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Art-2 artificial neural networks applications for classification of vibration signals and opera-tional states of wind turbines for intelligent monitoring

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Diagnostyka 2013年第4期14卷 21-26页

作者： Barszcz, Tomasz Bielecki, Andrzej Wójcik, Mateusz Bielecka, Marzena AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al.Mickiewicza 30 30-059 Cracow Poland AGH University of Science and Technology Faculty of Electrotechnics Automation Computer Science and Biomedical Engineering al. Mickiewicza 30 30-059 Cracow Poland Jagiellonian University Faculty of Physics Astronomy and Applied Computer Science ul. Reymonta 4 30-059 Cracow Poland AGH University of Science and Technology Faculty of Geology Geophysics and Environmental Protectional Mickiewicza 30 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. As the ART neural networks are capable to perform efficient classification and to recognize new states when necessary, they seems to be a proper tool for classification of vibration signals of bearing in gears in wind turbines. The verification of ART-2 networks efficiency in this task is the topic of this paper.

关键词： Wind turbines

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

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IEEE International Conference on robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion Control systems

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Accelerating multi-target tracking by a swarm of mobile robots with network preservation

Accelerating multi-target tracking by a swarm of mobile robo...

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2013 International Conference on Soft Computing and Pattern Recognition, SoCPaR 2013

作者： Hung, Pham Duy Pham, Minh-Trien Vinh, Tran Quang Ngo, Trung Dung Faculty of Electronics and Telecommunication University of Engineering and Technology Hanoi Viet Nam Universiti Brunei Darussalam Faculty of Science More Than One Robotics Laboratory Brunei

ISBN: (纸本)9781479934003

This paper addresses a decentralized control of robot swarm for multi-target tracking with network preservation - namely swarm dispersion algorithm (SDA). The robot swarm moves towards targets while preserving connectivities for networking communication. The developed controller relied on local information of neighboring robots is synthesized by the rules of behavioral control and connectivity maintenance. The swarm dispersion algorithm accelerates the multi-target tracking by minimizing connectivities but preserving an ad-hoc communication network through all the robots. The decentralized control consists of three major functionalities: (1) maintaining connectivities between the robots for swarm movement towards the targets;(2) breaking down triangle and k-connected topologies to accelerate the target reaching;(3) adjusting the robots' velocity to preserve connectivities for an ad-hoc communication network through all the robots. The developed algorithm is demonstrated and verified in simulation. © 2013 IEEE.

关键词： Robots

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The effectiveness of different shapes of homogeneous and 2-part (gradient) piezo elements in Vibration reduction

The effectiveness of different shapes of homogeneous and 2-p...

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20th International Congress on Sound and Vibration 2013, ICSV 2013

作者： Roman, Trojanowski Jerzy, Wiciak AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al. A. Mickiewicza 30 30-059 Krakow Poland

ISBN: (纸本)9781629931500

The subject of this work is a numerical comparison of piezo elements efficiency in Vibration reduction for different shapes and types of piezo elements. The test objects were a square plates clamped on all sides with piezo elements attached. For each plate the Vibration excitation was obtained with a homogeneous rectangle piezo actuator. For Vibration reduction a different piezo actuator was used with different shape and type for each plate. The shapes used were: circular and rectangular. For each shape there were homogeneous and 2-part (gradient) piezo elements. The 2-part elements consisted (as the name suggests) of 2 parts with different material constants. the inner part is a smaller version of actuator shape with the outer part surrounding it like a frame.

关键词： Actuators

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Quantitative and qualitative methods for evaluation of measurement signals on the example of vibration signals analysis from the corps of prototype reclaimer REGMAS

Quantitative and qualitative methods for evaluation of measu...

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作者： Kowal, J. Dańko, J. Stojek, J. Agh University of Science and Technology FACULTY of Mechanical Engineering and Robotics Al. A Mickiewicza 30 30-059 Kraków Poland Agh University of Science and Technology Faculty of Foundry Engineering Reymonta St 23 30-059 Kraków Poland

The article presents examples of vibration signals analysis derived from the research of prototype reclaimer REGMAS. After the division of the time-frequency analysis methods of measuring signals, their non-parametric... 详细信息

关键词： Signal analysis

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Cross-sectional imaging of C. elegans by SEM-CT using Environmental SEM for nanomanipulation

Cross-sectional imaging of C. elegans by SEM-CT using Enviro...

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IEEE Conference on Nanotechnology

作者： Masahiro Nakajima Masaru Takeuchi Naoki Hisamoto Toshio Fukuda Yasuhisa Hasegawa Qiang Huang Center For Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute Beijing Institute of Technology Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

A novel technique was presented for a cross-sectional imaging of Caenorhabditis elegans (C. elegans) by Scanning Electron Microscope - Computed Tomography (SEM-CT) using Environmental-SEM (E-SEM) for nanomanipulation applications. In our previous works, a nanorobotic manipulation system was established inside the E-SEM for water-contained samples including biological organism with a real-time high resolution observation. However, the SEM image is two dimensional (2D) and surficial information from the secondly electrons. Hence, it is not able to evaluate the targeted structure inside the sample. In this research, we presented the cross-sectional observation of the sample by SEM-CT system which is used the X-ray generated by the electron beam of SEM. To improve the signal-to-noise ratio of CT imaging, we evaluated the following ways, 1) apertures for X-ray before/after irradiating the sample, 2) adjustment of emission currents of the electron beam, 3) iteration processing of captured images. To reduce the damage of C. elegans during observation, a method was used to immerse the C. elegans by a liquid oil. The proposed 3D imaging technique is useful to evaluate the 3D manipulation of the C. elegans, such as nano-injection application with functional micro-nano beads inside the C. elegans.

关键词： Nanobioscience X-ray imaging Apertures Scanning electron microscopy Electron beams

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The influence of infrasounds on humans

The influence of infrasounds on humans

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20th International Congress on Sound and Vibration 2013, ICSV 2013

作者： Kasprzak, Cezary AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Mechanics and Vibroacoustics Al. A. Mickiewicza 30 30-059 Krakow Poland

ISBN: (纸本)9781629931500

This This study investigates how exposure to infrasounds of the frequency f=13 Hz should influence the electroencephalography (EEG) patterns. Parameters of the applied signal are: SPL=109.1 dB(LIN), SPL= 62.1 dB (A), SPL=112.9 dB(G). The test sample included 35 participants (17 males, 18 females). Each participant was subjected to 20 minutes' infrasound exposure in the pressure chamber. The experimental procedure involved three steps: stage 1-five minutes with no infrasound exposure;stage 2-20 minutes' infrasound exposure;stage 3-no infrasound exposure for ten minutes. Experiments were conducted in the pressure chamber and the EEG signals were registered throughout the tests using 19 electrodes placed on the participant's head in the 10-20 configuration. EEG data were given a preliminarily treatment to remove the artefacts, then the power spectral density functions were obtained using a 8-minute window, 50% overlapping and the Haning window. Results obtained at subsequent stages were then averaged. The coherence and the EEG signal phase spectrum were determined accordingly. Variations in morphology of the EEG signal in-between particular stages of the experimental procedure were analysed. Results revealed variations in the morphology of the EEG signals during the infrasound exposure, changes were registered in specified frequency intervals of the EEG signals.

关键词： Electroencephalography

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Catalytic driven micro-nanorobots fabricated by direct laser writing

Catalytic driven micro-nanorobots fabricated by direct laser...

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International Symposium on Micromechatronics and Human science (MHS)

作者： Azrena Abu Bakar Masahiro Nakajima Masaru Takeuchi Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Center For Micro-Nano. Mcchatronics Nagoya University Nagoya Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute Beijing Institute of Technology Beijing China Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

We present the fabrication of catalytic driven micro-nano robot by direct laser writing. The micro-nanorobot has a spiral design of 3,5, and 7 μm named D1, D2 and D3 respectively and a flat top design D4. The micro-nanorobot is catalytically driven in 6% hydrogen peroxide (H 2 O 2 ) from platinum catalytic area. The result shows that the spiral micro-nanorobot increased in speed except when the micro-nanorobot exhibits the drilling motion. It showed spinning motion, self-propulsion and drilling motion for micro-nanorobot D1, D2 and D3 respectively. The flat top micro-nanorobot has the highest speed and spinning motion was displayed. Future studies should include the actual pollutants in the environment and the effects of the drilling motion on its final content should be observed.

关键词： Platinum Spirals Substrates Educational institutions Writing Fabrication Spinning

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Negative affect in human robot interaction - Impoliteness in unexpected encounters with robots

Negative affect in human robot interaction - Impoliteness in...

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22nd IEEE International Symposium on Robot and Human Interactive Communication: "Living Together, Enjoying Together, and Working Together with Robots!", IEEE RO-MAN 2013

作者： Rehm, Matthias Krogsager, Anders Center of Robotics Research Faculty of Engineering and Science Aalborg University 9200 Aalborg Denmark School of Information and Communication Technology Aalborg University 9200 Aalborg Denmark

ISBN: (纸本)9781479905072

The vision of social robotics sees robots moving more and more into unrestricted social environments, where robots interact closely with users in their everyday activities, maybe even establishing relationships with the user over time. In this paper we present a field trial with a robot in a semipublic place. Our analysis of the interactions with casual users shows that it is not enough to focus on modeling behavior that is similar to successful human interactions but that we have to take more deviant ways of interaction like abuse and impoliteness into account when we send robots into the users' environments. The analysis uses impoliteness theory as an analytical toolbox and exemplifies which strategies are employed by users in unexpected encounters with a humanoid robot. © 2013 IEEE.

关键词： Anthropomorphic robots

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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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