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Vibration signals processing by cellular automata for wind turbines intelligent monitoring

Diagnostyka 2013年第2期14卷 31-36页

作者： Barszcz, Tomasz Bielecki, Andrzej Wójcik, Mateusz Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Cracow Poland Department of Applied Computer Science Faculty of Electric Engineering Automation Computer Science and Biomedical Engineering AGH University of Science and Technology Al. Mickiewicza 30 30-059 Cracow Poland Faculty of Physics Astronomy and Applied Computer Science Jagiellonian University Reymonta 4 30-059 Cracow Poland

In recent years wind energy is the fastest growing branch of the power generation industry. The largest cost for the wind turbine is its maintenance. A common technique to decrease this cost is a remote monitoring based on vibration analysis. Growing number of monitored turbines requires an automated way of support for diagnostic experts. As full fault detection and identification is still a very challenging task, it is necessary to prepare an early-warning tool, which would focus the attention on cases which are potentially dangerous. There were several attempts to develop such tools, in most cases based on various classification methods. The techniques that have been used so far are based on the vibration signals analysis in which the signals are considered as time series. However such approach has crucial limitations. Therefore, new approaches for wind turbines intelligent monitoring are worked out. Artificial intelligence systems are ones of promising. In this paper such approach is proposed - a vibration signal spectrum is considered as a pixel matrix which is processed using deterministic cellular automaton (DCA). It turns out that such processing allows us to detect pre-failure states.

关键词： Wind turbines

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Effects of short-term synaptic plasticity mechanisms on the dynamics of the network conductances

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BMC Neurosci 2014年第SUPPL 1期15卷 P150-P150页

作者： Catalina Vich Paolo Massobrio Antoni Guillamon Department of Mathematics and Computer Science Escola Politècnica Superior Universitat de les Illes Balears Mallorca Palma 07122 Spain Department of Informatics Bioengineering Robotics System Engineering (DIBRIS) University of Genova Genova Italy Department of Applied Mathematics I EPSEB Universitat Politècnica de Catalunya Barcelona Spain

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Case-study based performance assessment of an event-triggered MPC scheme for freeway systems

Case-study based performance assessment of an event-triggere...

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2013 12th European Control Conference, ECC 2013

作者： Ferrara, Antonella Nai Oleari, Alberto Sacone, Simona Siri, Silvia Department of Electrical Computer and Biomedical Engineering University of Pavia Italy Department of Computer Science Bioengineering Robotics and Systems Engineering University of Genova Genova Italy

ISBN: (纸本)9783033039629

The paper is aimed at the definition of an efficient control framework for freeway systems. To this end, a Model Predictive Control scheme based on the cell transmission model is adopted in which the considered control action refers to ramp metering. Two major aspects characterize the paper. First, the prediction model is formulated as a mixed logical dynamical system (i.e. it is described by linear dynamic equations and linear inequalities in which both real and integer variables are involved) in order to obtain a finite-horizon optimal control problem with the structure of a mixed-integer quadratic programming problem. In such a problem the objective function quadratically penalizes the deviation of the state variables from a specific equilibrium point. Secondly, an event-triggered scheme is used to further reduce the computational load of the control scheme making it more adequate for real applications. Numerical results based on data coming from a real case study relevant to Grenoble South Ring are also presented and discussed. © 2013 EUCA.

关键词： Model predictive control

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Injection-depth-locking axial motion guided handheld micro-injector using CP-SSOCT

Injection-depth-locking axial motion guided handheld micro-i...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Gyeong Woo Cheon Yong Huang Hye Rin Kwag Ki-Young Kim Russell H. Taylor Peter L. Gehlbach Jin U. Kang Department of Electrical and Computer Engineering Johns Hopkins University Baltimore MD USA Department of Chemical and Biomolecular Engineering Johns Hopkins University Baltimore MD USA Laboratory of Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Computer Science Johns Hopkins University Baltimore MD USA Wilmer Eye Institute Johns Hopkins School of Medicine Baltimore MD

This paper presents a handheld micro-injector system using common-path swept source optical coherence tomography (CP-SSOCT) as a distal sensor with highly accurate injection-depth-locking. To achieve real-time, highly precise, and intuitive freehand control, the system used graphics processing unit (GPU) to process the oversampled OCT signal with high throughput and a smart customized motion monitoring control algorithm. A performance evaluation was conducted with 60-insertions and fluorescein dye injection tests to show how accurately the system can guide the needle and lock to the target depth. The evaluation tests show our system can guide the injection needle into the desired depth with 4.12μm average deviation error while injecting 50nl of fluorescein dye.

关键词： Needles Optical fiber sensors Biomedical optical imaging Optical fibers Optical interferometry Coherence

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Be the robot: Human embodiment in tele-operation driving tasks

Be the robot: Human embodiment in tele-operation driving tas...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Luís Almeida Bruno Patrão Paulo Menezes Jorge Dias Institute of Systems and Robotics University of Coimbra Coimbra Portugal Instituto Politécnico de Tomar Tomar Portugal Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Khalifa University of Science Technology and Research (KUSTAR) Abu Dhabi UAE

This paper proposes a new interaction mechanism for tele-operating a mobile robot. The approach explores the notion of telepresence and physical embodiment to create what may be called tele-embodiment. Its principle is that the operator will see himself at the remote site and this will enable him/her to better operate the robot. Four interaction styles were experimentally compared, from the traditional joystick approaches to more innovative based on natural body posture intentions. The environment perception is provided by the visual feedback, according to head pose behaviour. The results show that the gesture and body based methods improves the user dexterity performing this kind of task. Moreover, the present study suggests that, when a person is focused on the task, achieving the ownership illusion towards remote body, there are autonomic responses that correspond to what would be expected in events that take place in reality (like avoiding collisions).

关键词： Cameras Robot vision systems Visualization Robot motion Robot kinematics

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine Systems Control Laws Formation Control Station Keeping Triangular Formations

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Predicting the Speed of a Wave Glider Autonomous Surface Vehicle from Wave Model Data

Predicting the Speed of a Wave Glider Autonomous Surface Veh...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Phillip Ngo Jnaneshwar Das Jonathan Ogle Jesse Thomas Will Anderson Ryan N. Smith School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia Robotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA Physics and Engineering Department Fort Lewis College Durango CO USA Liquid Robotics Inc. Sunnyvale CA USA

ISBN: (纸本)9781479969357

A key component of robotic path planning for monitoring dynamic events is reliable navigation to the right place at the right time. For persistent monitoring applications (e.g., over months), marine robots are beginning to make use of the environment for propulsion, instead of depending on traditional motors and propellers. These vehicles are able to realize dramatically higher endurance by exploiting wave and wind energy, however the path planning problem becomes difficult as the vehicle speed is no longer directly controllable. In this paper, we examine Gaussian process models to predict the speed of the Wave Glider autonomous surface vehicle from observable environmental parameters. Using training data from an on-board sensor, and wave parameter forecasts from the WAVEWATCH III model, our probabilistic regression models create an effective method for predicting Wave Glider speed for use in a variety of path planning applications.

关键词： Ground vehicles Path planning Vehicle speed speed Crucial components A wave

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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2013 IEEE Congress on Evolutionary Computation, CEC 2013

作者： Couceiro, Micael S. Rocha, Rui P. Ferreira, Nuno M. F. Vargas, Patricia A. Institute of Systems and Robotics University of Coimbra Coimbra Portugal RoboCorp Department of Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9781479904549

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple 'punish-reward' rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm. © 2013 IEEE.

关键词： Swarm intelligence

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Teachers' views on the use of empathic robotic tutors in the classroom

Teachers' views on the use of empathic robotic tutors in the...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Sofia Serholt Wolmet Barendregt Iolanda Leite Helen Hastie Aidan Jones Ana Paiva Asimina Vasalou Ginevra Castellano Department of Applied Information Technology University of Gothenburg Gothenburg Sweden GAIPS Instituto Superior Tecnico Lisboa Portugal Social Robotics Lab Yale University New Haven CT USA School of Mathematical and Computer Science Heriot-Watt University Edinburgh UK School of Electronic Electrical and Computer Engineering University of Birmingham Birmingham UK London Knowledge Lab Institute of Education London UK

ISBN: (纸本)9781479967667

In this paper, we describe the results of an interview study conducted across several European countries on teachers' views on the use of empathic robotic tutors in the classroom. The main goals of the study were to elicit teachers' thoughts on the integration of the robotic tutors in the daily school practice, understanding the main roles that these robots could play and gather teachers' main concerns about this type of technology. Teachers' concerns were much related to the fairness of access to the technology, robustness of the robot in students' hands and disruption of other classroom activities. They saw a role for the tutor in acting as an engaging tool for all, preferably in groups, and gathering information about students' learning progress without taking over the teachers' responsibility for the actual assessment. The implications of these results are discussed in relation to teacher acceptance of ubiquitous technologies in general and robots in particular.

关键词： Educational institutions Interviews Robot sensing systems Service robots Europe

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