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2009 American Control Conference (ACC 2009)

作者： Shi-Lu Dai Hai Lin Shuzhi Sam Ge Key Laboratory of Integrated Automation of Process Industry Ministry of Education of China Northeastern University Shenyang China 110004 Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Social Robotics Lab Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore 117576

ISBN: (纸本)9781424445233

This paper addresses the problem of robust stability of discrete-time switched systems with time-varying delays and polytopic uncertainties. It is supposed that the switched systems are composed of both stable and unstable subsystems. Delay-dependent sufficient conditions for robust exponential stability are proposed by employing parameter-dependent piecewise Lyapunov-like functional combined with the free-weighting matrix and average dwell time methods. These sufficient conditions are applied in the study of stability analysis for a network-based reliable control system with controller failures, and the effectiveness of the analysis procedure is demonstrated with numerical simulation on network-based reliable control of cart-pendulum.

关键词： Robust stability Delay systems Control systems Switched systems Sufficient conditions Control system synthesis Time varying systems Uncertainty Delay effects Stability analysis

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DECOMPOSITION OF INDUSTRIAL SYSTEMS FOR ENERGY EFFICIENCY OPTIMIZATION WITH OPTTOPO

arXiv

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arXiv 2022年

作者： Thiele, Gregor Johanni, Theresa Sommer, David Krüger, Jörg Department for Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Germany Faculty of Electrical Engineering and Computer Science Technical University of Berlin Berlin Germany Weierstrass Institute for Applied Analysis and Stochastics Berlin Germany Institute for Machine Tools and Factory Management Technical University of Berlin Berlin Germany

The operation of industrial facilities is a broad field for optimization. Industrial plants are often a) composed of several components, b) linked using network technology, c) physically interconnected and d) complex regarding the effect of set-points and operating points in every entity. This leads to the possibility of overall optimization but also to a high complexity of the emerging optimization problems. The decomposition of complex systems allows the modeling of individual models which can be structured according to the physical topology. A method for energy performance indicators (EnPI) helps to formulate an optimization problem. The optimization algorithm OptTopo achieves efficient set-points by traversing a graph representation of the overall system. © 2022, CC BY.

关键词： Optimization

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automation of Life Data Analysis processes

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IOP Conference Series: Materials Science and Engineering 2021年第1期1140卷

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

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.

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Industrial machine vision: lessons and challenges

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Optics News 1987年第2期13卷 12-17页

作者： Steven W. Holland Robert B. Tilove STEVEN W. HOLLAND is an assistant department head in the Computer Science Dept. of General Motors Research Laboratories (GMR). He is responsible for research projects involving computer vision robotics mobile robotics process planning knowledge systems natural language advanced programming environments parallel processing and statistics. ROBERT B. TILOVE is senior staff research scientist and project leader of the machine perception project at GMR. His research interests include geometric modeling model-based programming and control of intelligent automation systems.

No abstract available.

关键词： Integral imaging Machine vision Measurement and metrology Optical systems Sensors Statistics

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Enhancing Force Sensing Capabilities in Exoskeleton Interfaces Using Compliant Actuator-Sensor Units - A User Study

Enhancing Force Sensing Capabilities in Exoskeleton Interfac...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Hosam Alagi Nikola Fischer Kai Behrends Iris Ftirst-Walter Jürgen Becker Michael Beigl Franziska Mathis-Ullrich Björn Hein Intelligent Process Automation and Robotics Laboratory (IPR) Institute for Anthropomatics and Robotics (IAR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Institute of Telematics (TM) - Pervasive Computing Systems (TECO) at Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Institut fuer Technik der Informationsverarbeitung (ITIV) at Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Department Artificial Intelligence in Biomedical Engineering (AIBE) Friedrich-Alexander University Erlangen-Nürnberg (FAU) Erlangen Germany Karlsruhe University of Applied Sciences Karlsruhe Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Reliable interaction force sensing between an exoskeleton and the human body is crucial for personalized support and efficient control. Poor donning and disturbances during movement lead to lower force measurement quality and thus to unfavorable use. In this work, we present an active smart human-robot interface by utilizing compliant actuator-sensor units (CASUs) that can be worn over clothing. These units combine capacitive force sensing and actuation using Shape-Memory Alloy (SMA) to actively compensate disturbances and improve force measurement by tightening the interface and reestablishing optimal contact. We present a pilot user study with five subjects, investigating the performance of an exoskele-ton interface featuring three integrated CASUs to compensate for non-ideal donning configurations and displacements during daily activities of walking, sitting down, and climbing the stairs. The results for a passive interface show a decrease in holding forces and force signal quality during activities. Our active interface, on the other hand, effectively compensates for disturbances, restoring high signal quality by the mean of peak-to-peak value up to 300% which leads to more distinct signals.

关键词： Legged locomotion Force measurement Cooling Force Exoskeletons Metals Stairs Robot sensing systems Sensors Reliability

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

arXiv

引用

arXiv 2023年

作者： Wang, Xinwei Li, Zirui Alonso-Mora, Javier Wang, Meng School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Cognitive Robotics Delft University of Technology Delft2628 CD Netherlands School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China Traffic Process Automation "Friedrich List" Faculty of Transport and Traffic Sciences TU Dresden Dresden01069 Germany

Risk assessment is a crucial component of collision warning and avoidance systems in intelligent vehicles. To accurately detect potential vehicle collisions, reachability-based formal approaches have been developed to ensure driving safety, but suffer from over-conservatism, potentially leading to false-positive risk events in complicated real-world applications. In this work, we combine two reachability analysis techniques, i.e., backward reachable set (BRS) and stochastic forward reachable set (FRS), and propose an integrated probabilistic collision detection framework in highway driving. Within the framework, we can firstly use a BRS to formally check whether a two-vehicle interaction is safe;otherwise, a prediction-based stochastic FRS is employed to estimate a collision probability at each future time step. In doing so, the framework can not only identify non-risky events with guaranteed safety, but also provide accurate collision risk estimation in safety-critical events. To construct the stochastic FRS, we develop a neural network-based acceleration model for surrounding vehicles, and further incorporate confidence-aware dynamic belief to improve the prediction accuracy. Extensive experiments are conducted to validate the performance of the acceleration prediction model based on naturalistic highway driving data, and the efficiency and effectiveness of the framework with the infused confidence belief are tested both in naturalistic and simulated highway scenarios. The proposed risk assessment framework is promising in real-world applications. © 2023, CC BY.

关键词： Forecasting

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

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IOP Conference Series: Materials Science and Engineering 2021年第1期1140卷

作者： Larissa Wurster Gregor Thiele Clemens Briese Jörg Krüger Plant Development Infrastructure / Assembly Trucks (TG/MAD) Daimler Truck AG Department for Process automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Department for Machine Vision Fraunhofer Institute for Production Systems and Design Technology Department for Industrial automation at the Institute for Machine Tools and Factory Management Technical University of Berlin

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.

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Implementing human-robot collaboration in highly dynamic environments: Assessment, planning and development

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AIP Conference Proceedings 2024年第1期2989卷

作者： A. Bastidas-Cruz T. Jaya G. Thiele J. Krüger Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstr. 8-9 10587 Berlin Germany Head of Industrial Automation Technology Department Institute of Machine Tools and Factory Management Technische Universität Berlin Pascalstr. 8-9 10587 Berlin Germany

Human-robot collaboration (HRC) applications have been slowly making their path in the industry. Although the required hardware and the methods for the planning and development of collaborative robotic applications are mostly already developed, some industrial branches still struggle to implement HRC. This is the case in motorcycle production, where, unlike car production, the assembly line has been optimized for manual *** on the use case described above, this paper identifies new requirements of HRC for automated screwing assembly operations in flexible production environments. In order to compensate deviations in the position of the tool relative to the workpiece, a screwing strategy based on force control is proposed. Parameter sensitivity is considered and supported experimentally with a screwing task performed by a cobot, where a method for contact detection between the nutrunner and the screw head is analyzed. This paper brings a guideline for experts from the manufacturing system engineering to implement HRC in highly dynamic assembly environments.

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Using anomaly detection and classification to support failure recovery of plants

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AIP Conference Proceedings 2024年第1期2989卷

作者： Niklas Grambow Lisa-Marie Fenner Oliver Heimann Jörg Krüger Department for Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Pascalstr. 8-9 10587 Berlin Germany Institute for Machine Tools and Factory Management Technische Universität Berlin Pascalstr. 8-9 10587 Berlin Germany

Failure recovery of machines is a great challenge for the plant operator. Usually, a stopped plant is quite costly and has to be put back into operation fast. In that case, experienced personnel are essential. Only their knowledge and broad understanding of the interaction of the various components allows a reliable identification of the underlying problem and enables a successful recovery. Digitization can help to address this problem. Knowledge can be stored and shared digitally across plants, locations and companies. In addition, an ever-increasing amount of machine and process data is digitally available which can further support the problem-solving process. We present a new approach to machine maintenance that relies on machine learning to help identify the underlying technical problem that led to the machines error. In contrast to predictive maintenance, our system is employed reactively and focusses on the identification and classification of singular failures rather than a predictive monitoring of the plants state. To support the operator in fault recovery, we use anomaly detection to identify the deviations in the data of the processes prior to the fault. This allows the system to generate hints as to where to look for the underlying cause of the error and helps the technician make an educated guess. Additionally, an error classification algorithm also allows troubleshooting information to be linked directly to the data. Thereby, when an error reoccurs, the knowledge gained in the first occurrence is immediately made available to the operator through information linked to the error *** this article, we present the concept behind our anomaly detection system and the required software architecture to combine the different data sources. Furthermore, we discuss the results from an experiment that simulates an optical part inspection using a camera based system, where we introduce different errors into the process and are able to demonstrate the capability

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Steady‐state security evaluation of electrical power systems by means of artificial neural network

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European Transactions on Electrical Power 1995年第2期5卷 91-97页

作者： Chiodo, E. Menniti, D. Testa, A. Picardi, C. Elio Chiodo (1959) received the degree in Electronics Engineering in 1985 and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu

An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural network and of an opportune electrical system model, previously proposed by some of the authors. In the paper, the definition of steady‐state security and the problems arising from its on‐line evaluation are briefly recalled. Then, the ANN utilized is described with particular reference to the solutions adopted by the authors. Afterwards, some remarks on the system model utilized are reported. Finally, numerical applications on the AEP‐14 bus system are presented and the results obtained with different ANN configurations are analyzed. Copyright © 1995 John Wiley & Sons, Ltd.

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