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Industrial Cyber-Physical Systems (ICPS)

作者： Rodolfo Haber Stanisław Strzelczak Zoran Miljković Fernando Castaño Luca Fumagalli Milica Petrović Centre for Automation and Robotics (UPM-CSIC) Madrid Spain University of Technology Warsaw Poland University of Belgrade Belgrade Serbia Politecnico di Milano Milano Italy

ISBN: (数字)9781728163895

ISBN: (纸本)9781728163901

Nowadays, digital twins are fostering the development of plug, simulate and optimize behavior in industrial cyber-physical systems. This paper presents a digital twin-based optimization of a motion system on the basis of a grey wolf optimization (GWO) method. The digital twin of the whole ultraprecision motion system with friction and backlash including a P-PI cascade controller is used as a basement to minimize the maximum position error. The simulation study and the real-time experiments in trajectory control are performed to compare the performance of the proposed GWO algorithm and the industrial method called Fine tune (FT) method. The simulation study shows that the digital twin -based optimization using GWO outperformed FT method with improvement of 66.4% in the reduction of the maximum position error. The real-time experimental results obtained show also the advantage of GWO method with 18% of improvement in the maximum peak error and 16% in accuracy.

关键词： Optimization Digital twin Friction Tuning Real-time systems Simulation Mathematical model

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ROMERIN: A Modular Climber Robot for Infrastructure Inspection

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IFAC-PapersOnLine 2019年第15期52卷 424-429页

作者： M. Hernando A. Brunete E. Gambao Centre for Automation and Robotics (CAR UPM-CSIC) Universidad Politecnica de Madrid Madrid Spain

This paper presents some of the developments made in the construction of a modular climbing robot for infrastructure inspection. The development and optimization of independent vacuum generator systems for each leg is presented, with the flow-rate taking priority over the relative pressure. It also describes the general robot structure, as well as the initial mathematical models required for the development of a control system based on an biomimetic organic model. Finally, it is highlighted the use of simulators to help the iterative design process of a strongly mechatronic system. Some of the obtained results have been experimentally validated.

关键词： Climbing Robots Vacuum Turbines Modular Robot Fluid Simulation

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Validation of An Elbow Position Super-Twisting Sliding-Mode Controller for Upper-Limb Exosuit Using A Soft Position Sensor

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Journal of Physics: Conference Series 2021年第1期1828卷

作者： D Pont-Esteban A F Contreras-González J L Samper-Escudero F J Sáez-Sáez M Ferre M á Sánchez-Urán Centre for Automation and Robotics (CAR) UPM – CSIC Universidad Politécnica de Madrid 28006 Madrid Spain

Flexible exoskeletons, also known as exosuits, are robotic wearable devices intended to help healthy and unhealthy subjects in different tasks, such as daily life activities, load lifting or rehabilitation. A position control is required to assure stability and compliance in all assisted movements. In this paper, the authors propose the use of a flexible position sensor based on differential capacitance measurement as position feedback for the elbow joint in the flexible exoskeleton LUXBIT. This exosuit is controlled in position by a super-twisting sliding mode controller (SMC), which is robust against disturbances. Different movements involved in rehabilitation therapies are performed over three healthy subjects in order to evaluate the exosuit performance using this motion sensor. The measures given by the flexible sensor are compared to the ones obtained by OptiTrack motion capture system, which are used as ground truth.

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Using Process Mining to Model Multi-UAV Missions through the Experience (vol 32, pg 40, 2017)

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IEEE INTELLIGENT SYSTEMS 2017年第5期32卷 4-4页

作者： Roldan, Juan Jesus del Cerro, Jaime Barrientos, Antonio Centre for Automation and Robotics (UPM-CSIC) Centre for Automation and Robotics (UPM-CSIC) Centre for Automation and Robotics (UPM-CSIC)

The interest in civilian missions with multiple unmanned aerial vehicles (UAVs) has increased significantly in recent years, but these missions pose multiple challenges related to operator workload and situational awareness. Human-machine interfaces must consider these challenges and control the amount of information flowing to operators. The authors propose a procedure for automatically modeling multi-UAV missions that uses process mining to discover Petri nets through event logs. Specifically, it applies several discovery algorithms, generates and evaluates models, and determines the best among the four.

关键词： Hidden Markov models Analytical models Adaptation models Computational modeling Petri nets Robot kinematics

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TRIDENT – Technology based impact assessment tool foR sustaInable, transparent Deep sEa miNing exploraTion and exploitation: A project overview

TRIDENT – Technology based impact assessment tool foR susta...

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OCEANS

作者： E. Silva D. Viegas A. Martins J. Almeida C. Almeida B. Neves P. Madureira A.J. Wheeler G. Salavasidis A. Phillips A. Schaap B. Murton A. Berry A. Weir G. Dooly E. Omerdic D. Toal P.C. Collins M. Miranda C. Petrioli C. Barrera Rodríguez D. Demoor C. Drouet G.El Serafy S.M. Jesus J. Dañobeitia V. Tegas S. Cusi L. Lopes B. Bodo L. Beguery S. VanDam J. Dumortier L. Neves V. Srivastava T.G. Dahlgren J. Thomassen Hestetun R. Eiras R. Caldeira C. Rossi J. Spearman L. Somoza F.J. González R. Bartolomé P. Bahurel INESC TEC Porto Portugal Instituto Superior Engenharia do Porto ISEP Portugal Portuguese Task Group for the Extension of the Continental Shelf EMEPC Portugal Department of Geosciences and Institute of Earth Sciences University of Évora Portugal SFI Centre for Research in Applied Geosciences School of Biological Earth & Environmental Sciences University College Cork Ireland Marine Autonomous and Robotic Systems National Oceanography Centre NOC United Kingdom Ocean Technology and Engineering NOC United Kingdom Ocean BioGeosciences NOC United Kingdom Marine Institute Ireland University of Limerick Centre for Robotics & Intelligent Systems CRIS Ireland School of Biological Science Queen’s University Belfast Northern Ireland Instituto Português do Mar e Atmosfera IPMA Portugal WSENSE Italy Head of Vehicle Base VIMAS Consortium for the Design Equipping and Exploitation of the Oceanic Platform of the Canary Islands Spain GREENOV-ITES France Unit of Coastal and Sea Systems Stichting Deltares& TU Delft The Netherlands LARSys University of Algarve Portugal EMSO-ERIC Italy Marine Technology Unit UTM-CSIC Spain La Palma Research Centre Spain Alseamar France Agora Partners Malha Technology Israel Timelex Belgium Gesi Belgium NORCE Norwegian Research Centre Norway Forum Oceano UPTEC POLO DO MAR Portugal ARDITI Portugal Center for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Spain HRWallingford United Kingdom Geological Survey of Spain Marine Geology Resources and Extreme Environments IGME-CSIC Spain Institute for Marine Science ICM-CSIC Spain Mercator Ocean France

By creating a dependable, transparent, and cost-effective system for forecasting and ongoing environmental impact monitoring of exploration and exploitation activities in the deep sea, TRIDENT seeks to contribute to the sustainable exploitation of seabed mineral resources. In order to operate autonomously in remote locations under harsh conditions and send real-time data to authorities in charge of granting licenses and providing oversight, this system will create and integrate new technology and innovative solutions. The efficient monitoring and inspection system that will be created will abide by national and international legal frameworks. At the sea surface, mid-water, and the bottom, TRIDENT will identify all pertinent physical, chemical, geological, and biological characteristics that must be monitored. It will also look for data gaps and suggest procedures for addressing them. These are crucial actions to take in order to produce accurate indicators of excellent environmental status, statistically robust environmental baselines, and thresholds for significant impact, allowing for the standardization of methods and tools. In order to monitor environmental parameters on mining and reference areas at representative spatial and temporal scales, the project consortium will thereafter develop and test an integrated system of stationary and mobile observatory platforms outfitted with the most recent automatic sensors and samplers. The system will incorporate high-capacity data processing pipelines able to gather, transmit, process, and display monitoring data in close to real-time to facilitate prompt actions for preventing major harm to the environment. Last but not least, it will offer systemic and technological solutions for predicting probable impacts of applying the developed monitoring and mitigation techniques.

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Preface

Lecture Notes in Networks and Systems

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Lecture Notes in Networks and Systems 2024年 978 LNNS卷 v-vi页

作者： Marques, Lino Lima, José Santos, Cristina Tardioli, Danilo Ferre, Manuel Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Electrónica Industrial University of Minho Escola de Engenharia Guimarães Portugal Department of Electrical Engineering ESTIG Polytechnic Institute of Bragança Bragança Portugal Centro Universitario de la Defensa Zaragoza Spain Centre for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

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Condition-based Monitoring Architecture for CNC Machine Tools based on Global Knowledge

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IFAC-PapersOnLine 2018年第11期51卷 200-204页

作者： Villalonga, Alberto Beruvides, Gerardo Castaño, Fernando Haber, Rodolfo E. Novo, Marcelino Matanzas44100 Cuba Centre for Automation and Robotics CSIC-UPM Arganda del Rey28500 Spain AOTEK S Coop Fagor Automation Arrasate-Mondragón20500 Spain

Nowadays, new challenges are arising in the multiple industrial sectors focused on the application or adaptation of the digitalized solution with a high grade of optimization in the process, traceability, information & knowledge generation, products personalization, connectivity, customer feedback, etc. The aim is to provide an excellent product or service, increasing your productivity, competitiveness and presence in the market. In particular, manufacturing processes adopt solution with higher sensor system levels based on Cyber-Physical System approaches to obtain process parameters and control machine tools, robots and industrial drives on the shop floor, plant or global production stations. The present article introduces a condition-based monitoring architecture to manage alarm and events based on global information captured by multiple sensors integrated a family of CNC machine tools. The architecture is divided in two modules: a local system embedded in each machine and a cloud as a service system to supervise the local accuracy based on global system knowledge. Finally, an industrial CPS study case based on a bearing benchmark is simulated, validating the local condition-based monitoring stability in function of the update provides by the global module. © 2018

关键词： Information management

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Tools for smartphone multi-sensor data registration and GT mapping for positioning applications

Tools for smartphone multi-sensor data registration and GT m...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Antonio R. Jiménez Fernando Seco Joaquín Torres-Sospedra Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain Institute of New Imaging Technologies Universitat Jaume I Castellón Spain

Nowadays smartphones have impressive sensing and computation capabilities, allowing the registration and processing of multiple sources of information. This power enables the creation of useful applications, such as seamless location both outdoors and indoors. Research teams pay less interest in standardizing the acquisition and processing of sensor data than to research and innovation tasks, so each group develops its own private software tools to collect data. We want to contribute by creating a framework that allows a more coherent data-stream registration and algorithm performance comparison. In this paper we present an open-source framework to make possible multi-sensor registration, which includes GetSensorData, our logging Android application. In order to ease the creation and sharing of experiments among different researchers around the world, the framework also includes the data format definition, the data parsers and the procedures to calibrate maps and to define the ground-truth trajectory for subsequent position algorithm performance comparison. Finally, we review applications of these tools in the IPIN competition as well as in teaching activities.

关键词： Global navigation satellite system Wireless fidelity Registers Smart phones Indoor navigation Tools Satellites

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Eye corners tracking for head movement estimation

Eye corners tracking for head movement estimation

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International Work Conference on Bio-inspired Intelligence (IWOBI)

作者： Agostina J. Larrazabal Cecilia E. García Cena César E. Martínez Research institute for signals systems and computational intelligence sinc(i) FICH-UNL/CONICET Santa Fe Argentina Centre for Robotics and Automation UPM-CSIC Madrid Spain

ISBN: (数字)9781728109688

ISBN: (纸本)9781728109695

Recently, video-oculographic gaze tracking has begun to be used in the diagnosis of a wide variety of neurological diseases, such as Parkinson and Alzheimer. For this application, the so-called feature-based methods are used, more precisely, 2D regression-based methods. They use geometrically derived eye features from high-resolution eye images captured by zooming into the user's eyes. The main weakness of these methods is that the head of the user must remain motionless to avoid estimation errors. In some patients, some involuntary movements cannot be avoided and it is necessary to measure them. In this paper, we tackle the measurement of head position as a way to improve the gaze tracking on these precision demanding medical applications. As a first stage, we propose to obtain the eye corners coordinates as a reference point, since they are the most stable points in front of the eyeball and eyelids movements. The problem was handled as a regression problem using a coarse-to-fine cascaded convolutional neural network in order to accurately regress the coordinates of the eye corner. Particularly, with the aim of achieving high precision we cascade two levels of convolutional networks. Finally, we added temporal information to increase accuracy and decrease computation time. The accuracy of the estimation was calculated from the mean square error between the predictions and the ground truth. Subjective performance was also evaluated through video inspection. In both cases, satisfactory results were obtained.

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Optimal Tuning of Cascade Controllers for Feed Drive Systems using Particle Swarm Optimization

Optimal Tuning of Cascade Controllers for Feed Drive Systems...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Milica Petrović Alberto Villalonga Zoran Miljković Fernando Castaño Stanisław Strzelczak Rodolfo Haber Department of Production Engineering University of Belgrade Faculty of Mechanical Engineering Belgrade Serbia Centre for Automation and Robotics UPM-CSIC Madrid Spain University of Technology Warsaw Poland

Cascade control configurations are one of the widely used control solutions for improving dynamic response of the feed drive systems in the manufacturing industry. However, optimal tuning of cascade controllers in presence of hard nonlinearities such as backlash and friction is still a complex and time-consuming task. This paper presents a computational procedure for tuning P-PI cascade controller by using particle swarm optimization (PSO) for a feed drive system of machine tools in the presence of friction and backlash. The minimizing of the maximum position error during the reversal of the axes is used as an objective function for optimization. The performance of the PSO method is compared in simulations and real-time experiments with the fine tune (FT) method, which is one of the standard methods applied in industry. Both, simulation and real-time experimental studies carried out on a test platform with 8070 Fagor controller show a remarkable improvement in the performance of the cascade control system using the proposed PSO-based strategy.

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