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Base position planning of mobile manipulators for assembly tasks in construction environments

Advances in Manufacturing 2023年第1期11卷 93-110页

作者： Dai-Jun Xie Ling-Dong Zeng Zhen Xu Shuai Guo Guo-Hua Cui Tao Song Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai200444People’s Republic of China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai200444People’s Republic of China School of Mechanical and Automotive Engineering Shanghai University of Engineering ScienceShanghai201620People’s Republic of China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai201620People’s Republic of China

With good mobility and flexibility,mobile manipulators have shown broad applications in construction *** position(BP)planning,which refers to the robot autonomously determining its working station in the environment,is an important technique for mobile manipulators when performing the construction assembly task,especially in a large-scale construction ***,the BP planning process is tedious and time-consuming for a human worker to carry ***,to improve the efficiency of construction assembly tasks,a novel BP planning method is proposed in this paper,which can lead to appropriate BPs and minimize the number of BPs at the same ***,the feasible BP regions are generated based on the grid division and the variable workspace of the mobile ***,the positioning uncertainties of the mobile manipulator are considered in calculating the preferred BP areas using ***,a set coverage optimization model is established to obtain the minimum number of BPs using an optimization algorithm according to the greedy *** simulated experiment based on a 9-degree of free(DoF)mobile manipulator has been *** results illustrated that the time for BP planning was significantly reduced and the number of BPs was reduced by 63.41%compared to existing manual planning,which demonstrated the effectiveness of the proposed method.

关键词： Base position(BP)planning Mobile manipulators Variable workspace Positioning uncertainties Construction environments

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The Impact of Domain Name Server(DNS)over Hypertext Transfer Protocol Secure(HTTPS)on Cyber Security:Limitations,Challenges,and Detection Techniques

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Computers, Materials & Continua 2024年第9期80卷 4513-4542页

作者： Muhammad Dawood Shanshan Tu Chuangbai Xiao Muhammad Haris Hisham Alasmary Muhammad Waqas Sadaqat Ur Rehman Faculty of Information Technology Beijing University of TechnologyBeijing100124China National Center of Robotics and Automation University of Engineering and TechnologyPeshawar25000Pakistan Department of Computer Science College of Computer ScienceKing Khalid UniversityAbha61421Saudi Arabia School of Computing and Engineering Sciences Faculty of Engineering and ScienceUniversity of GreenwichLondonSE109LSUnited Kingdom School of Engineering Edith Cowan UniversityPerthWA 6027Australia School of Computer Science and Engineering University of SalfordManchesterM54BRUnited Kingdom

The DNS over HTTPS(Hypertext Transfer Protocol Secure)(DoH)is a new technology that encrypts DNS traffic,enhancing the privacy and security of ***,the adoption of DoH is still facing several research challenges,such as ensuring security,compatibility,standardization,performance,privacy,and increasing user *** significantly impacts network security,including better end-user privacy and security,challenges for network security professionals,increasing usage of encrypted malware communication,and difficulty adapting DNS-based security ***,it is important to understand the impact of DoH on network security and develop newprivacy-preserving techniques to allowthe analysis of DoH traffic without compromising user *** paper provides an in-depth analysis of the effects of DoH on *** discuss various techniques for detecting DoH tunneling and identify essential research challenges that need to be addressed in future security ***,this paper highlights the need for continued research and development to ensure the effectiveness of DoH as a tool for improving privacy and security.

关键词： DNS DNS over HTTPS cybersecurity machine learning

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An improved memetic algorithm for multi-objective resource-constrained flexible job shop inverse scheduling problem: An application for machining workshop

An improved memetic algorithm for multi-objective resource-c...

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作者： Wei, Shupeng Tang, Hongtao Li, Xixing Lei, Deming Wang, Xi Vincent School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan China Hubei Provincial Engineering Research Center of Robotics and Intelligent Manufacturing Wuhan China School of Mechanical Engineering Hubei University of Technology Wuhan China School of Automation Wuhan University of Technology Wuhan China Department of Production Engineering KTH Royal Institute of Technology Sweden

Resource-constrained flexible job shop scheduling problems are commonly encountered in some manufacturing industries, and have been widely studied in recent years. However, traditional resource constrained flexible job shop scheduling problem rarely consider the uncertainties in actual manufacturing systems, which may make the original schedule become suboptimal or even unfeasible. Therefore, a resource constrained flexible job shop inverse scheduling problem (RCFJISP) is proposed in this paper, which aims to cope with uncertain events by simultaneously adjusting the machine, worker and process parameters of the original schedule. A multi-objective optimization model is constructed to minimize the makespan, worker cost, machine energy consumption and deviation index. Furthermore, an improved memetic algorithm (IMA) is developed for solving the proposed problem. In IMA, a novel double-layer encoding mechanism is designed to enhance the capacity in exploring new solution's domains. Three initialization strategies utilizing original scheduling information are designed to improve the quality of initial solutions. An adaptive mutation strategy and a local search mechanism are designed to enhance exploration and exploitation ability of the algorithm. And a crowding operator is proposed to reflect the diversity of the population effectively. In computational experiments, 28 extended benchmarks are constructed, and the effectiveness of the proposed strategy and algorithm is verified by comparing IMA with its 4 variants and other 4 widely used algorithms. Finally, two inverse scheduling problems of a real-world hydraulic cylinder machining workshop under two uncertain situations are studied. The results demonstrate that IMA can effectively solve the actual inverse scheduling problem. With a slight adjustment to the original scheduling, it can reduce the makespan by 11.5%, the worker cost by 8.1% and the machine energy consumption by 27.9% on average. © 2024 The Society of Ma

关键词： Multiobjective optimization

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Gaze Betray You: Abnormal Attention Detection from Human-Robot Interaction Dynamics

Gaze Betray You: Abnormal Attention Detection from Human-Rob...

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IEEE International Conference on robotics and Biomimetics

作者： Fengjun Mu Jingting Zhang Chaobin Zou Zonghai Huang Rui Huang Hong Cheng Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Monitoring abnormal attention has a wide range of applications in Human-Robot Interaction systems, such as autonomous driving, virtual reality, and remote operation. Due to factors like fatigue, drowsiness, and distraction, human attention can deviate from tasks that require focus, resulting in abnormal attention during interactions. Monitoring for abnormal attention is essential to ensure the safety of human-robot interactions. However, existing methods often rely on un-explainable algorithms such as neural networks, making them difficult to trust in scenarios like autonomous driving, where explicit decision-making processes and mechanisms are required. This paper presents EyeAAD, an abnormal attention detection method based on dynamic system theory. This method uses gaze signals from a serious game designed to simulate human-robot interaction. We developed several attention-related features for interpretable modeling using a deterministic learning method. By analyzing the matching relationship between the gaze signal and the predicted status from the learned dynamic models, we can detect abnormal human attention patterns. To validate our approach, we designed a serious game for eye movement data acquisition in human-robot interaction. Our analysis showed that EyeAAD enables efficient, real-time monitoring of human attention.

关键词： Solid modeling Human-robot interaction Games Virtual reality Feature extraction Safety Pattern matching Monitoring Autonomous vehicles Robots

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Enhancing Dynamic Parameter Identification for Supernumerary Robotic Limbs Through Uncertainty Compensation

Enhancing Dynamic Parameter Identification for Supernumerary...

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Chinese automation Congress (CAC)

作者： Lufeng Chen Jingwen Lan Qi'ao Zhan Zhinan Peng Wenjiang Li Jing Qiu Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Accurate dynamic modeling is fundamental for wearable robotics, such as Supernumerary Robotic Limbs (SRLs), to ensure precise control and effective interaction with the environment. This paper presents an enhanced dynamic model for an SRL, incorporating uncertainty compensation to improve accuracy and robustness. The SRL dynamics are streamlined by linearizing the system and identifying a minimal set of inertia parameters. Using the Coot optimization algorithm, we refine the Fourier excitation trajectory parameters to optimize the condition number of the observation matrix, followed by parameter identification through the least squares method. To further reduce discrepancies between predicted and actual joint torques, an uncertainty term is introduced, validated through a neural network designed to predict torque variations. The method not only addresses but also compensates for uncertainties across various motion states of the SRL. Experimental results demonstrate that the proposed model improves prediction accuracy and robustness for our developed 6-DoF SRL compared to traditional methods.

关键词： Uncertainty Accuracy Torque Parameter estimation Computational modeling Predictive models Aerodynamics Robustness Trajectory Robots

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Frequency shift-based 3D shape measurement in the presence of strong inter-reflection

Frequency shift-based 3D shape measurement in the presence o...

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2024 International Conference on Optical and Photonic engineering, icOPEN 2024

作者： Miao, Huisi Liu, Wan Yan, Ziyu Xu, Weidong Zhang, Dongbo Zhang, Hui School of Automation and Electronic Information Xiangtan University Xiangtan411105 China Xiangtan Electric Manufacturing Co..Ltd. Xiangtan411105 China National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha410082 China

ISBN: (数字)9781510688117

ISBN: (纸本)9781510688100

Traditional fringe projection profilometry (FPP) struggles with robust imaging and high-precision three-dimensional (3D) reconstruction in complex lighting environments with strong inter-reflection. This paper proposes a method combining frequency-shifted fringe projection and epipolar constraint to achieve high-precision 3D profilometry in such scenarios. First, environmental light interference is mitigated and the maximum fringe frequency is reduced through window function analysis (WFA) and a four-step phase-shifting (PS). Then, direct and indirect illumination are separated in the Fourier domain. Direct illumination positions are identified using threshold segmentation and epipolar geometry constraint, enhancing imaging robustness in strong inter-reflection contexts. Experimental results demonstrate that the method constructs direct and indirect illumination feature models, accurately obtaining direct illumination information and eliminating multi-path interference. Additionally, in tests with complex geometrical surfaces, imaging efficiency and robustness significantly improve, with effective point cloud data increasing by over 30% and planar accuracy improving by 50%. © 2025 SPIE.

关键词： Light interference

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A Novel Microdefect Imaging System for High-Reflective Material Surfaces

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Zhiyong Lin, Song Xiao, Yafeng Fang, Hao Sun, Lining Soochow University School of Mechatronic Engineering Department of Automation Engineering Suzhou215000 China Soochow University Robotics and Microsystems Research Center Suzhou215000 China Institute of Robotics School of Mechatronic Engineering Harbin Institute of Technology Harbin150000 China

Highly reflective materials, owing to their reflective characteristics, pose challenges in imaging microdefects under conventional lighting, resulting in a substantial number of missed detections. This article presents an imaging method tailored for microdefects on the surfaces of such materials. An investigation into the imaging mechanisms of microdefects under varying illumination conditions is conducted, leading to the proposal of an edge-light scanning technique. Initially, this technique enhances the contrast of defect imaging optically, yielding a sequence of images with high-contrast defects. Subsequently, a contrast-weighted image synthesis algorithm is introduced to effectively mitigate the interference caused by bright and dark stripe backgrounds. Experimental evaluations of defect detection based on different algorithms demonstrate that the proposed imaging method is applicable to defects of various sizes and significantly improves the detection accuracy of microdefects. © 1963-2012 IEEE.

关键词： Imaging Surface morphology Optical surface waves Optical imaging Defect detection Feature extraction Lighting Image edge detection Steel Optical reflection

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Carbon dioxide storage and cumulative oil production predictions in unconventional reservoirs applying optimized machine-learning models

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Petroleum Science 2025年第1期22卷 296-323页

作者： Shadfar Davoodi Hung Vo Thanh David A.Wood Mohammad Mehrad Sergey V.Muravyov Valeriy S.Rukavishnikov School of Earth Sciences&Engineering Tomsk Polytechnic UniversityLenin AvenueTomskRussia Laboratory for Computational Mechanics Institute for Computational Science and Artificial IntelligenceVan Lang UniversityHo Chi Minh CityViet Nam Applied Science Research Center Applied Science Private UniversityAmmanJordan DWA Energy Limited LincolnUK Division for Automation&Robotics Tomsk Polytechnic UniversityLenin AvenueTomskRussia

To achieve carbon dioxide(CO_(2))storage through enhanced oil recovery,accurate forecasting of CO_(2) subsurface storage and cumulative oil production is *** study develops hybrid predictive models for the determination of CO_(2) storage mass and cumulative oil production in unconventional *** does so with two multi-layer perceptron neural networks(MLPNN)and a least-squares support vector machine(LSSVM),hybridized with grey wolf optimization(GWO)and/or particle swarm optimization(PSO).Large,simulated datasets were divided into training(70%)and testing(30%)groups,with normalization applied to both *** distance identifies/eliminates outliers in the training subset only.A non-dominated sorting genetic algorithm(NSGA-II)combined with LSSVM selected seven influential features from the nine available input parameters:reservoir depth,porosity,permeability,thickness,bottom-hole pressure,area,CO_(2) injection rate,residual oil saturation to gas flooding,and residual oil saturation to water *** models were developed and tested,with performance evaluated with an overfitting index(OFI),scoring analysis,and partial dependence plots(PDP),during training and independent testing to enhance model focus and *** LSSVM-GWO model generated the lowest root mean square error(RMSE)values(0.4052 MMT for CO_(2) storage and 9.7392 MMbbl for cumulative oil production)in the training *** trained model also exhibited excellent generalization and minimal overfitting when applied to the testing group(RMSE of 0.6224 MMT for CO_(2) storage and 12.5143 MMbbl for cumulative oil production).PDP analysis revealed that the input features“area”and“porosity”had the most influence on the LSSVM-GWO model's pre-diction *** paper presents a new hybrid modeling approach that achieves accurate forecasting of CO_(2) subsurface storage and cumulative oil *** also establishes a new standard for such forecasting,which can

关键词： Hybrid machine learning Least-squares support vector machine Grey wolf optimization Feature selection Carbon dioxide storage Enhanced oil recovery

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Minimizing Data Collection Latency for Coexisting Time-Critical Wireless Networks with Tree Topologies

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IEEE Transactions on Network and Service Management 2025年第3期22卷 2354-2369页

作者： Zhang, Jialin Liang, Wei Yang, Bo Shi, Huaguang Liang, Ying-Chang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Northwest A and F University College of Information Engineering Yangling712100 China Henan University School of Artificial Intelligence Zhengzhou450046 China University of Electronic Science and Technology of China Center for Intelligent Networking and Communications Chengdu611731 China

Time-Critical Wireless Network (TCWN) is a promising communication technology that can satisfy the low latency, high reliability, and deterministic requirements of mission-critical applications. Multiple TCWNs required by various applications inevitably coexist with each other. Most existing works aim to achieve acceptable latency or consider the simplest topology (i.e., line topology). As latency requirements become more stringent, exploring the minimum data collection latency becomes an interesting problem. In this paper, the coexisting system consists of multiple tree-topology-based TCWNs. We first establish a conversion framework to convert an arbitrary tree topology into multiple analogous line topologies to reduce the analysis complexity. We then propose a Time-Critical wireless network Scheduling (TCS) algorithm to minimize the data collection latency of coexisting TCWNs. The TCS algorithm consists of two phases. In the internetwork scheduling phase, we strictly derive a general expression to characterize the practical network requirements. In the intranetwork scheduling phase, we design two levels of priority assignment algorithms to accurately characterize the critical states and resource requirements of different nodes. We conduct extensive simulations to verify the effectiveness of the TCS algorithm. The evaluation results show that the TCS algorithm can achieve minimum data collection latency in more than 99.956% cases, and the maximum difference compared to the optimal value is one time slot. © 2004-2012 IEEE.

关键词： Scheduling algorithms

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast Mechanical Switches for Hybrid Circuit Breakers 2

Robust-Tube Model Predictive Control for Piezoelectrically A...

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2nd International Conference on Artificial Intelligence and automation Control, AIAC 2024

作者： Chai, Yu Yang, Chen Dong, Huijuan Zhao, Jie Shardt, Yuri A. W. Ju, Bingfeng ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Technical University of Ilmenau Department of Automation Engineering Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798331529147

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%. © 2024 IEEE.

关键词： Predictive control systems

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