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Critical Component Identification in Hovercraft assembly Through FMEA 10

Critical Component Identification in Hovercraft assembly Thr...

10th International Conference on Emerging Trends in Engineering and technology - Signal and Information Processing, ICETET-SIP-22 2022

作者： Nakandhrakumar, R.S. Ramakrishnan, M. Dinesh Kannan, K. Anand, Gopi Sidharthan, K. Venkatasamy, Ramkumar Centre for Automation and Robotics Hindustan Institute of Technology and Science Department of Mechanical Engineering Chennai603103 India Hindustan Institute of Technology and Science Department of Mechanical Engineering Chennai603103 India

ISBN: (纸本)9781665467414

The goal of this study is to use the proactive procedure to categorize the failure, which likely to occur in hovercraft assembly. First, the hovercraft model is developed for standard sizes to identify the critical component through FMEA concept. This involves predicting critical component through SOD analysis and defining by RPN for all failure modes in the regular monitoring and replacement of parts. The conventional FMEA provides prioritization to the mating components by giving higher values for severity, occurrence and detection indexes. Many a time experts may disagree in the ranking index due to condition status of the component. In this project work, the attempt made to give range of values through which higher values to be given with more focus and lower values can be allowed to run further and further moderate values to be used for regular monitoring. This approach offers an effective way for such complicated assembly with much limited or unreliable data. © 2022 IEEE.

关键词： Information processing Market research Indexes Monitoring Standards

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Offline Deep Reinforcement Learning Two-stage Optimization Framework Applied to Recommendation Systems

Offline Deep Reinforcement Learning Two-stage Optimization F...

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第43届中国控制会议

作者： Yihua Jiang Qi Liu Yanjie Li Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics and School of Mechanical Engineering and Automation the Harbin Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Most traditional recommendation systems(RS) improve the model structure to obtain valid user behavior representation and make better recommendations. However, limited by the scale of the model, the model cannot accommodate an extended range of user historical data and cannot effectively extract long-term preferences. Reinforcement learning(RL) aims to maximize the cumulative return. Introducing RL can smoothly solve the long-term and short-term profit balance. However, there are specific problems with the direct combination of the two. Training RS that relies on offline user data will cause the strategy to suffer from an overestimation of action and distribution shift. Unlike the traditional RL environment, the ample space of the RS will also cause problems of insufficient exploration and sparse rewards, making the policy more difficult to learn. In response to the above issues, this work proposes an offline RL two-stage optimization framework. The framework consists of an offline RL method based on unknown behavior to alleviate the problem of action overestimation and a two-stage feature optimization training method to reduce the impact of large spaces. Experimental results prove that the method proposed in this article can effectively improve the long-term recommendation ability of the model and more effectively improve the model performance than the general offline RL algorithm.

关键词： Recommendation Systems Overestimation of Actions Distribution Shift Deep Reinforcement Learning Two-stage Feature Optimization

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A Robust Adaptive Terminal Sliding Mode Control for Lane-keeping in Road Vehicles

A Robust Adaptive Terminal Sliding Mode Control for Lane-kee...

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2023 International Conference on Advanced Mechatronic Systems, ICAMechS 2023

作者： Ge, Zhikang Wang, Zhuo Bai, Xiaoping Wang, Xiaoxiong Man, Zhihong Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences School of Computer Science and Technology Beijing China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Swinburne University of Technology Faculty of Science Engineering and Technology Melbourne Australia

ISBN: (纸本)9798350307474

In this paper, a novel adaptive terminal sliding-mode control (ATSMC) method is developed for road vehicles with uncertain dynamics. It is shown that the designed adaptive laws can recursively update the controller parameters based on the estimation values of the unknown parameter bound in the Lyapunov sense, and then the lateral position error can be driven to zero in a finite time. In comparison to the conventional sliding-mode-based vehicle lateral control method, the proposed ATSMC not only ensures fast error convergence, but also eliminates the requirement for known bounded information in controller design. Simulation results are presented to demonstrate the good performance of the proposed ATSMC scheme. © 2023 IEEE.

关键词： Sliding mode control

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Action recognition through fusion of sEMG and skeletal data in feature level

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Journal of Ambient Intelligence and Humanized Computing 2022年第9期13卷 4125-4134页

作者： Wang, Xinming Ding, Weili Bian, Shuangshuang Liu, Honghai Department of Automation Institute of Electrical Engineering Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Yanshan University 438 West of Hebei Avenue Haigang District Qinhuangdao066004 China School of Mechanical Engineering and Automation State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Nanshan District Shenzhen518055 China

Human action can be recognized through a unimodal way. However, the information obtained from a single mode is limited due to the fact that a single mode contains only one type of physical attribute. Therefore, it is motivational to improve the accuracy of actions through fusion of two different complementary modality, which are the surface electromyography (sEMG) and the skeletal data. In this paper, we propose a general framework of fusion of sEMG signals and skeletal data. Firstly, vector of locally aggregated descriptor (VLAD) was extracted from sEMG sequences and skeletal sequences, respectively. Secondly, features obtained from sEMG and skeletal data are mapped through different weighted kernels using multiple kernel learning. Finally, the classification results are obtained through the model of multiple kernel learning. A dataset of 18 types of human actions is collected via KinectV2 and Thalmic Myo armband to verify our ideas. The experimental results show that the accuracy of human action recognition are improved by combining skeletal data with sEMG signals. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Musculoskeletal system

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Canonical Forms in Problems of Estimation

Canonical Forms in Problems of Estimation

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2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Zhirabok, Alexey Zuev, Alexader Shumsky, Alexey Far Eastern Federal University Department of Automation and Robotics Vladivostok Russia Institute of Marine Technology Problems Department of Artifitial Intelligent Control Vladivostok Russia Far Eastern Federal University Department of Management Vladivostok Russia

ISBN: (纸本)9781665475952

The methods of solving the problems of estimation based on the identification and Jordan canonical forms are suggested. The interval observer, virtual sensor, and sliding mode observer design problems are considered. The methods to solve these problems are developed both for the continuous-time and the discrete-time linear systems under the external disturbance and measurement noise. All the developed methods are based on the reduced order model of the original system invariant with respect to the disturbance. It is shown that the identification canonical form is the best way to solve the problem for the discrete-time systems while Jordan canonical form for the continuous-time systems. © 2023 IEEE.

关键词： Continuous time systems

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Customized Touch UI Development for E-Cockpit in Automobile 3

Customized Touch UI Development for E-Cockpit in Automobile

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3rd International Conference on Smart Technologies, Communication and robotics, STCR 2023

作者： Sivaraj, D. Rathika, P.D. Jayasree, D. Dwarkesh Psg College of Technology Department of Electronics and Communication Engineering Coimbatore India Psg College of Technology Department of Robotics and Automation Engineering Coimbatore India Psg Polytechnic College Department of Electronics and Communication Engineering Coimbatore India Psg College of Technology Department of Computer Science and Engineering Coimbatore India

ISBN: (纸本)9798350370867

In recent times, the automotive industry has made significant steps towards digitization by focusing on electronic cockpits (E-Cockpits) to enhance the driving experience, comfort and safety. The incorporation of Touch-Based User Interface (UI) technologies has played a crucial role in revolutionizing Driver-Vehicle interaction [10]. The project of E-Cockpit represents a concept that consolidates various internal car systems onto one unified digital platform, enabling seamless control and access to essential infotainment, safety features, and connectivity services [14]. For the realization of the complete potential of an E-Cockpit, it is important to develop an innovative and User-Friendly touch UI as this directly influences both user experience and safety concerns. © 2023 IEEE.

关键词： User interfaces

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Improved YOLOv5s Network for Traffic Object Detection with Complex Road Scenes 13

Improved YOLOv5s Network for Traffic Object Detection with C...

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13th IEEE International Conference on CYBER technology in automation, Control, and Intelligent Systems, CYBER 2023

作者： Cao, Yi Wang, Yuning Fan, Huijie Dalian University of Technology Faculty of Vehicle Engineering and Mechanics Da Lian China Unit 32681 PLA Tieling China Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350315196

Aiming at the problems of low target detection accuracy and prone to false detection and missed detection in complex traffic scenes, a road target detection algorithm based on improved YOLOv5s is proposed. Firstly, a feature extraction layer based on Spatial Pyramid Pooling(SPP) is adopted for increasing shallow feature receptive fields named as Multi-scale SPP module (M-SPP). M-SPP is designed to fully integrate feature information of different scales for improving feature extraction ability of our network. Secondly, a Global Context Attention Module(GCAM) is proposed, in focusing on important features in channel and spatial dimensions, allowing the network to focus on more useful information. Finally, experimental results show that detection accuracy of the improved YOLOv5s model we proposed on the UA-DETRAC dataset, compared with the original algorithm, improved by 1.83% and 2.54% respectively. Our improved model abtain good detection accuracy while ensuring real-time performance, and solves problem of missed detection and false detection of small targets in complex road scenes to a certain extent. © 2023 IEEE.

关键词： Feature extraction

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Investigations on Dry Sliding Wear Behavior of Hybrid Long Sisal-Jute Fibers Polymer Composites

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Journal of Harbin Institute of technology(New series) 2025年

作者： G.T Danappa K Rajesh R Suresh Department of Mechanical Engineering Government Engineering College Department of Robotics and Automation Symbiosis Institute of Technology Department of Mechanical Engineering M.S.Ramaiah University of Applied Sciences

The study aims to analyze the synergistic effect of hybrid fiber reinforcements on wear resistance of epoxy based natural fiber reinforced polymer composites(NFPCs). The study employed jute and sisal fibers as *** distinct reinforcements were incorporated in equal percentages to each type of composite sample. Five distinct composite specimens were identified as follows:NFPC-8 (containing4%sisal and jute fibers each),NFPC-16(containing8%sisal and jute fibers each),NFPC-24 (containing12%sisal and jute fibers each),NFPC-32 (containing16%sisal and jute fibers each),and epoxy(EP)(containing0%reinforcements). The hand layup technique was used for developing hybrid natural composites. In accordance with ASTM G99,pin-on-disc wear test rig was used for the dry sliding wear tests. The effect of applied load and sliding velocities on wear volume loss and specific wear rate was studied. The obtained results indicated that wear volume and specific wear rate are significantly affected by applied load and sliding velocity. NFPC-32composite exhibited minimum wear loss and specific wear rate compared to other specimens. Besides,wear loss and specific wear rate were found to increase with the increase in applied load owing to the high contact stress at counterface during sliding. Further,wear volume and specific wear rate have increased with the increase in sliding velocity. It may be due to the fact that,high shearing force has resulted in sheared transfer layer at higher velocity. Worn surface analysis using scanning electron microscopy images shown the evidence of fragmented fibers and their pull out.

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A loading path planning method for co-loading in automatic harvesting system

A loading path planning method for co-loading in automatic h...

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2023 International Conference on Advanced Mechatronic Systems, ICAMechS 2023

作者： Wang, Xiaoxiong Wang, Zhuo Bai, Xiaoping Ge, Zhikang Wang, Jian Man, Zhihong Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences School of Computer Science and Technology Beijing China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Swinburne University of Technology Faculty of Science Engineering and Technology Melbourne Australia

ISBN: (纸本)9798350307474

In this paper, a path planning method is developed for co-loading in master-slave automatic harvesting. It is shown that, the adjustment of the unloading port position relative to the grain tank can be performed jointly by the longitudinal relative position between the vehicles and the angle of the unloading arm. Then the loading path based on the Hamiltonian circuit is designed to guide the motion of the unloading port during the loading process. By improving the loading uniformity, the loading path proposed can maximize the capacity utilization of grain tank which can reduce the round-trip frequency of the transport vehicle and improve the energy and time efficiency of the harvesting operation. Simulation results are provided to validate the excellent performance of presented path planning method. © 2023 IEEE.

关键词： Motion planning

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Ensuring Kinematic Feasibility for Mobile Manipulators in Industrial Assembly: A Behavior Tree Based Approach

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Procedia Computer Science 2025年 253卷 1848-1859页

作者： Kapil Deshpande Sharath Chandra Akkaladevi Matthias Propst Michael Hofmann Andreas Pichler George Alexakis Profactor GmbH https:// www. profactor. at/ Robotics and Automation Systems Group Steyr-4400 Austria Foundation for Research and Technology—Hellas 711 10 Heraklion Greece

This paper describes a robot agnostic approach to ensure kinematic feasibility of a mobile manipulator. In this work a mobile manipulator’s ability to pick and place tools on a shop floor has been presented, where the two tasks are hindered by accurate movement of the platform and the joint limits of the manipulator combined with less coordination between the platform navigation controller and the manipulation controller. The robotic platform presented in this paper uses two motion planners one for the manipulator and the other for the platform. The planner for the manipulator takes into consideration current position of the platform and its joint limits to plan motion to a 3D location which may be sometimes unreachable. Similarly, if the navigation errors of the platform are quite high the feasibility of the arm to perform pick and place task is significantly reduced. Therefore use of these two independent planner results in sub-optimal solutions. To pro-actively help both the planners this paper describes a Behavior Tree (BT) based forward simulation technique in-order to plan ahead for the task by finding suitable platform stopping position while also re-actively avoiding object detection, pick and place failures by performing dynamic manipulation planning. This paper also validates such forward simulation technique with a mobile manipulator operating in an automotive human robot collaboration scenario.

关键词： Collaborative Robots Mobile Manipulators Automotive Assembly Pick Place Tasks

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