao, Yupeng Physical Education Department Northeastern University Shenyang110819 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China Key Laboratory for Organic Electronics and Information Displays Institute of Advanced Materials Jiangsu Key Laboratory for Biosensors Jiangsu National Synergetic Innovation Center for Advanced Materials Nanjing University of Posts and Telecommunications Jiangsu Nanjing China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China College of Information Science and Engineering Northeastern University Shenyang China School of Strength and Conditioning Training Beijing Sport University Beijing China

Metauniverse is a future society based on the convergence of the physical and the digital world, which is fully indebted to the sophisticated human-machine interface (HMI) to connect the two worlds. In this study, a metauniverse sport interactive system based on TENG has been developed, realizing interaction with human beings, devices, and the internet in real-time. This metauniverse sport interactive system is consistent with a self-powered anaerobic power meter (APM), a wireless transmission module, personalized data analysis based on the professional Wingate anaerobic power test method, and an augmented reality (AR) application. Self-powered APM is integrated with the axles of the bicycle to monitor human exercises, such as peak power (PP), mean power (MP), and fatigue index (FI). The data is transmitted to the cloud by the wireless transmission module and users can freely explore the metauniverse through the AR application. As a result of machine learning, the professional Wingate anaerobic power test method can not only reflect the anaerobic capacity, but also be used for athlete selection. This work provides a new approach to online competitions, sport training, and athlete selection and provides a new way to build metauniverse. © 2023, The Authors. All rights reserved.

关键词： Human computer interaction

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The measuring ZMP of self-balancing exoskeleton robot is calibrated by using the neural network

The measuring ZMP of self-balancing exoskeleton robot is cal...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Xu, Yang Xiao, Yang Ma, Yue Zheng, Liangsheng He, Yong Chongqing University of Posts and Telecommunications School of Automation Chongqing400065 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665436786

The exoskeleton robot is an auxiliary device to help the disabled people walk, and the self-balancing exoskeleton robot is one which is to keep balance without the assistance of external crutches. In order to keep the balance of the self-balancing exoskeleton robot, it is necessary to get the position of the Zero Moment Point by measuring the pressure of the footplate, and make the position of ZMP in range of supporting area. In this experiment, the footplate is used with the double-deck structure, this structure is compared with the single-deck structure, the double-dack structure will not lose the information of the collected ZMP without direct touch with the sensor, and it is lighter than another structure with dozens of sensors. But there is an inevitable structural coupling in the double-deck structure, which makes the ZMP have a large measurement error. In order to solve this problem, a novel idea is proposed, with the help of the powerful processing and learning capabilities of the neural network, four kinds of neural networks are used to calibrate measured position of ZMP so that reducing error of the measured ZMP. By comparing position of the actual ZMP before and after the calibration with the ideal position of ZMP and computing the errors to judge the effect of the calibration. Through experimental comparison, it is concluded that the different neural networks eliminate error of the measured ZMP in different extent. When the GRNN neural network is used to calibrate position of ZMP, the effect is the most ideal. © 2021 IEEE.

关键词： Errors

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