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Region-Aware Grasping for Stacked Workpieces: A 6D-Wise Label Self-Generation Method and Robust Evaluation Strategy

IEEE Transactions on Automation Science and engineering 2025年 22卷 16899-16912页

作者： Xungao Zhong Tao Gong Junzhi Yu Jiaguo Luo Chengxian Zhou Xunyu Zhong Qiang Liu School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China School of Aerospace Engineering Xiamen University Xiamen China School of Engineering Mathematics and Technology University of Bristol Bristol U.K. Department of Psychiatry University of Oxford Oxford U.K.

The high-quality datasets and generalized network model combined with robust evaluation strategies serve as a significant benchmark for developing new policies for industrial bin-picking. In this paper, we propose the concept of region-aware grasping, a sim2real cutting-edge system to generate and evaluate 6D poses for robots to pick up novel workpieces from stacked environments. It consists of Region-Aware-Dataset, a large-scale synthetic point cloud grasp dataset; and Semantic-Graspnet, a 6D-wise affordance policy that predicts full 6D grasp pose for stacked workpieces. The introduced Semantic-Graspnet transforms the 6D pose prediction problem into semantic categorization via point cloud encoding and decoding. Meanwhile, we propose a robust evaluation strategy based on pose evaluation and mechanical grasping evaluation, which enhances the robot’s grasping success rate and sorting efficiency. In real industrial tasks, the robot achieves a grasp completion rate of 91.3% in cluttered scenes and 89.2% in densely stacked scenes, demonstrating state-of-the-art results in robotic picking-and-placing applications. Note to Practitioners—This work is inspired by the robotic universal AI technique, which holds an indispensable position in industrial as bin-picking tasks. Leveraging this technology, the robot can proficiently perform picking-and-placing for diverse workpieces. The prior robot grasping policies primarily centered on maximizing the optimization of grasp detection to ensure successful grasping. Nevertheless, limitations still exist regarding efficient datasets, generalized network models, and robust evaluation strategies. Therefore, in order to effectively curtail the development cycle of robot picking-and-placing applications, this paper puts forward a novel region-aware grasping policy for stacked workpieces. We have investigated an autonomous grasp label annotation method and constructed a large-scale synthetic point cloud grasp dataset. Subsequently, a seman

关键词： Grasping Point cloud compression Training Service robots Affordances Collision avoidance Semantics Predictive models Electronic mail Deep learning

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Modified Resonant controllers with Time Delay Compensation 18

Modified Resonant Controllers with Time Delay Compensation

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18th International Scientific Technical Conference Alternating Current Electric Drives, ACED 2021

作者： Nos, Oleg V. Makyš, Pavol Kharitonov, Sergey A. Novosibirsk State Technical University Department of Industrial Machinery Design Novosibirsk Russia University of Zilina Department of Power Systems and Electric Drives Zilina Slovakia Novosibirsk State Technical University Department of Electronics and Electrical Engineering Novosibirsk Russia

ISBN: (纸本)9781665412483

The resonant (R) controllers are widely applied to reduce ripple current/voltage in three-phase systems with power electronic converters. The digital signal processor (DSP) implementation of R-control implies a time delay due to online computation and discretization effects. The time delay produces an associated phase lag and causes deterioration of the transient operating performance as well as of the system stability. To overcome this drawback, the two modified schemes are considered in this paper for an R-control component, and one of them have never been presented before. The comparative analysis of proposed R-controllers is performed by using Bode diagrams in a frequency domain. As can be seen from the simulation results, while operating frequencies are less than the resonant frequency, a transfer function with the first order numerator is more suitable choice. In contrast, at operating frequencies exceed the resonant frequency, the transfer function with the second order numerator should be used to achieve appropriate transient performance because its frequency response is closer to the conventional R-controller. For this reason, it is more preferable to employ the R-controller scheme for digital implementation that combines simultaneously two transfer functions with time delay compensation. © 2021 IEEE.

关键词： controllers

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designing and prototyping the architecture of a digital twin for wind turbine

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International Journal of Thermofluids 2024年 22卷

作者： Mahmoud, Montaser Semeraro, Concetta Abdelkareem, Mohammad Ali Olabi, Abdul Ghani Sustainable Energy & Power Systems Research Centre RISE University of Sharjah P.O. Box 27272 Sharjah United Arab Emirates Department of Industrial and Management Engineering University of Sharjah Sharjah United Arab Emirates Chemical Engineering Department Minia University Elminia Egypt Mechanical Engineering and Design Aston University School of Engineering and Applied Science Aston Triangle BirminghamB4 7ET United Kingdom

This paper outlines the key components necessary to develop a digital twin (DT) for a wind turbine, aiming to provide a detailed methodology and guidelines for building this system, which facilitates optimization during operation and helps prevent system failures. It presents the four major systems required to construct the DT: the physical, digital, connection, and service systems. This study also presents the critical design, measured, and calculated parameters of a wind turbine, which are essential to the development of the DT. The physical system of the wind turbine and its critical components were examined, including the rotor, blades, shaft, generator, tower, and nacelle. The paper also explores the digital system of the DT, including data storage, digital models, and mathematical modeling. The problems that may occur during the operation were presented in addition to the possible solutions that the service system must suggest. According to the project's needs and requirements, it was found that the DT of a wind turbine can employ various connection systems such as supervisory control and data acquisition, wireless sensor networks, smart grids, Internet of Things, and cloud-based systems. © 2024 The Authors

关键词： Wind turbines

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SECURE-BY-CONSTRUCTION SYNTHESIS FOR control systems

arXiv

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arXiv 2023年

作者： Zhong, Bingzhuo Liu, Siyuan Caccamo, Marco Zamani, Majid Department of Computer Science University of Colorado Boulder United States Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden TUM School of Engineering and Design Technical University of Munich Germany

In this paper, we present the synthesis of secure-by-construction controllers that address safety and security properties simultaneously in cyber-physical systems. Our focus is on studying a specific security property called opacity, which characterizes the system’s ability to maintain plausible deniability of its secret behavior in the presence of an intruder. These controllers are synthesized based on a concept of so-called (augmented) control barrier functions, which we introduce and discuss in detail. We propose conditions that facilitate the construction of the desired (augmented) control barrier functions and their corresponding secure-by-construction controllers. To compute these functions, we propose an iterative scheme that leverages iterative sum-of-square programming techniques. This approach enables efficient computation of these functions, particularly for polynomial systems. Moreover, we demonstrate the flexibility of our approach by incorporating user-defined cost functions into the construction of secure-by-construction controllers. Finally, we validate the effectiveness of our results through two case studies, illustrating the practical applicability and benefits of our proposed approach. Copyright © 2023, The Authors. All rights reserved.

关键词： controllers

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SMO Based Sensorless Direct Torque Sliding Mode control of IM for EV Applications

SMO Based Sensorless Direct Torque Sliding Mode Control of I...

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International Conference on Advanced Electrical engineering (ICAEE)

作者： Abdelkader Ghezouani Imen Souhila Bousmaha Jemal Ghouili Electrical Engineering Department University of Bechar Bechar Algeria Ecole Supérieure en Sciences Appliquées de Tlemcen ESSAT- Tlemcen Tlemcen Algeria Intelligent Control and Electrical Power Systems Laboratory Djillali Liabes University of Sidi-Bel-Abbes Electrical Engineering Department University of Moncton Moncton Canada

ISBN: (数字)9798350349351

ISBN: (纸本)9798350349368

This paper presents a study and analysis of a direct torque control strategy associated with a sliding mode control (DTC-SMC) without a speed sensor to control the four induction motors used for the propulsion of a four-wheel drive electric vehicle 4WDEV. The estimation of the rotor speed of each motor is obtained by a sliding mode observer SMO. The main objective of this control method is to increase the robustness and reduce torque and stator flux oscillations. The model is made using the Matlab / Simulink environment. The simulation results obtained show the effectiveness of the control strategy in terms of driving cycle trajectory tracking and disturbance rejection.

关键词： Torque Trajectory tracking Software packages Simulation Torque control Rotors Observers Stators Electric vehicles Sliding mode control

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Upgrading and testing of the UPV/EHU Stellarator 13

Upgrading and testing of the UPV/EHU Stellarator

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13th International Conference on Information, Intelligence, systems and Applications, IISA 2022

作者： Garrido, Aitor J. Marco, Aitor De La Sen, Manuel Oleagordia, Inigo Garrido, Izaskun University of the Basque Country - UPV/EHU Automatic Control Group - Acg Institute of Research and Development of Processes - Iidp Department of Automatic Control and Systems Engineering Faculty of Engineering of Bilbao Po Rafael Moreno 3 Bilbao48013 Spain University of the Basque Country - UPV/EHU. Automatic Control Group - Ac Advanced Design and Analysis Department Idom Zarandoa Etorb. 23 Bilbao48015 Spain University of the Basque Country - UPV/EHU Automatic Control Group - Acg Institute of Research and Development of Processes - Iidp Department of Electricity and Electronics Faculty of Science and Technology B° Sarriena s/n Leioa48080 Spain

ISBN: (数字)9781665463904

ISBN: (纸本)9781665463904

This paper deals with the upgrade and testing of the of the Ultra-Low Iota Super Elongated Stellarator of the University of the Basque Country. The main upgrades affect to the coil system but also to the microwave source and the data acquisition system. Therefore, it is necessary to update its State-Space model. The updated model is validated by means of experimental output data showing an accurate matching with the real system. Then, in order to test the new model, a Model Predictive control-MPC scheme is successfully implemented both in simulation and experimentally using a real-time control platform. © 2022 IEEE.

关键词： Model predictive control

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Development of AC Voltage Stabilizer with Microcontroller-Based control System

Development of AC Voltage Stabilizer with Microcontroller-Ba...

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International Computer Sciences and Information Technologies (CSIT)

作者： Andriy Holovatyy Andrzej Łukaszewicz Vasyl Teslyuk Nazariy Ripak Department of Computer-Aided Design Systems Lviv Polytechnic National University Lviv Ukraine Department of Machinery Design and Operation Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland Department of Automated Control Systems Lviv Polytechnic National University Lviv Ukraine

ISBN: (纸本)9798350334326

In the paper, the model and prototype of the AC stabilizer have been developed based on the AVR ATmega328P microcontroller. The block diagram of the device, the electronic circuit and the algorithms of the system operation have been developed. In particular, the algorithm includes software in C in the Arduino IDE. The AC voltage stabilizer is designed using the modular principle, which makes it possible to quickly upgrade. The AC voltage stabilizer makes it possible to maintain the supply voltage on the load within acceptable limits with significant deviations, has the ability to adjust the voltage range of the network to operate the stabilizer, manual adjustment potentiometers.

关键词： Semiconductor device modeling Microcontrollers systems operation Software algorithms Prototypes Software Voltage control

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Computer-integrated drive control in systems with variable imbalance

Computer-integrated drive control in systems with variable i...

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Advanced Technology (KhPIWeek), IEEE KhPI Week on

作者： Volodymyr Pavlenko Petro Kurliak Yaroslav Batsala Valeria Dromenko Oleksii Volianyk Serhiy Horiashchenko Department of Information and Computer Technologies Kyiv National University of Technologies and Design Kyiv Ukraine Department of Electrical Power Engineering Ivano-Frankivsk National Technical University of Oil and Gas Ivano-Frankivsk Ukraine Department of Mechanical Engineering Kyiv National University of Technologies and Design Kyiv Ukraine Department of Machines and Devices Electromechanical and Energy Systems Khmelnytskyi National University Khmelnytskyi Ukraine

The paper introduces a computer-integrated system designed for the automatic control in centrifuges with variable imbalance. The system comprises a microcontroller, a Hall sensor, a computer-oriented Bond Graph model of an asynchronous motor, and a control program. The control program utilizes a proposed algorithm to monitor the nominal and critical values of the centrifuge drive current while continuously recording and observing the current. If there is an increase in the current, the system automatically resets the revolutions by 10%, aiming to minimize vibration amplitude during transient rotational modes. Subsequently, the system oversees the permissible current limit and engine load to ensure stable operation.

关键词：

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Study on the thermal-electrical balance of the kW-class SOFC stack 17

Study on the thermal-electrical balance of the kW-class SOFC...

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17th International Symposium on Solid Oxide Fuel Cells, SOFC 2021

作者： Li, Biao Lyu, Zewei Han, Minfang Sun, Kaihua Sun, Zaihong Liu, Yang Department of Energy and Power Engineering State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Tsinghua University Beijing100084 China Xuzhou Huatsing Jingkun Energy Co. Ltd. Jiangsu Province 221004 China

ISBN: (纸本)9781607685395

Heat and electricity are deeply coupled in solid oxide fuel cell (SOFC) stacks, and the balance and control between them are vital to the steady working condition and outputs. Therefore, studying the balance mechanism of heat and electricity is important to achieve the safe and stable operation of the SOFC stacks. In this paper, a semi-empirical simulation model of a kilowatt-level SOFC stack was established. Based on this model, the effects of different operating temperatures, flow rates, air to H2 ratios (AHR), and steam to carbon (S/C) ratios on the thermoelectric balance state of the SOFC stack were analyzed. Results show that the I-V curve can be separated into three parts: unbalance zone, unsustainable zone, and the self-heat balance zone by the self-heat balance voltage (SHBV) and the critical voltage (CV). The approximate voltage scope of the balance zone under different conditions is 0.6~0.9 V. © 2021 Electrochemical Society Inc.. All rights reserved.

关键词： Specific heat

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Machine Learning in Predicting the Impact of Filter Parameters on the Accuracy of Biosignal Measurement

Machine Learning in Predicting the Impact of Filter Paramete...

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Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Yeldos A. Altay Raisa K. Uskenbayeva Abu-Alim E. Ayazbay Alexey V. Fedorov Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Institute of Automation and Information Technologies Vice-Rector Satbayev University Almaty Kazakhstan Electronic engineering Almaty University of Power Engineering and Telecomunications Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation

ISBN: (数字)9798331518752

ISBN: (纸本)9798331518769

In this scientific article under consideration, a machine learning model has been developed that allows predicting the impact of filter parameters on the accuracy of measuring a biosignal - an ECG (electrocardiography) signal. For the first time, quantitative results have shown the degree of influence and the error introduced into the measured biosignal and described through dependence. The results of assessing the obtained relationship of indicators demonstrate an inverse correlation relationship that characterizes a decrease in the accuracy of measurement at the output of a high-order digital filtering system. The machine learning model is based on the linear regression method the dependence of which is approximated by the method based on least squares and visualized using a scattergram. The adequacy of the developed machine learning model was confirmed by calculating the coefficient of determination and checking its statistical significance. The developed model can be used to create new or improve existing biomedical data processing systems to increase the reliability of the results.

关键词： Accuracy Shape Filtering Biological system modeling Machine learning Biomedical measurement Electrocardiography Distortion Distortion measurement Digital filters

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