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International Conference on Emerging eLearning Technologies and Applications (ICETA)

作者： L. Knapčíková A. Behúnová M. Martiček R. Tauberová D. Strametz M. Abdul-Hadi Department of Industrial Engineering and Informatics Faculty of Manufacturing Technologies with a seat in Prešov Technical University of Košice Prešov Slovak republic Faculty of Mining Ecology Process Control and Geotechnologies Institute of Earth Resources Technical University of Košice Slovak republic TU Graz Faculty of Mechanical Engineering and Economic Sciences Institute of Production Engineering Austria Pro2Future GmbH. Graz Austria

ISBN: (数字)9798331527716

ISBN: (纸本)9798331527723

Augmented reality technology is currently experiencing a significant surge. The potential of AR is immense, and while it may not be as ubiquitous as smartphones, it is rapidly gaining ground. The past decade has seen a remarkable expansion of AR applications, with many industries already leveraging its capabilities. The use of AR is not limited to a few areas but is expanding across various fields, from science to marketing to art. This adaptability across diverse fields reassures us that AR is not just a passing trend but a technology with wide-ranging applications. However, in most of these industries, AR is often only at a theoretical level in development. The use of augmented reality is increasingly important in the production process. With rapid digital transformation and the introduction of Industry 4.0, the company's leadership must find new ways to optimise its processes and increase production efficiency.

关键词： Industries Visualization Accuracy Refining Production Time measurement Reliability Surges Augmented reality Smart phones

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An optimization-based algorithm for simultaneous shaping of poles and zeros for non-collocated vibration suppression

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IFAC-PapersOnLine 2022年第16期55卷 394-399页

作者： Adrian Saldanha Haik Silm Wim Michiels Tomáš Vyhlídal Department of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

This article presents a control design method for simultaneous shaping of the poles and zeros of linear time-invariant systems, motivated by the application of non-collocated vibration suppression to flexible multi-body systems. An entire suppression of vibrations at a target mass for a given excitation frequencies can be recast into the problem of assigning zeros of the transfer function from the excitation force to the target mass' position. The design requirement of achieving sufficient damping in the closed loop system combined with suppressing vibrations at the target, leads to the minimization of the spectral abscissa function of the closed loop system as a function of the controller parameters, subject to zero location constraints. These constraints exhibit polynomial dependence on the controller parameters. We present two approaches to solve the optimization problem which are both based on constraint elimination followed by application of an algorithm for non-smooth unconstrained optimization. The design approach is applicable to delay-free models as well as time-delay models of retarded and neutral type. Simulations results illustrate its applicability to a spring-mass-damper system.

关键词： vibration suppression zero placement time-delay systems spectral optimization

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A geometric approach towards inverse kinematics of soft extensible pneumatic actuators intended for trajectory tracking

arXiv

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arXiv 2022年

作者： Keyvanara, Mahboubeh Goshtasbi, Arman Kuling, Irene A. Reshape Lab Department of Mechanical Engineering Dynamics and Control Group Eindhoven University of Technology Eindhoven5600 MB Netherlands Soft Robotics Laboratory Department of Biomechanical Engineering Engineering Technology Faculty University of Twente 7522 NB Netherlands

Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and viscoelastic materials makes modeling of these robots more complicated. This study presents a geometric Inverse Kinematic (IK) model for trajectory tracking of multi-segment extensible soft robots, where, each segment of the soft actuator is geometrically approximated with multiple rigid links connected with rotary and prismatic joints. Using optimization methods, the desired configuration variables of the soft actuator for the desired end-effector positions are obtained. Also, the redundancy of the robot is applied for second task applications, such as tip angle control. The model's performance is investigated through simulations, numerical benchmarks, and experimental validations and results show lower computational costs and higher accuracy compared to most existing methods. The method is easy to apply to multi segment soft robots, both in 2D and 3D. As a case study, a fully 3D-printed soft robot manipulator is tested using a control unit and the model predictions show good agreement with the experimental results. © 2022, CC BY.

关键词： Numerical methods

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Genetic-Algorithm-Based Proportional Integral controller (GAPI) for ROV Steering control

arXiv

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arXiv 2023年

作者： Tanveer, Ahsan Ahmad, Sarvat Mushtaq Faculty of Mechanical Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Topi23640 Pakistan Department of Mechanical & Aerospace Engineering Institute of Avionics and Aeronautics Air University Islamabad44000 Pakistan Control & Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Dhahran31261 Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals Dhahran31261 Saudi Arabia

This article presents the design and real-time implementation of an optimal controller for precise steering control of a remotely operated underwater vehicle (ROV). A PI controller is investigated to achieve the desired steering performance. The gain parameters of the controller are tuned using the genetic algorithm (GA). The experimental response corresponding to the step waveform for the GA is obtained. A root-locus-tuned PI controller alongside a simulated-annealing-based PI controller (SAPI) is used to benchmark the response characteristics such as overshoot, peak time, and settling time. The experimental findings indicate that GAPI provides considerably better performance than SAPI and the root-locus-tuned controller. © 2023, CC BY.

关键词： Simulated annealing

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Adaptive Neural Network-Based Higher-Order Sliding Mode control for Floating Offshore Wind Turbines

Adaptive Neural Network-Based Higher-Order Sliding Mode Cont...

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International Workshop on Variable Structure Systems, VSS

作者： Flavie Didier Hussein Obeid Yacine Chitour Leonid Fridman Salah Laghrouche FEMTO-ST Institutes (UMR 6174) Université Franche-Comté UTBM CNRS Belfort France Mechanical and Industrial Engineering Department College of Engineering Sultan Qaboos University (SQU) Muscat Oman Laboratoire des Signaux et Systèmes Université Paris-Saclay Gif-sur-Yvette Paris France Departement of Robotics and Control Engineering Faculty Universidad Nacional Autónoma de México (UNAM) México

ISBN: (数字)9798350353686

ISBN: (纸本)9798350353693

This paper introduces a novel adaptive feedback control approach for disturbed chains of integrators with smooth disturbances with unknown upper bound. The proposed approach combines adaptive neural network with higher-order sliding mode control to achieve the convergence of system states towards a vicinity of the origin. Notably, this approach does not rely on any prior information about the disturbance. The adaptive neural network term compensates the disturbance with an error, while the higher-order sliding mode control term effectively addresses this error and ensures the stabilization of the system state. Compared with existing neural network-based sliding mode control approaches, our proposed method does not require reducing the system order and utilizes only two terms for control. These characteristics contribute to its simplicity and lead to improved closed-loop performance. The effectiveness of the adaptive feedback control is specifically assessed for semi-submersible floating offshore wind turbines operating above rated speed. Simulation results demonstrate superior performance in rotor speed regulation and platform pitch reduction compared to the baseline gain-scheduling proportional integral controller.

关键词： Variable structure systems Adaptive systems Upper bound Simulation Neural networks Rotors Feedback control Wind turbines Sliding mode control Convergence

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Dynamics and control of Energy Harvesting from a Non-ideally Excited Portal Frame System with Fractional Damping

Dynamics and Control of Energy Harvesting from a Non-ideally...

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作者： Tusset, Angelo M. Rocha, Rodrigo T. Iliuk, Itamar Balthazar, Jose M. Litak, Grzegorz Department of Electronics Federal University of Technology-Parana Curitiba84016-210 Brazil Faculty of Engineering of Bauru São Paulo State University Bauru SP17033-360 Brazil Faculty of Mechanical Engineering Lublin University of Technology Nadbystrzycka 36 Lublin20-618 Poland Department of Process Control AGH University of Science and Technology Mickiewicz Alley 30 Krakow30-059 Poland

This paper analyzes the dynamics of a nonlinear piezoelectric energy harvesting device connected to a portal frame accounting for the influence of the fractional order derivative introduced due to damping. The identification of the behavior of the portal frame is obtained by the analysis of time histories, phase planes, FFT spectrum and 0-1 test. The numerical analyses show that the fractional order sustains the chaotic behaviors of the system. The average harvested power is computed for each value of the chosen fractional derivative, to demonstrate that the system response considerably affects the harvested power. To suppress the chaotic behavior a control technique is proposed associated with two controls: the feedback control by SDRE control and the feedforward control. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Energy harvesting

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A Generic Single-Source Domain Generalization Framework for Fault Diagnosis via Wavelet Packet Augmentation and Pseudo-Domain Generation

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IEEE Internet of Things Journal 2025年

作者： Sun, Yawei Tao, Hongfeng Ni, Yuanzhi Stojanovic, Vladimir Wuxi214122 China University of Kragujevac Faculty of Mechanical and Civil Engineering Department of Automatic Control Robotics and Fluid Technique Kraljevo36000 Serbia

During real-time production in industrial Internet of Things systems, equipment changes its operating speed due to changing operating conditions. And dynamic speed changes of rotating machinery under fluctuating workloads often lead to domain changes of vibration signals, which will directly lead to degradation of fault diagnostic model performance. Furthermore, the acquisition of data from multiple domains in real industrial scenarios is challenging due to the expense of collecting data from all possible working conditions. Consequently, applying diagnostic models trained using a single-source domain directly to an unknown target domain is a very challenging single domain generalization problem. Therefore, a generic single-source domain generalization framework via wavelet packet augmentation and pseudo-domain generation for fault diagnosis under unknown operating conditions is proposed in this paper. Pseudo-domain generation involves augmenting single-source domain by integrating data generetion model, thereby enhancing prediction accuracy. Furthermore, a wavelet packet augmentation method is proposed. Initially, the original signal is decomposed to obtain high and low frequency information. Subsequently, the high and low frequency information within the batch are linearly interpolated, respectively. Consequently, the interpolated high and low frequency information is then reconstructed to yield enhanced samples. The experimental results on four datasets show that the proposed framework can effectively improve the robustness of the generalization ability of fault diagnosis under unknown operating environments. © 2014 IEEE.

关键词： Wavelet analysis

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A Space Crawling Robotic Bio-Paw (Scrbp) Enabled by Triboelectric Sensors for Surface Identification

SSRN

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SSRN 2022年

作者： Hou, Xuyan Zhang, Li Gao, Guowei Liu, Yuhui Na, Zhonglai Xu, QingZhang Ding, Tianxiang Li, Long Chen, Tao Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Department of MECHANICAL ENGINEERING FACULTY OF ENGINEERING Hong Kong Polytechnic University Hong Kong Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215123 China

With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. © 2022, The Authors. All rights reserved.

关键词： End effectors

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

arXiv

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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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Transfer of Knowledge of Product Configurator in the Educational process 18

Transfer of Knowledge of Product Configurator in the Educati...

引用

18th IEEE International Conference on Emerging eLearning Technologies and Applications, ICETA 2020

作者： Behunova, A. Knapcikova, L. Behun, M. Lumnitzer, E. Technical University of Košice Faculty of Manufacturing Technologies with A Seat in Prešov Department of Industrial Engineering and Informatics Prešov Slovakia Technical University of Košice Faculty of Mining Ecology Process Control and Geotechnologies Institute of Earth Resources Slovakia Technical University of Košice Faculty of Mechanical Engineering Department of Process and Environmental Engineering Košice Slovakia

ISBN: (纸本)9780738123660

Education, the educational process is characterized as a purposeful activation of conditions that allow the optimal development of each individual about individual predispositions. Education is a comprehensive process of personality development, which includes cognition, practice and teaching. The aim of the paper is the transfer of new acquired experience, skills and knowledge and especially the change of work behaviour through learning and application of new methodologies. For the student himself, subsequently, the graduate, as well as functioning on the labour market, achieving competition ability, prestige, or obtaining various awards is an influential motivating factor. In the case of the introduction of a new product, it is crucial to cultivate the maintenance and increase of the company's market share and thus satisfy customer demand. Not every product has to satisfy every customer, and therefore the definition of the target market is a critical part of the product at the beginning of the life cycle. Quantitative market research should be carried out at all stages of the design process. Product development is a creative discipline that requires a systematic approach to managing the operations needed to bring a new product to market. The result of innovative concepts and the use of product configurators is applied in almost every single sphere, not excluding the education market itself and the implementation of new methods. © 2020 IEEE.

关键词： Competition

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