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International Conference on Application of Intelligent Systems in Multi-modal Information Analytics, MMIA 2020

作者： Chi, Wenqing Xue, Bin Li, Xiaofei Zhang, Yuhang Jiao, Shuangben Engineering and Technology R&D Center of Mechanical and Electrical in Colleges of Shandong Qingdao Binhai University QingdaoShandong266555 China School of Mechanical and Electrical Engineering Qingdao Binhai University QingdaoShandong266555 China Qingdao Zhongzhuang Vision Automation System Control Co. Ltd. QingdaoShandong266555 China

ISBN: (纸本)9783030515553

For the pattern position deviation and installation error detection of injection molding parts in the automobile center console, the traditional method is to use the secondary dimensional detection equipment, which has low detection efficiency and can only realize sampling detection. In order to solve this problem, a detection method based on machine vision is proposed, which uses 4 K linear array camera with linear light source to collect the image, and the collected image is transmitted to the computer for processing. The image processing is carried out on the visionPro 9.0 software platform. Firstly, the image of the injection molding part is corrected and the coordinate is located by the method of extracting the feature points from the image mask. Then, the script programming is used to judge. Finally, the detection of the pattern position deviation and installation error prevention on the injection molding part is realized, and the result information is displayed on the computer. Through the operation test, the accuracy of the system reaches 0.05 mm, the detection cycle is 6–10 s, the detection rate is 99.9%, the efficiency is increased by 50 times, the quality is improved by 80%, and the problems existing in the detection of the secondary detection equipment are effectively solved. © Springer Nature Switzerland AG 2021.

关键词： Computer vision

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Model-Based Fault Identification of Inter-Turn Winding Short Circuits in PMSM

Model-Based Fault Identification of Inter-Turn Winding Short...

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International Conference on Electrical Machines, ICEM

作者： Gabriel Forstner Andreas Kugi Wolfgang Kemmetmüller Automation and Control Institute (ACIN) TU Wien Vienna Austria Center for Vision Automation & Control Austrian Institute of Technology (AIT) Vienna Austria

ISBN: (数字)9781728199450

ISBN: (纸本)9781728199467

Fault-tolerant and fail-safe operation are important requirements for safety critical applications with electric motors. In this context, inter-turn winding short circuits are one of the most common faults, which makes the fault identification a crucial task. In this paper, a model-based fault identification method for inter-turn winding short circuits in permanent magnet synchronous motors is proposed, where the number of shorted turns and the short circuit resistance are considered as parameters to be identified. The method is validated for numerous combinations of fault parameters by numerical simulations of an experimentally validated mathematical model. The results show that the proposed method allows to identify parameters which yield an accurate description of the input-to-output behavior of the motor including the torque. Moreover, it is also shown that for measurement signals typically available in practical applications, a separate identification of the two fault parameters is not possible.

关键词： Circuit faults Integrated circuit modeling Windings Magnetic circuits Saturation magnetization Resistance Mathematical model

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High-Speed Nonlinear MPC with Long Prediction Horizon for Interleaved Switching AC/DC-Converters

High-Speed Nonlinear MPC with Long Prediction Horizon for In...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Thomas Hausberger Andreas Kugi Alexander Eder Wolfgang Kemmetmüller TU Wien Automation and Control Institute Vienna Austria TU Wien Automation and Control Institute AIT Center for Vision Automation & Control Vienna Austria AVL List GmbH Graz Austria

ISBN: (数字)9781728156354

ISBN: (纸本)9781728156361

The control of high-speed AC/DC-converters is still a very demanding task. This paper presents an online optimizing nonlinear model predictive control (MPC) strategy, which allows to reach long prediction horizons in the range of 100 times the sampling time. The MPC is complemented by estimation strategies for the grid phase voltages and the load current. To achieve a short calculation time of the MPC in the range of a few μs, the MPC is tailored to the efficient implementation on an FPGA. This is achieved by using the parallel computation capabilities of FPGAs and pipelining methods, and by avoiding time-and resource-demanding operations like trigonometric functions. Compared to other MPC methods discussed in the literature, the proposed MPC strategy allows for significantly longer prediction horizons. The performance and the robustness of the control strategy is evaluated by measurements on a hardware-in-the-loop test bench.

关键词： Estimation Field programmable gate arrays Voltage control Bridge circuits Switches automation Predictive control

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Estimation of Quality Parameters of Trimmed Steel Plates using Laser Sensors

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IFAC-PapersOnLine 2020年第2期53卷 11848-11853页

作者： A. Zeiler A. Steinboeck W. Kemmetmüller M. Jochum A. Kugi Automation and Control Institute (ACIN) TU Wien Vienna Austria Center for Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria AG der Dillinger Hüttenwerke 66763 Dillingen/Saar Germany

This paper deals with the estimation of the contour of hot-rolled steel plates and of quality parameters characterizing the trimmed edge. Suboptimal process parameters can cause camber or a saw-tooth shaped contour and imperfections on the trimmed edges. Quantitative measures of these imperfections enable a seamless quality control and can be used as input quantities for data-based or control engineering applications. The presented method utilizes measurements from 2D-laser sensors installed at the side of the production line after a trimming shear. A model-based optimization algorithm estimates the contour and a possible rotation of the plate. Signal processing and sensor fusion are employed to estimate additional quality parameters. Validation with measurement data from a rolling mill demonstrates the high accuracy of the proposed method. The camber is estimated with an accuracy lower than ±0.04 mm/m, which reveals that the proposed method is more accurate than existing solutions for camber estimation.

关键词： steel rolling mill contour estimation trimmed edge quality control model-based estimation edge quality

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Bio-inspired polarization event camera

arXiv

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arXiv 2021年

作者： Haessig, Germain Joubert, Damien Haque, Justin Chen, Yingkai Milde, Moritz B. Delbruck, Tobi Gruev, Viktor AIT Austrian Institute of Technology Center for Vision Automation & Control High-performance Vision Systems Vienna Austria Institute of Neuroinformatics University of Zurich ETH Zurich Switzerland International Centre for Neuromorphic Systems The MARCS Institute Western Sydney University Sydney Australia Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign UrbanaIL United States

The stomatopod (mantis shrimp) visual system0 has recently provided a blueprint for the design of paradigm-shifting polarization and multispectral imaging sensors0, enabling solutions to challenging medical0 and remote sensing problems0. However, these bioinspired sensors lack the high dynamic range (HDR) and asynchronous polarization vision capabilities of the stomatopod visual system, limiting temporal resolution to ∼12 ms and dynamic range to ∼72 dB. Here we present a novel stomatopod-inspired polarization camera which mimics the sustained and transient biological visual pathways to save power and sample data beyond the maximum Nyquist frame rate. This bio-inspired sensor simultaneously captures both synchronous intensity frames and asynchronous polarization brightness change information with sub-millisecond latencies over a million-fold range of illumination. Our PDAVIS camera is comprised of 346x260 pixels, organized in 2-by-2 macropixels, which filter the incoming light with four linear polarization filters offset by 45°. Polarization information is reconstructed using both low cost and latency event-based algorithms and more accurate but slower deep neural networks. Our sensor is used to image HDR polarization scenes which vary at high speeds and to observe dynamical properties of single collagen fibers in bovine tendon under rapid cyclical loads. © 2021, CC BY.

关键词： Cameras

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Collaborative Synchronization of a 7-Axis Robot

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IFAC-PapersOnLine 2019年第15期52卷 507-512页

作者： T. Weingartshofer M. Schwegel C. Hartl-Nesic T. Glück A. Kugi Automation and Control Institute TU Wien Vienna Austria Center for Vision Automation & Control AIT Austrian Institute of Technology Vienna Austria

This work focuses on synchronizing a 7-axis industrial robot with an object that is moved in the workspace by a human operator. In an experimental setup, the robot draws several curves on the moving object, where all 7 axes of the robot are in use. Based on feedback linearization, an active compliance control strategy is developed to synchronize the end-effector with the moving object. The path progress on the curve is dynamically monitored in order to stop it, if the object is moving too fast. Experiments show that a precise tracking accuracy is achieved besides a good human-robot usability.

关键词： Synchronization Human-Robot Collaboration Robot dynamics Robot control Lyapunov stability Path planning

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Swing-Up of a Spherical Pendulum on a 7-Axis Industrial Robot

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IFAC-PapersOnLine 2019年第15期52卷 346-351页

作者： C. Hartl-Nesic J. Kretschmer M. Schwegel T. Glück A. Kugi Automation and Control Institute TU Wien Vienna Austria Center for Vision Automation & Control AIT Austrian Institute of Technology Vienna Austria

This work demonstrates the swing-up of a custom-built spherical pendulum, which is mounted on the 7-axis industrial robot Kuka LWRIV+. The swing-up trajectory for this system with nine degrees of freedom is calculated offline in a three-step process: First, an optimal control problem for the pendulum model with fewer states and inputs is solved. Then, using the inverse kinematics of the robot model and the forward dynamics of the complete system, this trajectory is converted to a feasible starting solution for the third step, which is solving the optimal control problem for the complete system. Finally, the swing-up is shown experimentally using a two-degrees-of-freedom control structure comprising the calculated trajectory for the feedforward control and a time-variant linear quadratic regulator (LQR) as a feedback controller.

关键词： Spherical Inverted Pendulum Redundant Robot Optimal control Problem Optimization Linear Quadratic Regulator

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Obstacle Detection and Avoidance of a cost-oriented humanoid robot

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IFAC-PapersOnLine 2018年第30期51卷 198-203页

作者： d'Apolito, F. AIT Austrian Institute of Technology Center for Vision Automation and Control – Autonomous Systems Vienna Austria

Cost-oriented humanoid robots (COHR) research started in 2011. These robots are designed to be able to support humans in everyday life on the working place, in the household, in different aspects of their lives, and to be available on the market for a reasonable price. At the IHRT institute of the Technical University of Vienna, a cost-oriented humanoid robot named Archie is in development. This paper aims to present the development of the vision system and the approach for the obstacle detection and avoidance for the humanoid robot Archie. © 2016

关键词： Anthropomorphic robots

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Dynamic Virtual Fixtures Based on Path Following control

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IFAC-PapersOnLine 2019年第16期52卷 424-429页

作者： Bernhard Bischof Andreas Kugi AIT Austrian Institute of Technology GmbH Center for Vision Automation & Control Vienna Austria Automation and Control Institute TU Wien Gusshausstrasse 27-29 1040 Vienna Austria

This paper presents a path following control (PFC) approach to generate guidance virtual fixtures with dynamic constraints (time-varying constraints) for physical human-robot interaction tasks. Using input-output feedback linearization and a parallel transport frame, the system dynamics are linearized and decomposed into tangential and orthogonal direction with respect to a time-varying path, which is parametrized as a regular threefold continuously differentiable curve. The presented PFC approach is combined with compliance control, which enables the systematic generation of virtual fixtures. An experiment on a six-axis industrial robot reveals the potential of this approach to generate virtual fixtures with dynamic constraints.

关键词： Virtual Fixtures Path Following control Compliance control Physical Human-Robot Interaction

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Improved EMD-based Oscillation Detection for Mechatronic Closed-Loop Systems

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IFAC-PapersOnLine 2019年第15期52卷 370-375页

作者： Markus Gurtner Patrik Zips Muhammed Atak Julian Ophey Andreas Kugi AIT Austrian Institute of Technology GmbH Center for Vision Automation & Control Vienna Austria Robert Bosch GmbH Stuttgart Germany Automation and Control Institute TU Wien Vienna Austria

A key aspect of control development for mechatronic systems is the simulative verification. Extensive simulation studies allow early-stage adaptations and quality and safety assessments prior to validation on the real system. The verification of modern systems generates a huge amount of data that requires automated verification methods. A crucial part of the verification is the detection of oscillations, which can deteriorate the closed-loop performance and in the worst case even lead to destabilisation. In this paper, we present an oscillation detection method that derives from the continuous process plant monitoring and is suitable for many control problems in the domain of mechatronic systems. A core element is the Empirical Mode Decomposition (EMD) combined with the assessment of the decomposed modes. For high robustness and computational efficiency, the method is extended by a tailored signal pre-processing. A normalised oscillation index provides a measure for the oscillation strength and enables the systematic analysis of crucial control signals to reveal possible optimisation potentials. A multi-component control loop for a complex nonlinear mechatronic system in the development stage is examined to demonstrate the applicability of the proposed method. The results show the reliable detection and analysis of crucial oscillations. The method is used for quality improvement and assurance already in the development phase of a product or system.

关键词： Empirical Mode Decomposition oscillation detection control loop verification

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