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Investigation of the diagnostic properties of sensors and features in a multiphase flow facility case study ⁎

IFAC-PapersOnLine 2019年第1期52卷 772-777页

作者： Anna Stief James R. Ottewill Jerzy Baranowski ABB Corporate Research Center ul. Starowislna 13a 31-038 Krakow Poland Department of Automatic Control and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Al. A. Mickiewicza 30 30-059 Krakow Poland

Feature design and selection is one of the first steps towards successful fault detection and diagnosis. Data from different sources can contain complimentary information about a monitored system. Hence methods which fuse features from multiple sources can often detect and diagnose a greater number of fault modes with higher confidence. However, solutions that require data from multiple sensors as inputs can be susceptible to failure if one or more of those sensors cease to function. Optimally a solution will fuse data from a sufficient number of sensors so that the advantages of sensor fusion are realized, while the robustness of the system is retained. In this paper the authors investigate how the best subset of features might differ for fault detection and fault severity diagnosis in a multiphase flow facility case study. ReliefF, which is a K-nearest neighbors-based feature selection filter, is used to rank the features for different problems. The dataset used for the analysis contains data from various operating conditions and induced faults with various severities. It was found that the optimal subset of features varied for different monitoring problems. It was also shown that including features that are ranked as being uninformative into a fault classifier can also impact the robustness of the classifier to sensor failures.

关键词： Signal processing Feature extraction Feature selection Process monitoring

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Earthmoving construction automation with military applications: Past, present and future 35

Earthmoving construction automation with military applicatio...

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35th International Symposium on Automation and robotics in Construction and International AEC/FM Hackathon: The Future of Building Things, ISARC 2018

作者： Ha, Q.P. Yen, L. Balaguer, C. Faculty of Engineering and IT University of Technology SydneyNSW2007 Australia Land Vehicles and Systems Defence Science and Technology Group SA5111 Australia Robotics Lab Universidad Carlos III de Madrid Spain

Amongst increasing innovations in frontier engineering sciences, the advancements in Robotic and Autonomous Systems (RAS) has brought about a new horizon in construction applications. There is evidence of the increasing interest in RAS technologies in the civil construction sector being reflected in construction efforts of many military forces. In particular, Army or ground-based forces are frequently called upon to conduct construction tasks as part of military operations, tasks which could be partially or fully aided by the employment of RAS technologies. Along with recent advances in the Internet of Things (IoT) and cyber-physical system infrastructure, it is essential to examine the current maturity, technical feasibility, and affordability, as well as the challenges and future directions of the adoption and application of RAS to military construction. This paper presents a comprehensive survey and provides a contemporary and industry-independent overview on the state-of-the-art of earthmoving construction automation used in defence, spanning current world’s best practice through to that which is predicted over the coming years. © ISARC 2018 - 35th International Symposium on Automation and robotics in Construction and International AEC/FM Hackathon: The Future of Building Things. All rights reserved.

关键词： robotics

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Evaluation of LSTM for predicting grip strength using electromyography: a comparison of setups and methods

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Neural Computing and Applications 2025年 1-25页

作者： Anam, Khairul Sudrajat, Ahmad Rizal, Naufal Ainur Intyanto, Gramandha Wega Muldayani, Wahyu Negara, Mohamad Agung Prawira Sumardi Bukhori, Saiful Gitakarma, Made Santo Castellini, Claudio Department of Electrical Engineering Universitas Jember Jl. Kalimantan 37 Jawa Timur Jember68121 Indonesia Intelligent Systems and Robotics Lab CDAST Universitas Jember Jl. Kalimantan 37 Jawa Timur Jember68121 Indonesia Faculty of Computer Science CDAST Universitas Jember Jl. Kalimantan 37 Jawa Timur Jember68121 Indonesia Department of Electronic Systems Engineering Technology Universitas Pendidikan Ganesha Jl. Udayana 11 Bali Singaraja81116 Indonesia Lab Friedrich-Alexander-Universität Erlangen-Nürnberg Nürnberger Str. 74 Bavaria Erlangen91052 Germany

Despite decades of research in prosthetics and myocontrol, using electromyography (EMG) to accurately predict the force a user grasps an object with is still a subject of investigation. Although the problem seems trivial, the optimal EMG setup, able to deliver high prediction accuracy at a minimal economic and computational cost needs to be found. In this work, we compare several EMG setups consisting of one to eight sensors and deep learning methods to find out which combination is most convenient. In particular, we compare long short-term memory (LSTM), together with a stacked autoencoder (LSTM–SAE) and an attention mechanism (LSTMATT). Our experimental results reveal that, while the best performance is attained by LSTM–SAE (coefficient of correlation 0.9867±0.0087, coefficient of determination 0.9676±0.0489, normalized root mean square error 0.048±0.0213), statistically significant differences can only be found when the number of sensors is drastically reduced, namely to 2 sensors, in which case, anyway, the performance is still close to optimal and even surpasses state-of-the-art methods. Further research will focus on testing the optimal approach and setup online on amputated users using prosthetic hardware in daily living activities. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Deep learning

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Bearing-only formation control under persistence of excitation

arXiv

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arXiv 2020年

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal I3S-CNRS Université Côte d'Azur Nice-Sophia Antipolis France I3S-CNRS Institut Universitaire de France Nice-Sophia Antipolis France Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China

This paper addresses the problem of bearing-only formation control in d (d ≥ 2)-dimensional space by exploring persistence of excitation (PE) of the desired bearing reference. By defining a desired formation that is bearing PE, distributed bearing-only control laws are proposed, which guarantee exponential stabilization of the desired formation only up to a translation vector. The key outcome of this approach relies in exploiting the bearing PE to significantly relax the conditions imposed on the graph topology to ensure exponential stabilization, when compared to the bearing rigidity conditions, and to remove the scale ambiguity introduced by bearing vectors. Simulation results are provided to illustrate the performance of the proposed control method. Copyright © 2020, The Authors. All rights reserved.

关键词： Stabilization

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Diagnostics of operational wear in hybrid load-carrying cables

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Journal of Physics: Conference Series 2021年第1期1736卷

作者： T Krakowski S Molski H Ruta P Lonkwic A Tofil AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza Ave. 30 Kraków 30-059 Poland The State School of Higher Education The Institute of Technical Sciences and Aviation Pocztowa street 54 Chełm 22-100 Poland

Along with the development of lifting devices, the new hybrid load-carrying cables were introduced to the market. The solutions of this type covered both, steel ropes of circular section and belts being a hybrid combination of many steel ropes potted with plastic coating into a single flat friction belt. Such design of ropes as compared to the traditional round steel ropes enabled to reduce the drive wheel diameter while maintaining frictional contact conditions and required ratio of the drive wheel and load-carrying cable diameters that is at least 40. Despite the above-mentioned advantages, a research issue that is of interest but so far has not been fully investigated is the process of wear of the hybrid load-carrying cables and evaluation of the technical condition of ropes being the load-carrying elements in the applied solutions, especially during the long-term operation. This article presents the possibilities of applying the magnetic method for evaluation of the technical condition of steel ropes being the load-carrying element of hybrid belts. The authors have presented their solution of the measuring head for magnetic testing of the load-carrying hybrid cables, elaborated by the team of employees of the Department of Machine Engineering and Transport at University of science and technology in Cracow, that enables the quantitative assessment of the hybrid load-carrying cable wear.

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Assessment of the technical condition of lift guides using a magnetic field

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Journal of Physics: Conference Series 2021年第1期2130卷

作者： P Lonkwic T Krakowski H Ruta The State School of Higher Education The Institute of Technical Sciences and Aviation ul. Pocztowa 54 Chełm 22-100 Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza30 Kraków 30-059 Poland

The systems that monitor individual components of machines and devices are under constant development. The ability to detect damages at an early stage allows failures to be prevented, so any uncontrolled downtime can be predicted in a controlled manner. Continuous monitoring of technical condition is an activity that also helps to reduce the losses due to equipment failures. However, not all areas can be monitored continuously. Such areas include lift guides where wear and tear can occur naturally, i.e. through abrasion of the material layer due to interaction with moving guide shoes or after emergency braking. Emergency braking causes local damages to the guide through plastic deformation of its surface resulting from indentation of the knurled roller of the brake. Such places are cleaned mechanically, which results in local reduction of the cross-sectional area. In such a case, it is difficult to continuously assess the technical condition of guides due to the prevailing operating conditions. Therefore, a concept of a head enabling assessment of the technical condition of guides at every stage of their operation has been developed. This article presents the novel concept of a magnetic head used for assessing the technical condition of lift guide rails that are the running track of lifting equipment. The initial tests were performed on the original test setup. The concept of the developed measuring head was verified for correct operation on specially prepared flat bars with holes. The results obtained in the form of laboratory tests proved that the proposed measuring head concept can be applied to the measurements under real conditions.

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Heat Transfer Optimization of end Winding Rotor Generator by the Use of Modified Axial Spacer: A Case Study

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Journal of Physics: Conference Series 2021年第1期1845卷

作者： Y Baskoro I Jaya A Glowacz M Sulowicz W Caesarendra PT Indonesia Power Indonesia Department of Automatic Control and Robotics AGH University of Science and Technology 30-059 Kraków Poland Institute of Electromechanical Energy Conversion Faculty of Electrical and Computer Engineering Cracow University of Technology Warszawska 24 31-155 Cracow Poland Faculty of Integrated Technologies Universiti Brunei Darussalam Jalan Tungku Link Gadong BE1410 Brunei Darussalam

This paper presents a case study of a rotor fault occurring in the rotor generator of a steam power plant located in Lontar, Banten Province, Indonesia. The steam power plant has 3 x 315 MV capacity and uses hydrogen in the cooling system. The issue arising during the operation was caused by heat transfer exceeding the normal level. The grounding of the rotor occurred through rising vibration and temperature, tripping the generator unit. During repairs, the axial spacer was replaced with a new model, where it is longer than the original, adding a bar spacer at a previously unavailable position and creating a cooling track profile. This is a case study on the replacement of the axial spacer model aimed at preventing the expansion of the winding, so as not to touch with each other, through the installation of a longer axial spacer and the addition of the spacer bar, and lastly adding the track profile to the cooling hydrogen gas flow thereby maximizing the cooling process from the end winding rotor generator. Heat transfer is an analysed parameter related to the model change of the axial spacer. The addition of a track cooling gas flow has been able to maximize the heat transfer process, which is simulated in this paper. The performance of the rotor generator increased through several parameters after the replacement of the axial spacer model.

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Distributed algorithms that solve boolean equations with local and differential privacies

arXiv

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arXiv 2020年

作者： Qi, Hongsheng Li, Bo Jing, Rui-Juan Wang, Lei Proutiere, Alexandre Shi, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Faculty of Science Jiangsu University Zhenjiang212013 China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia Department of Automatic Control Kth Royal Institute of Technology Stockholm100-44 Sweden

In this paper, we propose distributed algorithms that solve a system of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the nodes aim to compute the exact set of solutions to the system without exchanging their local equations. We show that each private Boolean equation can be locally lifted to a linear algebraic equation under a basis of Boolean vectors, leading to a network linear equation that is distributedly solvable using existing distributed linear equation algorithms as a subroutine. A number of exact or approximate solutions to the induced linear equation are then computed at each node from different initial values. The solutions to the original Boolean equations are eventually computed locally via a Boolean vector search algorithm. We prove that given solvable Boolean equations, when the initial values of the nodes for the distributed linear equation solving step are i.i.d selected according to a uniform distribution in a high-dimensional cube, our algorithms return the exact solution set of the Boolean equations at each node with high probability. Furthermore, we present an algorithm for distributed verification of the satisfiability of Boolean equations, and prove its correctness. Finally, we show that by utilizing linear equation solvers with differential privacy to replace the in-network computing routines, the overall distributed Boolean equation algorithms can be made differentially private. Under the standard Laplace mechanism, we prove an explicit level of noises that can be injected in the linear equation steps for ensuring a prescribed level of differential privacy. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear equations

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Correction to: The effects of gender, age, and videogame experience on performance and experiences with a surgical robotic arm: an exploratory study with general public

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Journal of robotic surgery 2022年第3期16卷 631页

作者： Selen Türkay Kate Letheren Jeremy Opie Ross Crawford Jonathan Roberts Anjali Tumkur Jaiprakash School of Computer Science Queensland University of Technology Brisbane QLD Australia. Centre for Behavioural Economics Society and Technology Queensland University of Technology Brisbane QLD Australia. Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London (UCL) London UK. Centre for Biomedical Technologies (CBT) Queensland University of Technology Brisbane QLD Australia. School of Electrical Engineering and Robotics Queensland University of Technology Brisbane QLD Australia. Centre for Biomedical Technologies (CBT) Queensland University of Technology Brisbane QLD Australia. anjali.jaiprakash@qut.edu.au. Faculty of Health School of Clinical Sciences Queensland University of Technology Brisbane QLD Australia. anjali.jaiprakash@qut.edu.au.

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Why is the Winner the Best?

Why is the Winner the Best?

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： M. Eisenmann A. Reinke V. Weru M. D. Tizabi F. Isensee T. J. Adler S. Ali V. Andrearczyk M. Aubreville U. Baid S. Bakas N. Balu S. Bano J. Bernal S. Bodenstedt A. Casella V. Cheplygina M. Daum M. De Bruijne A. Depeursinge R. Dorent J. Egger D. G. Ellis S. Engelhardt M. Ganz N. Ghatwary G. Girard P. Godau A. Gupta L. Hansen K. Harada M. Heinrich N. Heller A. Hering A. Huaulmé P. Jannin A. E. Kavur O. Kodym M. Kozubek J. Li H. Li J. Ma C. Martín-Isla B. Menze A. Noble V. Oreiller N. Padoy S. Pati K. Payette T. Rädsch J. Rafael-Patiño V. Singh Bawa S. Speidel C. H. Sudre K. Van Wijnen M. Wagner D. Wei A. Yamlahi M. H. Yap C. Yuan M. Zenk A. Zia D. Zimmerer D. Aydogan B. Bhattarai L. Bloch R. Brüngel J. Cho C. Choi Q. Dou I. Ezhov C. M. Friedrich C. Fuller R. R. Gaire A. Galdran Á. García Faura M. Grammatikopoulou S. Hong M. Jahanifar I. Jang A. Kadkhodamohammadi I. Kang F. Kofler S. Kondo H. Kuijf M. Li M. Luu T. Martinčič P. Morais M. A. Naser B. Oliveira D. Owen S. Pang J. Park S. Park S. Płotka E. Puybareau N. Rajpoot K. Ryu N. Saeed A. Shephard P. Shi D. Štepec R. Subedi G. Tochon H. R. Torres H. Urien J. L. Vilaça K. A. Wahid H. Wang J. Wang L. Wang X. Wang B. Wiestler M. Wodzinski F. Xia J. Xie Z. Xiong S. Yang Y. Yang Z. Zhao K. Maier-Hein P. F. Jäger A. Kopp-Schneider L. Maier-Hein Division of Intelligent Medical Systems German Cancer Research Center (DKFZ) Heidelberg Germany Helmholtz Imaging German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Biostatistics German Cancer Research Center (DKFZ) Heidelberg Germany Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Engineering and Physical Sciences School of Computing University of Leeds Leeds UK Institute of Informatics School of Management HES-SO Valais-Wallis University of Applied Sciences and Arts Western Switzerland Sierre Switzerland Department of Nuclear Medicine and Molecular Imaging Lausanne University Hospital Lausanne Switzerland Technische Hochschule Ingolstadt Ingolstadt Germany Center for Artificial Intelligence and Data Science for Integrated Diagnostics (AI2D) and Center for Biomedical Image Computing and Analytics (CBICA) University of Pennsylvania Philadelphia PA USA Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology University of Washington Seattle WA USA Department of Computer Science Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London London UK Universitat Autònoma de Barcelona & Computer Vision Center Barcelona Spain Division of Translational Surgical Oncology National Center for Tumor Diseases (NCT/UCC) Dresden Dresden Germany Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy IT University of Copenhagen Copenhagen Denmark Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Heidelberg Germany Department of Radiology and Nuc

International benchmarking competitions have become fundamental for the comparative performance assessment of image analysis methods. However, little attention has been given to investigating what can be learnt from these competitions. Do they really generate scientific progress? What are common and successful participation strategies? What makes a solution superior to a competing method? To address this gap in the literature, we performed a multicenter study with all 80 competitions that were conducted in the scope of IEEE ISBI 2021 and MICCAI 2021. Statistical analyses performed based on comprehensive descriptions of the submitted algorithms linked to their rank as well as the underlying participation strategies revealed common characteristics of winning solutions. These typically include the use of multi-task learning (63%) and/or multi-stage pipelines (61%), and a focus on augmentation (100%), image preprocessing (97%), data curation (79%), and post-processing (66%). The “typical” lead of a winning team is a computer scientist with a doctoral degree, five years of experience in biomedical image analysis, and four years of experience in deep learning. Two core general development strategies stood out for highly-ranked teams: the reflection of the metrics in the method design and the focus on analyzing and handling failure cases. According to the organizers, 43% of the winning algorithms exceeded the state of the art but only 11% completely solved the respective domain problem. The insights of our study could help researchers (1) improve algorithm development strategies when approaching new problems, and (2) focus on open research questions revealed by this work.

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