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International Carpathian Control Conference (ICCC)

作者： Stanislaw Flaga Maciej Majcher Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

When building digital twins of existing technical solutions, we need a large amount of data on the parameters of their operation under various conditions. The source of data on the values of process variables at the lowest level is control devices - most often PLCs. There are many ways to acquire the qualities of process variables available from the PLC level. Increasingly, OPC UA is replacing the OPC model, and the OPC UA server is increasingly a functionality of the PLC CPU. The Industrial Internet of Things IIoT is used in companies moving toward Factory 4.0. Data from controllers can be acquired using high-level languages such as C++, C# or Python. Libraries often made available under an open-source license are used for this. For example, you can find commercial libraries for communication between PLCs of selected manufacturers and MySQL servers. Siemens provides a library for communication between S7-1200/1500 controllers and MS SQL server. The author has yet to find an exhaustive analysis of such a solution. In the literature, there need to be more studies of experiments describing the performance of query generation and execution and the impact of the library on PLC performance. The article presents the results of an experimental study of this issue.

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Hybrid polynomial-based trajectory planning for lower limb exoskeleton robots 18

Hybrid polynomial-based trajectory planning for lower limb e...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Li, Shupei Zhang, Chi Yi, Feng Lv, Pingping Yuan, Ting Zhang, Meitong University of Chinese Academy of Sciences Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences College of Materials Science and Opto-Electronic Technology Ningbo315201 China Ningbo Institute of Materials Technology and Engineering Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo315201 China Ningbo University Faculty of Electrical Engineering and Computer Science Ningbo315201 China Hebei University of Science & Technology School of Electrical Engineering Ningbo315201 China

ISBN: (纸本)9798350312201

To ensure smooth, continuous, and precise motion of lower limb exoskeleton robots, this paper proposes a 6-5-6 polynomial trajectory planning method (6-5-6 PTPM) that combines 5th and 6th polynomials. By imposing corresponding kinematic constraints, this method achieves the trajectory plan of seven sub-phases of the gait cycle on the kinematic model of the lower limb exoskeleton robot. The simulation is conducted and compared to the 4-3-4 polynomial trajectory planning method (4-3-4 PTPM). The comparison results indicate that the 6-5-6 PTPM is shown to have a lower error between the planned trajectory and the actual trajectory. Additionally, it avoids spikes of the acceleration curve that existed in the 4-3-4 polynomial method. The proposed method enables the acceleration curve smoother and mechanical impact lessened, which demonstrates the feasibility and stability of the proposed method. © 2023 IEEE.

关键词： Trajectories

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Model Study and Analysis of Operating Modes of a Reconfigurable Battery Pack

Model Study and Analysis of Operating Modes of a Reconfigura...

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Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Alexander Politsinsky Arina Arbuzina Akhil Garg Nikolai Poliakov Galina Demidova Faculty of Control System and Robotics ITMO University St. Petersburg Russia School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350389234

ISBN: (纸本)9798350353051

The paper examines the modeling of a reconfigurable battery pack and analyzes energy dissipation in battery energy storage across various operation modes. A battery management system is designed for the reconfigurable battery pack to minimize inner resistance and enhance energy performance across a wide voltage range. Additionally, a method for evaluating the inner resistance of reconfigurable battery packs is presented, allowing comparison with standard battery packs of the same cell number and capacity. It is shown that different battery energy storage structures in electric drive operations optimize losses in the battery pack and enable comparison of battery cell heating power during drive operations. Obtaibed results facilitate the optimization of energy efficiency and battery heating, enabling the synthesis of the electrical structure while excluding unnecessary switched states during reconfigurable battery pack operations. It is also shown that within the analyzed voltage and current range, it is possible to determine the optimal structure on the basis of the known battery pack structure and resistance ratio of the switch and battery cell.

关键词： Resistance Analytical models Battery management systems Voltage Switches Batteries Trajectory

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Grey Box Non-Recursive System Identification for a Third Order Electro-Hydraulic Actuator System: From Simulation to Practical Approaches 20

Grey Box Non-Recursive System Identification for a Third Ord...

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20th IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2024

作者： Soon, Chong Chee Ghazali, Rozaimi Ghani, Muhamad Fadli Liew, Siaw-Hong Teng, Howe Cheng Zulkipli, Nur Farhanah Beh, Chong You Hanaffi, Mohd Saidi Department Of Engineering And Built Environment Penang Branch Campus Pulau Pinang Malaysia Centre For Robotics And Industrial Automation Fakulti Teknologi Dan Kejuruteraan Elektrik Melaka Malaysia Universiti Kuala Lumpur Perak Malaysia Faculty Of Computer Science And Information Technology Sarawak Kota Samarahan Malaysia

ISBN: (纸本)9798350382310

Engineering systems heavily rely on mathematical modeling, significantly influencing both system performance and the design of control systems. This paper thoroughly investigates the establishment of a third-order mathematical model for heavy machinery systems, with a specific emphasis on the ElectroHydraulic Actuator (EHA) system. The formulation of a double-acting EHA system model using a grey box system identification approach is outlined, encompassing the system's dynamics and behavior. In addition, the details of the EHA system experimental setup that is used for system identification are described. The identification process demonstrates promising performance, achieving an impressive accuracy of 89.1%, as highlighted in the results and discussion sections. © 2024 IEEE.

关键词： Hydraulic actuators

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Hough Transform for Detection of 3D Point Cloud Rotation

Hough Transform for Detection of 3D Point Cloud Rotation

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Joanna Koszyk Łukasz Ambroziński Piotr Łabędź Department of Robotics and Mechatronics AGH University of Krakow Krakow Poland Faculty of Computer Science and Telecommunications Cracow University of Technology Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In the field of mobile robotics, point clouds are widely used as an environment representation merged into a map. However, point cloud registration can be challenging when rapid movement occurs. In indoor environments, planelike features such as walls, floors, and ceilings are dominant and can be used to aid cloud merging. These features need to be extracted from point clouds. In this paper, we propose an open-source Hough transform implementation in Python. We have adapted this method, conventionally used for detecting shapes in images, to be applied to 3D point clouds and to detect planar features. To illustrate the point-cloud Hough transform algorithm, we generated synthetic point clouds. Additionally, we collected LiDAR measurements in the corridor. Processing the experimental data proved the algorithm’s ability to handle noise and measurement uncertainties. The study included an evaluation of the Hough transform by making a comparison to the ICP method. The Hough Transform provided more accurate results of corridor width measured on a merged point cloud by 0.06 m.

关键词： Point cloud compression Performance evaluation Accuracy Three-dimensional displays Simultaneous localization and mapping Shape Noise

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X-Ray Investigations on the Effect of Tic Content on the Microstructure of Inconel 718 Alloy/Tic Manufactured Using Laser Melting Deposition

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SSRN 2024年

作者： Chioibasu, Diana Mihai, Sabin Toma, Vlad Sima, Adrian Popescu, Andrei Ilfov Magurele077125 Romania Faculty of Industrial Engineering and Robotics National University of Science and Technology Politehnica Bucharest Bucharest060042 Romania

In this study, Inconel 718 alloys with TiC particulate content between wt.% 0÷15 were fabricated by Laser Melting Deposition (LMD) using a dual-feeder system with two independent powder cylinders that concomitantly deliver different amounts of the constituents. Although increasing the ceramic reinforcement content in the metal matrix composites (MMC) can improve particular mechanical properties of the samples, it also makes defects and inhomogeneous elemental distribution in the deposition volume harder to overcome. We obtained uniformly distributed TiC in the In718 matrix. The Laves phase decreased with the increase in the TiC content, while the hardness value reached up to 393 ± 4.3 HV0.2. The samples were investigated by X-Ray computerized tomography highlighting the geometrical characteristics of the MMCs deposition and the distribution behavior of unmelted TiC particles. Furthermore, the width of the deposited samples was correlated with the fluctuation of melt pool area recorded by high-speed imaging. During the LMD process, a fraction of the TiC particles melts and then precipitates with phase changes depending on the wt.% TiC content. The dispersion state of the TiC reinforcing particles was homogenized due to the efficient Marangoni convection within the molten pool. Laser melting deposition of a metal matrix composite made of Inconel 718/TiC microparticles was studied with the purpose of 3D printing a pilon bracket of an airplane turbofan. © 2024, The Authors. All rights reserved.

关键词： Titanium carbide

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Design and Implementation of E-Commerce Thiqah Web Platform Based on *** and MySQL 13th

Design and Implementation of E-Commerce Thiqah Web Platform ...

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13th National Technical Symposium on Unmanned System technology, NUSYS 2023

作者： Alhuraibi, Mohammed Ameen Shamsan Algeelani, Nasir Ahmed Sariff, Nohaidda Ismail, Zool Hilmi Farea, Mazen Mohammed Al-Gailani, Samir Ahmed Faculty of Computer and Information Technology Al-Madinah International University Kuala Lumpur57100 Malaysia School of Engineering Faculty of Innovation and Technology Taylor’s University Selangor Subang Jaya47500 Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Jalan Sultan Yahya Petra Kuala Lumpur54100 Malaysia Faculty of Finance and Administrative Science Al-Madinah International University Kuala Lumpur57100 Malaysia Johor Bahru81310 Malaysia

ISBN: (纸本)9789819720262

E-commerce has taken the world by a storm, opening a new world of business and consumption at one’s fingertips. It is if not the most turned to, then one of the most relied-on methods of consumption in today’s era. Since its peak, an uncountable number of businesses have turned to e-commerce as a mode of business. To a certain extent, this shift is necessary and inevitable, considering the rate at which digitalization is developing and incorporated into lives in the long haul. Web development is an integral part of e-commerce and is key in ensuring its success, making it an inseparable aspect of e-commerce. With the many methods of development at hand, this article seeks to shed light on how *** can be optimized in the front-end development of a web application, demonstrating its use in Thiqah, the web application developed for this purpose. At the end of the study, Thiqah was successfully developed utilizing ***, ensuring a seamless coding system that is impenetrable and organized, best suited for the convenience of web development. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Marketplaces

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Cyberbullying Classification Using a Natural Language Processing and Machine Learning Techniques

Cyberbullying Classification Using a Natural Language Proces...

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2024 International Conference on Advances in Computing Research on science Engineering and technology, ACROSET 2024

作者： Mankar, Nikhilesh Pramod Mahure, Tushar Joshi, Anushka A. Pande, Sagar Dhanraj Khamparia, Aditya Nathe, Ankita Shrikrushna Turjman, Fadi Al Pune India Independent Researcher Amravati India Babasaheb Bhimrao Ambedkar University Department of Computer Science Amethi India Kavikulguru Institute of Technology and Science Department of Information Technology Nagpur India Ai and Robotics Institute Near East University Artificial Intelligence Software Information Systems Engineering Departments Nicosia Cyprus University of Kyrenia Research Center for Ai and IoT Faculty of Engineering Kyrenia Turkey

ISBN: (纸本)9798350388800

The usage of online entertainment has increased dramatically after some time with the enhancement of the Internet and has turned into the most compelling systems administration stage in this century. Notwithstanding, the upgrade of a social network regularly makes adverse consequences on society that add to two or three terrible peculiarities, for example, online maltreatment, badgering cyberbullying, cybercrime, and internet savaging. Cyberbullying habitually prompts genuine mental and actual misery, especially for ladies and kids, and even occasionally make them to use self-destruction methods. Multiple number of episodes have as of late happened worldwide because of online badgering, like sharing private talks, bits of hearsay, and sexual comments. In this way, the distinguishing proof of harassing messages or messages via online entertainment has gained a significant measure for development for consideration with in scientists. The ground or motive for this exploration is to create a full-fledged way or a method to differentiate online harmful and tormenting drafts by combining various methods and techniques in the domain of natural language processing and AI © 2024 IEEE.

关键词： Adversarial machine learning

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Comparison of Rating Scale and Pairwise Comparison Methods for Measuring Human Co-worker Subjective Impression of Robot during Physical Human-Robot Collaboration

Comparison of Rating Scale and Pairwise Comparison Methods f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qiao Wang Ziqi Wang Marc G. Carmichael Dikai Liu Chin-Teng Lin Robotics Institute Faculty of Engineering and Information Technology University of Technology Sydney Ultimo NSW Australia Australian Artificial Intelligence Institute School of Computer Science Faculty of Engineering and Information Technology University of Technology Sydney Ultimo NSW Australia

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The Rating Scale method has been long deemed the standard for measuring subjective perceptions. However, in the field of physical human-robot collaboration (pHRC), its aptness should be put under scrutiny due to inherent challenges such as response bias, between-subject variations, and the granularity *** variances can introduce significant bias in the rating scale results. A high granularity in the scale could overwhelm participants, leading to unclear and biased responses, while a low granularity may gloss over the fine nuances of human feelings. Additionally, there’s a notable risk of receiving careless responses, which compromise data reliability. Recognizing these challenges, this paper proposes the application of Pairwise Comparison (PC) in pHRC — an alternative survey technique that emphasizes direct comparisons between items on the defined criteria. By using the NASA Task Load Index (NASA-TLX) as a template, RS and PC questionnaires are designed and used in a series of pHRC experiments. Our preliminary findings suggest that PC is more precise and robust than the rating scale method. Compared to RS, PC fosters authentic participant interests in the experiment by intuitive question design and reducing the experimental duration. Besides, the accuracy and reliability of PC are also found to be consistent regardless of the variations in our experimental procedure design.

关键词： Surveys Accuracy NASA Collaboration Reliability engineering Particle measurements Task analysis

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On the Machining of Aluminum Alloy Series 7 with EDM 1

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7th International Scientific-Technical Conference, MANUFACTURING 2022

作者： Balanou, Maria Karmiris-Obratański, Panagiotis Karkalos, Nikolaos E. Papazoglou, Emmanouil L. Markopoulos, Angelos P. School of Mechanical Engineering Laboratory of Manufacturing Technology National Technical University of Athens Athens Greece Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems AGH University of Science and Technology Cracow Poland

ISBN: (数字)9783031008054

ISBN: (纸本)9783031008047

Electrical Discharge Machining is a thermo-electrical non-conventional machining process, which is widely used in machining difficult-to-cut materials in complex shapes and geometries, regardless their mechanical properties. Aluminum series 7 alloys are the strongest wrought aluminum alloy with extensive utilization in numerous modern applications. In the current study, an experimental investigation of machining Al7075 with EDM and brass electrode is presented. Full-scale experiments were conducted, with control parameters the pulse-on current and the pulse-on time, while, as the machining performance indexes, the Material Removal Rate (MRR), and the Tool Material Removal Rate (TMRR) were chosen and Surface Roughness (SR) was estimated in terms of the maximum roughness Rz and the average surface roughness Ra. Finally, a statistical analysis was followed in order to assess how each machining parameter affects the machining results. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Aluminum alloy ANOVA Electrical discharge machining

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