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Critical Component Identification in Hovercraft assembly Through FMEA 10

Critical Component Identification in Hovercraft assembly Thr...

10th International Conference on Emerging Trends in Engineering and Technology - Signal and Information Processing, ICETET-SIP-22 2022

作者： Nakandhrakumar, R.S. Ramakrishnan, M. Dinesh Kannan, K. Anand, Gopi Sidharthan, K. Venkatasamy, Ramkumar Centre for Automation and Robotics Hindustan Institute of Technology and Science Department of Mechanical Engineering Chennai603103 India Hindustan Institute of Technology and Science Department of Mechanical Engineering Chennai603103 India

ISBN: (纸本)9781665467414

The goal of this study is to use the proactive procedure to categorize the failure, which likely to occur in hovercraft assembly. First, the hovercraft model is developed for standard sizes to identify the critical component through FMEA concept. This involves predicting critical component through SOD analysis and defining by RPN for all failure modes in the regular monitoring and replacement of parts. The conventional FMEA provides prioritization to the mating components by giving higher values for severity, occurrence and detection indexes. Many a time experts may disagree in the ranking index due to condition status of the component. In this project work, the attempt made to give range of values through which higher values to be given with more focus and lower values can be allowed to run further and further moderate values to be used for regular monitoring. This approach offers an effective way for such complicated assembly with much limited or unreliable data. © 2022 IEEE.

关键词： Information processing Market research Indexes Monitoring Standards

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PI2-CMA Based Trajectory Planning Method for the Tractor-Trailer Vehicle 6

PI2-CMA Based Trajectory Planning Method for the Tractor-Tra...

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6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, You Wang, Zehao Wang, Jingchuan Guo, Rui Xiao, Peng Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China State Grid Intelligence Technology CO. LTD China

ISBN: (纸本)9798350325485

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-Trailer vehicles can easily fall into "jackknife phenomenon"when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-Trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI2-CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon"avoidance and curvature compared to traditional motion primitive-based state lattice planning methods. © 2023 IEEE.

关键词： Trajectories

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Numerical Simulations of Coronary Artery Diseases Using a Differential Hybrid Petri Net Model of the Cardiovascular System 4

Numerical Simulations of Coronary Artery Diseases Using a Di...

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4th IEEE Eurasia Conference on Biomedical Engineering, Healthcare and Sustainability, ECBIOS 2022

作者： Jorge, Andre A. Junqueira, Fabricio Riascos, Luis A. M. Filho, Diolino J. Santos Miyagi, Paulo E. Escola Politecnica University of Sao Paulo SP Sao Paulo Brazil Federal University of Abc Department of Automation and Robotics Engineering SP Sao Paulo Brazil

ISBN: (数字)9781728195797

ISBN: (纸本)9781728195797

World statistics data confirm that cardiovascular diseases (CVDs) are the leading cause of mortality globally. CVDs include several cardiovascular system dysfunctions that affect heart functionality, such as heart failure and cardiac arrhythmias caused by coronary artery disease (CAD). The early diagnosis and prognosis of CVDs could decrease its high mortality rate. Therefore, several cardiovascular clinical assessment tools have been proposed to understand cardiovascular hemodynamics in normal and abnormal conditions. In this work, from the cardiovascular system model, which is based on the Differential Hybrid Petri Net formalism, numerical simulations for cases of healthy behavior and with CADs are performed. The Differential Hybrid Petri Net is introduced due its intrinsic feature to describe and manipulate continuous variables and discrete events that occur in the cardiovascular system. Then, the results are analyzed based on hemodynamic parameters and on the electrocardiogram for the diagnosis of CADs, in addition to comparing them with related works and clinical data, which validate the results of this study. © 2022 IEEE.

关键词： Electrocardiograms

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Optimizing Mobile Charger Scheduling in Wireless Rechargeable Sensor Networks Using Min-Heap Algorithm

Optimizing Mobile Charger Scheduling in Wireless Rechargeabl...

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International Conference on Computational Intelligence and Communication Networks (CICN)

作者： Md. Kamaruzzaman Abhijit Chandra Department of Robotics and Automation The Neotia University Kolkata India Dept. of Instrumentation and Electronics Engineering Jadavpur University Kolkata India

ISBN: (数字)9798331505264

ISBN: (纸本)9798331505271

In Wireless Rechargeable Sensor Networks (WRSNs), efficient energy management is crucial for prolonging network lifetime. Mobile Charging Vehicles (MCVs) play a vital role in replenishing the energy of sensor nodes (SNs); but optimizing their scheduling to minimize energy depletion and maximize network coverage remains a significant challenge till date. This paper proposes a novel scheduling approach based on the Min Heap algorithm to optimize the deployment of MCVs in WRSNs. By prioritizing SNs with the lowest remaining energy, the Min-heap algorithm dynamically adjusts the charging sequence, reducing the risk of node failures and improving overall network performance. To show the effectiveness of the proposed scheme, extensive simulations have been done by using MATLAB. Simulation results demonstrate that the proposed approach significantly improves the performance in terms of working time, total energy received, ratio of successful energy replacement and moving distance as compared to traditional scheduling approaches such as EDF and ETLBO.

关键词： Wireless communication Wireless sensor networks Processor scheduling Heuristic algorithms Simulation Scheduling Communication networks MATLAB Energy management Computational intelligence

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Design and analysis of newly developed two-wheeler shock absorber helical spring 3

Design and analysis of newly developed two-wheeler shock abs...

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3rd International Conference on Intelligent robotics, Mechatronics and automation Systems, IRMAS 2023

作者： Hait, Mongaldip Dey, Tapobrata Sarnobat, Sandeep S Department of Mechanical Engineering D. Y. Patil College of Engineering Akurdi Pune India Savitribai Phule Pune University Pune India Department of Robotics and Automation D. Y. Patil College of Engineering Akurdi Pune India

The Elasticity property/Spring theory indicates that a long lasting spring is always showing small deflection and high stiffness and this property makes it comfortable for any applications. The present investigation deals with a comparative analysis carried out on the basis of sustainability of helical spring that is extensively used in suspension system, to increase the work efficiency of the shock absorber. A suspension system or a shock absorber is a mechanical device that is used to absorb shocks when riding in rough terrains. Stainless Steel grade (AISI316 & AISI302), High Carbon Steel (Music wire grade ASTM A228 & Hard drawn grade ASTM A227) and Alloy Steel (Chrome vanadium grade ASTM A231 & Chrome silicon grade ASTM A401) springs have been utilized throughout the study followed by applying compressive load. In order to enhance the mechanical property of the helical spring, alloy steel based material has been used instead of stainless steel. During this investigation a new shock absorber spring has been designed with the help of Solid Works software and the static structural analysis of the so formed model has been conducted via FEA. © Published under licence by IOP Publishing Ltd.

关键词： Finite element method

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Integrating Trajectory Optimization in Quality-Diversity for Kinodynamic Motion Planning

Integrating Trajectory Optimization in Quality-Diversity for...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Konstantinos A. Asimakopoulos Konstantinos I. Chatzilygeroudis Department of Electrical & Computer Engineering Laboratory of Automation & Robotics (LAR) Patras Greece Department of Mathematics Computational Intelligence Laboratory (CILab) University of Patras Patras Greece

ISBN: (数字)9798331509231

ISBN: (纸本)9798331509248

Kinodynamic planning is a critical component of robotics, enabling robots to generate dynamically feasible trajectories while adhering to geometric constraints. Existing methods for kinodynamic planning primarily fall into two categories: (a) stochastic planners, such as Rapidly-Exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM), which excel in state-space exploration due to their directed randomness, and (b) optimization-based approaches, which are well-suited for structured environments, producing smooth and optimal solutions. In this work, we present Hybrid Trajectory Exploration for Kinodynamic Planning (HyTraX), a hybrid framework that integrates the strengths of these two paradigms. Specifically, HyTraX enhances the effectiveness of the Go-Explore algorithm by incorporating trajectory optimization with random target selection as its core exploration strategy. We evaluate HyTraX on two challenging kinodynamic motion planning tasks: a car-like agent and a planar quadrotor navigating through maze environments. Our results demonstrate significant performance improvements with minimal task-specific tuning, highlighting the robustness and versatility of the proposed approach.

关键词： Legged locomotion Scalability Performance gain Probabilistic logic Robustness Planning Trajectory optimization Robots Tuning Quadrotors

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Diagnosis of Faults in Edge-PLC using Optimized Deep Learning models in Industrial IoT 9

Diagnosis of Faults in Edge-PLC using Optimized Deep Learnin...

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9th International Conference on Advanced Computing and Communication Systems, ICACCS 2023

作者： Kumar, A. Kishore Rajesh Kumar, T. Balamanigandan, R. Kumar, A. Sasi Mahaveerakannan, R. Department of Robotics and Automation Sri Ramakrishna Engineering College Tamilnadu Coimbatore641022 India SIMATS Saveetha School of Engineering Department of Computer Science and Engineering Tamil Nadu Chennai India Srinivas University Institute of Engineering & Technology Department of Cloud Technology & Data Science Surathkal India

ISBN: (纸本)9798350397376

Industrial Internet of Things (IIoT) may allow for the state of equipment to be monitored and defects to be detected before they become serious, helping smart factories keep up with the rising demands for safety and efficiency brought on by worldwide competition. In the case of Cloud Computing, data-driven approaches implemented in the cloud are used to first train the model using a vast quantity of raw data, and then end-machines send their real-time readings for processing at the cloud data centre. It is possible, however, that this will impose a significant delay and a high computational cost. In this study, we take into account a hierarchical structure in which edge-PLCs are used to collect sensed data locally and lessen the burden on long-distance connections. Due to the fact that a single responsibility may be associated with multiple swaying topographies, we aim to first reduce the sum of features required to identify a fault, and then identify the smallest possible set of edge-PLCs that still accounts for all of the most important ones, all while keeping deployment costs to a minimum. To address this, we present an Enhanced Harris Hawkins Optimization (EHHO) approach to tackling the features selection issue, followed by the assortment of edge-PLCs through the set coverage problematic. The model named Residual Attention Neural Network (RANN) is proposed the in this study to forecast the fault detection procedure. Residual Neural Network (ResNet) is used by RANN to help diagnose problems, alongside the knowledge of experts. We evaluate the performance of our technique in comparison to existing AI-based approaches, such as the lregression model and its expansions, by simulating on a real data trail. The findings confirm competence and presentation of the suggested approach, which meets or even surpasses the correctness of approaches employing the entire collection of data. © 2023 IEEE.

关键词： Internet of things

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Static Characteristics of Zero-Current-Switching Quasi-Resonant Boost Converter under Variation of Resonant Circuit and Load Parameters 8

Static Characteristics of Zero-Current-Switching Quasi-Reson...

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8th IEEE International Conference on Energy Smart Systems, ESS 2022

作者： Dymerets, Andrii V. Gorodny, Alexey N. Yershov, Roman D. Revko, Anatoliy S. Stepenko, Serhii A. Chernihiv Polytechnic National University Electronics Automation Robotics and Mechatronics Department Chernihiv Ukraine Chernihiv Polytechnic National University Electrical Engineering Information and Measurement Technologies Department Chernihiv Ukraine

ISBN: (数字)9798350334418

ISBN: (纸本)9798350399202

The impact of resonant circuit parameters on static characteristics of a half-wave boost quasi-resonant converter is investigated. The dependences of the converter voltage maximum conversion ratio under variation of resonant circuit time constant and characteristic impedance with different load impedance values are obtained by dint of multi-factor numeric simulation. The dependences of the ratio between the transistor current peak value and input current rms value under variation of resonant circuit time constant and characteristic impedance with different load impedance values are also obtained. Approximated laws described above dependencies are fitted. Results allow determining the allowable values for resonant inductance and capacitance, as well as the load impedance to keep within a zero-current-switching mode. © 2022 IEEE.

关键词： Resonant circuits

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Human-Like Robot Impedance Regulation Skill Learning from Human-Human Demonstrations

arXiv

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arXiv 2025年

作者： Li, Chenzui Wu, Xi Liu, Junjia Teng, Tao Chen, Yiming Calinon, Sylvain Caldwell, Darwin Chen, Fei Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Idiap Research Institute Martigny Switzerland Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa16163 Italy

Humans are experts in collaborating with others physically by regulating compliance behaviors based on the perception of their partners’ states and the task requirements. Enabling robots to develop proficiency in human collaboration skills can facilitate more efficient human-robot collaboration (HRC). This paper introduces an innovative impedance regulation skill learning framework for achieving HRC in multiple physical collaborative tasks. The framework is designed to adjust the robot compliance to the human partner’s states while adhering to reference trajectories provided by human-human demonstrations. Specifically, electromyography (EMG) signals from human muscles are collected and analyzed to extract limb impedance, representing compliance behaviors during demonstrations. Human endpoint motions are captured and represented using a probabilistic learning method to create reference trajectories and corresponding impedance profiles. Meanwhile, an LSTM-based module is implemented to develop task-oriented impedance regulation policies by mapping the muscle synergistic contributions between two demonstrators. Finally, we propose a whole-body impedance controller for a human-like robot, coordinating joint outputs to achieve the desired impedance and reference trajectory during task execution. Experimental validation was conducted through a collaborative transportation task and two interactive Tai Chi pushing hands tasks, demonstrating superior performance from the perspective of interactive forces compared to a constant impedance control method. Copyright © 2025, The Authors. All rights reserved.

关键词： Electromyography

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Backstepping-Based Adaptive Cooperative Control For Multiple Euler-Lagrange Systems Under Unknown Harmonic Disturbances

Backstepping-Based Adaptive Cooperative Control For Multiple...

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2023 China automation Congress, CAC 2023

作者： Chen, Ying Zhao, Zi-Yi Sun, Peng Guo, Xiang-Gui Wang, Jian-Liang Coutinho, Daniel School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing Engineering Research Center of Industrial Spectrum Imaging Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Hangzhou Innovation Institute of Beihang University Collaborative Flying Robotics HangZhou China Universidade Federal de Santa Catarina Department of Automation and Systems Florianópolis Brazil

ISBN: (纸本)9798350303759

This paper studies cooperative control problem for multiple Euler-Lagrange systems with unknown harmonic disturbances, where the disturbances are the superposition of sinusoidal components with unknown amplitude, phase, and frequency. A novel adaptive disturbance observer without requiring the disturbance frequency information is designed to estimate the disturbances. Over the directed network topology, a cooperative control scheme is proposed based on backstepping techniques, so that the tracking error is ultimately uniformly bounded. The scheme developed can be used to reject the harmonic disturbances in a uniform way, which means the characteristics of the disturbances can be described as a fixed parameter vector. Finally, an application is presented to demonstrate the effectiveness of the proposed control strategy in the context of a two-link manipulator system. © 2023 IEEE.

关键词： Backstepping

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