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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Kruglov, Sergey A. Komarova, Galina V. Saint Petersburg Electrotechnical University LETI Department of Robotics and Production Process Automation St. Petersburg Russia

ISBN: (纸本)9781728157610

This article addresses reliability of an automated monitoring system (AMS). The system in question monitors and registers parameters of a turbogenerator (TG). A reliability block diagram of the multi-functional AMS is provided. The assessment of reliability measure (RI) of the AMS is done with two methods. When calculating average time to failure pf the system, spare equipment is also taken into account. © 2020 IEEE.

关键词： Redundancy

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Reliability and Risk Assessment of Automated Control System's Typical Circuit Solutions

Reliability and Risk Assessment of Automated Control System'...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Kazak, Maksim N. Kruglov, Sergey A. Komarova, Galina V. Saint Petersburg Electrotechnical University 'LETI' Department of Robotics and Production Process Automation St. Petersburg Russia

ISBN: (数字)9781728157610

ISBN: (纸本)9781728157610

This article addresses the assessment of software-hardware system reliability of an automated process control system (APCS) of a combined heat and power (CHP) plant. The assessment of reliability measures was done for separate design solutions of a given software-hardware system. Reliability block diagrams were developed to reliability measures assessment. Operation risks were assessed for the equipment in question. © 2020 IEEE.

关键词： Risk assessment

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automation of Life Data Analysis processes 13

Automation of Life Data Analysis Processes

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13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Krämer, Jonathan Thiele, Gregor Johanni, Theresa Krüger, Jörg Department for Industrial automation The Institute for Machine Tools and Factory Management Technical University of Berlin Germany Department for Process automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Germany

Life data analysis is an effective statistical process to gain information on the reliability of technical facilities. The Weibull analysis is a widely-used method for modeling the probabilities of different functional failures. For its application in modern manufacturing and maintenance processes, an automation of this analysis is expedient. An exemplary process of data collection and fitting of a parametric model with continuous time scale is analyzed in this article. Its automation with different statistic software tools is described and comparatively evaluated. With the ambition of minimizing manual effort in the process, a highly automated solution was developed in this research. We describe this self-implemented solution in "R" and justify that this procedure automatizes the process more than the examined commercial implementations. The here presented work proves to be a practical real-time assistance, right now applied in aircraft maintenance. © 2021 DAAAM International. All rights reserved.

关键词： automation

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Development of Automated Control System for Laboratory Reactoplast Casting Unit 4

Development of Automated Control System for Laboratory React...

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4th International Conference on Technology Enhanced Learning in Higher Education, TELE 2024

作者： Prokudin, German Kondratyev, Sergey Pikalov, Vladimir Volgograd State Technical University Department of Production Process Automation Volgograd Russia Lipetsk State Technical University Department of Automated Electric Drive and Robotics Lipetsk Russia

ISBN: (纸本)9798350353532

This paper presents the development and implementation of an automated control system for the technological process of casting reactoplastic products in a laboratory environment. The primary objective is to design an integrated control system and a comprehensive software suite to manage process parameters, enabling the use of various grades of reactoplastics efficiently. The development process involved creating a detailed electrical schematic and an operational algorithm for the equipment. Essential components were meticulously selected to construct a laboratory prototype, leading to the establishment of a reliable automated control system. Additionally, a sophisticated software suite was developed and registered with Rospatent, ensuring intellectual property protection. Extensive experimental casting trials were conducted, resulting in high-quality plastic part samples that demonstrate the system's effectiveness. The proposed system showcases significant advancements in improving the quality and efficiency of small-batch production of plastic components, highlighting its potential for broader industrial applications. © 2024 IEEE.

关键词： Plastic parts

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Thermometry of photosensitive and optically induced electrokinetics chips

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Microsystems & Nanoengineering 2018年第1期4卷 190-198页

作者： Feifei Wang Lianqing Liu Gongxin Li Pan Li Yangdong Wen Guanglie Zhang Yuechao Wang Gwo-Bin Lee Wen Jung Li State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences110016 ShenyangChina University of Chinese Academy of Sciences 100049 BeijingChina Shenzhen Academy of Robotics 518057 ShenzhenChina Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education Institute of AutomationJiangnan University214122 WuxiChina Department of Power Mechanical Engineering National Tsing Hua University30013 HsinchuTaiwan Department of Mechanical and Biomedical Engineering City University of Hong KongKowloon TongHong KongChina

Optically induced electrokinetics(OEK)-based technologies,which integrate the high-resolution dynamic addressability of optical tweezers and the high-throughput capability of electrokinetic forces,have been widely used to manipulate,assemble,and separate biological and non-biological entities in parallel on scales ranging from micrometers to ***,simultaneously introducing optical and electrical energy into an OEK chip may induce a problematic temperature increase,which poses the potential risk of exceeding physiological conditions and thus inducing variations in cell behavior or activity or even irreversible cell damage during ***,we systematically measure the temperature distribution and changes in an OEK chip arising from the projected images and applied alternating current(AC)voltage using an infrared *** have found that the average temperature of a projected area is influenced by the light color,total illumination area,ratio of lighted regions to the total controlled areas,and amplitude of the AC *** an example,optically induced thermocapillary flow is triggered by the light image-induced temperature gradient on a photosensitive substrate to realize fluidic hydrogel *** studies show that the projected light pattern needs to be properly designed to satisfy specific application requirements,especially for applications related to cell manipulation and assembly.

关键词： exceeding illumination manipulation

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Intelligent control of biped robot with heterogeneous legs

Intelligent control of biped robot with heterogeneous legs

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作者： Wang, Binrui Xu, Xinhe Tan, Jindong Key Laboratory of Process Industry Automation Institute of AI and Robotics Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering Michigan Technological University Houghton MI 49931 United States

ISBN: (纸本)008045108X

Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joint angle are introduced for gait tracking. The iterative learning control is applied in conjunction with computed torque and PD control law for good tracking performance. Control simulation is done and shows intelligent control is good for BRHL. Copyright © 2005 IFAC.

关键词： Differential equations

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On the Selection and Application of a Convenient Energy Management Software for Industrial Purposes 13

On the Selection and Application of a Convenient Energy Mana...

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13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Wurster, Larissa Thiele, Gregor Briese, Clemens Krüger, Jörg Daimler Truck AG Germany Department for Process automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Germany Department for Machine Vision Fraunhofer Institute for Production Systems and Design Technology Germany Department for Industrial automation The Institute for Machine Tools and Factory Management Technical University of Berlin Germany

The profitability of companies, especially in Germany, is affected by rising energy prices and increasingly stringent energy legislation. Certification according to ISO 50.001, an international standard for energy management systems, can help to meet legal requirements and increase energy efficiency. This article offers assistance in the form of a methodology that provides a structure for the selection process of an energy management system (EnMS). Considering properties of the individual company, it helps to identify an appropriate software solution. It is applied to a globally operating metalworking company in an example study. Furthermore, the measurement infrastructure in particular is a basic requirement that should not be overlooked in addition to the process of choosing an appropriate software solution. In this context, suitable metering points or criteria must be defined as well as sufficient attention paid to the anticipated costs for acquiring and integrating new measuring transducer and energy meters. The type and number of relevant measuring points must be considered in particular. Discussing these aspects, this article facilitates the process of planning and implementing an energy monitoring. © 2021 DAAAM International. All rights reserved.

关键词： Energy efficiency

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Discrete-time dynamic graphical games:model-free reinforcement learning solution

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Control Theory and Technology 2015年第1期13卷 55-69页

作者： Mohammed I.ABOUHEAF Frank L.LEWIS Magdi S.MAHMOUD Dariusz G.MIKULSKI Systems Engineering Department King Fahd University of Petroleum & Mineral UTA Research Institute University of Texas at ArlingtonFort Worth Texas U.S.A. State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Ground Vehicle Robotics (GVR) U.S. Army TARDEC Warren MI U.S.A.

This paper introduces a model-free reinforcement learning technique that is used to solve a class of dynamic games known as dynamic graphical games. The graphical game results from to make all the agents synchronize to the state of a command multi-agent dynamical systems, where pinning control is used generator or a leader agent. Novel coupled Bellman equations and Hamiltonian functions are developed for the dynamic graphical games. The Hamiltonian mechanics are used to derive the necessary conditions for optimality. The solution for the dynamic graphical game is given in terms of the solution to a set of coupled Hamilton-Jacobi-Bellman equations developed herein. Nash equilibrium solution for the graphical game is given in terms of the solution to the underlying coupled Hamilton-Jacobi-Bellman equations. An online model-free policy iteration algorithm is developed to learn the Nash solution for the dynamic graphical game. This algorithm does not require any knowledge of the agents＇ dynamics. A proof of convergence for this multi-agent learning algorithm is given under mild assumption about the inter-connectivity properties of the graph. A gradient descent technique with critic network structures is used to implement the policy iteration algorithm to solve the graphical game online in real-time.

关键词： Dynamic graphical games Nash equilibrium discrete mechanics optimal control model-free reinforcementlearning policy iteration

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Framework for Robust Localization of UUVs and Mapping of Net Pens

arXiv

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arXiv 2024年

作者： Botta, David Ebner, Luca Studer, Andrej Reijgwart, Victor Siegwart, Roland Kelasidi, Eleni The Department of Mechanical and Process Engineering ETH Switzerland Tethys Robotics Switzerland The Aquaculture Robotics and Automation Group SINTEF Ocean

This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is suited to obtain both the net-relative pose estimates of an Unmanned Underwater Vehicle (UUV) and the depth map of the net pen purely based on vision data. Furthermore, this paper presents a method to estimate the global pose of an UUV fusing the net-relative pose estimates with acoustic data. The pipeline proposed in this paper showcases results on datasets obtained from industrial-scale fish farms and successfully demonstrates that the vision-based TRU-Depth model, when provided with sparse depth priors from the FFT method and combined with the Wavemap method, can estimate both net-relative and global position of the UUV in real time and generate detailed 3D maps suitable for autonomous navigation and inspection purposes. © 2024, CC BY.

关键词： Fish

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Reachability-Based Confidence-Aware Probabilistic Collision Detection in Highway Driving

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Engineering 2024年第2期33卷 90-107页

作者： Xinwei Wang Zirui Li Javier Alonso-Mora Meng Wang School of Engineering and Materials Science Queen Mary University of LondonLondon E14NSUK Department of Cognitive Robotics Delft University of TechnologyDelft 2628 CDNetherlands School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Chair of Traffic Process Automation “Friedrich List”Faculty of Transport and Traffic SciencesTU DresdenDresden 01069Germany

Risk assessment is a crucial component of collision warning and avoidance systems for intelligent ***-based formal approaches have been developed to ensure driving safety to accurately detect potential vehicle ***,they suffer from over-conservatism,potentially resulting in false–positive risk events in complicated real-world *** this paper,we combine two reachability analysis techniques,a backward reachable set(BRS)and a stochastic forward reachable set(FRS),and propose an integrated probabilistic collision–detection framework for highway *** this framework,we can first use a BRS to formally check whether a two-vehicle interaction is safe;otherwise,a prediction-based stochastic FRS is employed to estimate the collision probability at each future time ***,the framework can not only identify non-risky events with guaranteed safety but also provide accurate collision risk estimation in safety-critical *** construct the stochastic FRS,we develop a neural network-based acceleration model for surrounding vehicles and further incorporate a confidence-aware dynamic belief to improve the prediction *** experiments were conducted to validate the performance of the acceleration prediction model based on naturalistic highway driving *** efficiency and effectiveness of the framework with infused confidence beliefs were tested in both naturalistic and simulated highway *** proposed risk assessment framework is promising for real-world applications.

关键词： Probabilistic collision detection Confidence awareness Probabilistic acceleration prediction Reachability analysis Risk assessment

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