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arXiv 2024年

作者： Nasir, Ali Mekid, Samir Sawlan, Zaid Alsawafy, Omar Control and Instrumentation Engineering Department KFUPM Dhahran Saudi Arabia Mechanical Engineering Department KFUPM Dhahran Saudi Arabia Mathematics Department KFUPM Dhahran Saudi Arabia Systems Engineering Department Dhahran Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics KFUPM Dhahran Saudi Arabia

This paper considers a distributed decision-making approach for manufacturing task assignment and condition-based machine health maintenance. Our approach considers information sharing between the task assignment and health management decision-making agents. We propose the design of the decision-making agents based on Markov decision processes. The key advantage of using a Markov decision process-based approach is the incorporation of uncertainty involved in the decision-making process. The paper provides detailed mathematical models along with the associated practical execution strategy. In order to demonstrate the effectiveness and practical applicability of our proposed approach, we have included a detailed numerical case study that is based on open source milling machine tool degradation data. Our case study indicates that the proposed approach offers flexibility in terms of the selection of cost parameters and it allows for offline computation and analysis of the decision-making policy. These features create and opportunity for the future work on learning of the cost parameters associated with our proposed model using artificial intelligence. © 2024, CC BY.

关键词： Optimization

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Measurement of unbalanced voltages in three-phase induction motors using acoustic transducers and zero-crossing-weighted energy 5

Measurement of unbalanced voltages in three-phase induction ...

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5th International Symposium on Instrumentation Systems, Circuits and Transducers, INSCIT 2021

作者： Lucas, Guilherme Beraldi De Castro, Bruno Albuquerque Alves, Brigite Peinado Glowacz, Adam Andreoli, Andre Luiz Sao Paulo State University Department of Electrical Engineering Bauru Brazil AGH University of Science and Technology Department of Automatic Control and Robotics Krakow Poland

ISBN: (纸本)9781728197265

In modern industries, transducers and measurement systems have been largely applied for equipment monitoring. In this context, three-phase induction motors (TIMs) are the main focus of predictive maintenance due to their relevance within the production lines. Among electrical and mechanical failures in TIMs, voltage unbalance (VU) is a critical condition that can lead the motor to total failure. It motivated the development of sensor-based solutions to diagnose this supply anomaly, including the acoustic emission (AE) technique, which stands out as a non-invasive alternative for fault diagnosis. However, none of the previous works carried out a comprehensive evaluation of VU. Therefore, to fill this research gap, this manuscript proposes a detection, phase(s) identification, and percentage classification of VU. This approach is based on AE signals acquired by piezoelectric transducers and Zero-Crossing-Weighted Energy (ZE) to accomplish the analysis. The methodology consisted of several experiments where the TIM was subjected to unbalanced voltages. The signals were processed using the ZE index to perform a 3D clustering map for phase identification and a 2D linear regression for percentage classification. The results showed that the proposed method successfully evaluated the origin and magnitude of VU faults in TIMs. © 2021 IEEE.

关键词： Failure analysis

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Video Streaming Protocols Comparison in Field Experiments for Aerial Teleoperation

Video Streaming Protocols Comparison in Field Experiments fo...

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Mechanical engineering and robotics Research (ICMERR), International Conference on

作者： Manuel J. Fernandez Riccardo Franceschini Julian Cayero Becerra Matteo Fumagalli Department of Electrical Engineering Automation and Control Technical University of Denmark Kongens Lyngby Denmark Robotics and Automation Unit Eurecat Technology Center of Catalunya Cerdanyola del Vallès Barcelona Spain

ISBN: (数字)9798331509262

ISBN: (纸本)9798331509279

As aerial robots evolve to perform complex tasks such as manipulation and visual inspection, maintaining the pilot at the center of decision-making is critical for mission safety and leveraging human expertise. A key enabler of this collaboration is reliable video streaming between the robot and the operator. This paper presents a comparative analysis of four video streaming protocols RTP (Real-time Transport Protocol), RTSP (Real-Time Streaming Protocol), SRT (Secure Reliable Transport), and ROSTCP (ROS Transport control Protocol) based on extensive field experiments. The evaluation focuses on CPU usage, network throughput, latency, streaming quality, and packet integrity across varying distances. Tools such as iperf, ping, GStreamer, and Wireshark were employed for detailed performance measurements. Results reveal significant differences: SRT and RTP deliver superior network stability and resilience to packet loss, while RTSP and ROSTCP show advantages in CPU efficiency. These findings provide actionable insights for optimizing video streaming in aerial robotics, emphasizing the trade-offs and advantages of each protocol in real-world scenarios.

关键词： Wireless communication Transport protocols Visualization Protocols Streaming media Throughput Real-time systems Stability analysis Reliability Robots

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Mask Generation of Inpainting Model for Moire Pattern based 3D Reconstruction

Mask Generation of Inpainting Model for Moire Pattern based ...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Tae-Jung Kim Min-Ho Ha Saba Arshad Tae-Hyoung Park Department of Intelligent Robotics Engineering Chungbuk National University Cheongju-si Republic of Korea Department of Control and Robot Engineering Chungbuk National University Cheongju-si Republic of Korea Industrial Artificial Intelligence Research Center Chungbuk National University Cheongju-si Republic of Korea Department of Intelligent Systems and Robotics Chungbuk National University Cheongju-si Republic of Korea

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In this paper, we aim to enhance the performance of 3D height reconstruction from 2D printed circuit board (PCB) moiré images by removing and reconstructing the noise caused by light reflection and shadows, which interfere with the reconstruction process. To achieve this, we conducted comparative experiments using various generative adversarial network (GAN) models applied to an inpainting model, discovering that mask images play a crucial role in this context. By applying white mask areas over the noise regions in the 2D PCB moiré images using the inpainting model, and reconstructing only those areas, we significantly improve the performance in reconstructing the heights of components within the PCB by removing and reconstructing only the specified noise regions. For setting the mask areas, we employ the fast unsupervised anomaly detection with generative adversarial networks (f-AnoGAN model) as an outlier detection model using GAN, aiming to identify anomalies between images with and without noise to set the mask areas accordingly. Through this approach, we accurately identify and reconstruct only the noise regions, proposing a method for reconstructing the heights of components within PCB using 2D PCB moiré images.

关键词： Solid modeling Three-dimensional displays Printed circuits Noise Generative adversarial networks Reflection Integrated circuit modeling Image reconstruction Anomaly detection Context modeling

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Liquid Filling Quality control System for Beverage Industry Using Image Processing (CNN)

Liquid Filling Quality Control System for Beverage Industry ...

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International Conference on control, Automation and Systems ( ICCAS)

作者： B. Chatchapol W. Autanan W. Anan Department of Electrical Engineering Faculty of Electric Engineering Rajamangala University of Technology Lanna Chiang Mai Thailand Robotics Engineering and AI Faculty of Engineering Chiang Mai University Chiang Mai Thailand Department of Electronic Engineering and Automation Control System Faculty of Engineering Rajamangala University of Technology Lanna Chiang Mai Thailand

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

The beverage industry has been leveraging automation to enhance production efficiency. An essential advancement involves the use of AI and image processing to ensure the high quality of products. Image processing systems employ sophisticated algorithms to meticulously inspect specific aspects of the production process (liquid level, lid sealing, text print). The CNN algorithm is primarily utilized to scrutinize water bottle images to verify their quality. Maintaining consistent production speed poses a challenge, underscoring the importance of examining the image processing system from various perspectives. The research proposed implementing a system that oversees liquid filling quality through an image processing algorithm, a camera module, and conveyor belt speed control to address. This system monitors liquid levels and bottle capping while the production line is operational. On average, the system achieves a 98.89 percent accuracy rate in detecting liquid levels and a 100 percent accuracy rate in sealing the lids. Furthermore, the conveyor speed control can adjust automatically to detect variations in product movement speed.

关键词： Liquids Image processing Velocity control Production Quality control Inspection Belts Filling Beverage industry Monitoring

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Trajectory Tracking control for Lane Change Maneuvers in Autonomous Vehicles

Trajectory Tracking Control for Lane Change Maneuvers in Aut...

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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： Muhammad Shahab Muhammad Faizan Mysorewala Department of Control & Instrumentation Engineering King Fahd University of Petroleum & Minerals (KFUPM) Dhahran Saudi Arabia Department of Control & Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This research advances autonomous vehicle capabilities by developing novel trajectory planning and control techniques for lane changes using free-driving and vehicle-following modes. This study addresses the critical challenge of enhancing lane change precision to minimize accident risks on highways. A quintic polynomial is used for trajectory generation, and a PID controller is employed for trajectory tracking, integrating collision prevention strategies for safety assurance. The contributions of this work include the development of an efficient control scheme that adapts to dynamic traffic conditions and improves the robustness of lane-changing maneuvers. The proposed approach significantly enhances the accuracy and reliability of autonomous lane changes, providing a pathway for safer autonomous driving in complex highway scenarios.

关键词： Road transportation Trajectory planning Trajectory tracking Prevention and mitigation Robot sensing systems Robustness Safety Trajectory Vehicle dynamics Autonomous vehicles

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Expanding the Research Capabilities of an Experimental Setup for Testing Magnetoactive Materials

Expanding the Research Capabilities of an Experimental Setup...

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International Carpathian control Conference (ICCC)

作者： Paweł Orkisz Somashree Mondal Frank Clemens Thomas Graule Bogdan Sapiński Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland Department of Advanced Materials and Surfaces Laboratory of High Performance Ceramics Empa Dübendorf Dübendorf Switzerland

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

In the present paper, the authors describe the research capabilities of a specially designed experimental setup for testing magnetoactive material samples. The study covers the setup description with particular emphasis on mechanical, electrical and software components. The results of preliminary tests carried out in the context of magnetic field and temperature requirements are provided. The work demonstrates that expanding the research capabilities ensures expected conditions for testing magnetoactive materials.

关键词： Temperature measurement Thermal expansion Voltage measurement Three-dimensional displays Cooling Estimation Generators

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A Geometry-based Approach for Support-free Additive Manufacturing of Structures with Large Overhang Angles and Closed Features

A Geometry-based Approach for Support-free Additive Manufact...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jitian Liu Zachary Cohen Jin Seob Kim Mehran Armand Michael D. M. Kutzer Department of Mechanical Engineering Johns Hopkins University Baltimore Maryland USA Department of Weapons Robotics & Control Engineering United States Naval Academy Annapolis Maryland USA Departments of Orthopaedic Surgery Mechanical Engineering & Computer Science Johns Hopkins University Baltimore Maryland USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Architected materials derive performance characteristics from material properties and internal geometry. These materials are increasingly prevalent across a wide variety of domains. Many intricate feature geometries associated with architected materials can be explored using additive manufacturing (AM) processes. However, current AM methods generally cannot fabricate geometries with completely closed voids without introducing a support structure. This paper describes a new, support-free approach to AM capable of creating structures with closed voids. This work limits part geometry to three-dimensional (3D) geometries defined by a revolution about a single axis. This limitation enables planar analysis within a three-degree-of-freedom (3-DoF) task space. Part geometry in 3-DoF task space is constrained to a convex arch. Task space geometry is divided into an ordered set of sub-regions, considering feasible deposition orientations and collision constraints. The use of 3-DoF task space provides planar translation and rotation of the component during fabrication. The introduction of this rotational DoF addresses AM overhang constraints imposed by gravity. Methods for generating, ordering, and layering sub-regions suitable for printing a part with a closed hole are presented. Layers derived in the 3-DoF task space analysis are then extended to 3D deposition paths using the axis of revolution defined by the original part. The method of hole closure relies on the concept of a "keystone" which requires a 45° nozzle offset for collision-free deposition within keystone-adjacent sub-regions. The feasibility of deposition using a 45° nozzle offset is explored experimentally, and results demonstrate feasibility.

关键词： Geometry Fabrication Translation 3-DOF Three-dimensional printing Intelligent robots Material properties Gravity

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Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems

arXiv

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arXiv 2023年

作者： Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Hybrid Robotics Group The Department of Mechanical Engineering UC Berkeley United States

Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots, which limits real-time performance and scalability. Additionally, generating collision-free behavior for polytopic-shaped robots is harder due to implicit and non-differentiable distance functions between polytopes. In this paper, we extend the concept of velocity obstacle (VO) principle for polytopic-shaped robots and propose a novel approach to construct the VO in the function of vertex coordinates and other robot’s states. Compared with existing work about obstacle avoidance between polytopic-shaped robots, our approach is much more computationally efficient as the proposed approach for construction of VO between polytopes is optimization-free. Based on VO representation for polytopic shapes, we later propose a navigation approach for distributed multi-robot systems. We validate our proposed VO representation and navigation approach in multiple challenging scenarios including large-scale randomized tests, and our approach outperforms the state of art in many evaluation metrics, including completion rate, deadlock rate, and the average travel distance. Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability

arXiv

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arXiv 2023年

作者： Chi, Xuemin Zeng, Jun Huang, Jihao Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Hybrid Robotics Group the Department of Mechanical Engineering UC Berkeley United States

We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a high-level HJ-based reachability analysis and a lower-level bidirectional A* search algorithm. In high-level reachability analysis, a backward reachable tube (BRT) concerning vehicle dynamics is computed by the HJ analysis and it intersects with a safe set to get a safe reachable set. The safe set is defined by constraints of positive signed distances for obstacles in the environment and computed by solving QP optimization problems offline. For states inside the intersection set, i.e., the safe reachable set, the computed backward reachable tube ensures they are reachable subjected to system dynamics and input bounds, and the safe set guarantees they satisfy parking safety with respect to obstacles in different shapes. For online computation, randomized states are sampled from the safe reachable set, and used as heuristic guide points to be considered in the bidirectional A* search. The bidirectional A* search is paralleled for each randomized state from the safe reachable set. We show that the proposed two-level planning algorithm is able to solve different parking scenarios effectively and computationally fast for typical parking requests. We validate our algorithm through simulations in large-scale randomized parking scenarios and demonstrate it to be able to outperform other state-of-the-art parking planning algorithms. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

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