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Towards safety level definition based on the HRN approach for industrial robots in collaborative activities

Procedia Manufacturing 2019年 38卷 1481-1490页

作者： Magno Paiva Hippertt Marcio Lazai Junior Anderson Luis Szejka Osiris Canciglieri Junior Eduardo Rocha Loures Eduardo Alves Portela Santos Industrial and Systems Engineering Graduate Program (PPGEPS) Pontifical Catholic University of Parana Curitiba Brazil

Since the first industrial revolution, factories seek to increase their profits by improving their performance and reducing costs in their products. With each new industrial revolution, new ideas on how to reduce costs appear. Currently, in industry 4.0, the fourth industrial revolution, advanced robotics emerges as one of the principal pillars and with-it collaborative robotics. Collaborative robotics is the branch of robotics that has the security systems needed to perform joint activities with humans. However, the quantification of safety level varies depending on the location and more granularly from company to company. This work aims to assign levels of safety that allow a robot to perform a collaborative activity. To propose such values, the work was started with a bibliographical review focused on defining the robots that would be approached, reviewing the ISO (International Organization for Standardization) related to machinery safety and defining the term of collaboration. Then, the method of calculation of the safety indicator was evaluated, in the case covered was the Hazard Rating Number (HRN), and then defined the intervals that will be assigned to the robots that will perform collaborative activities. To validate the defined HRN intervals, a survey was developed and distributed for engineers from automation sector of an automotive company trained in safety, in this survey, categories of robots were placed for the engineers to assign HRN values to them. After the survey, the results were grouped and analyzed analytically. As a result, the proposed HRN intervals were validated because they fit the safety-level stipulated required for a robot to perform collaborative activity. Also, it was concluded that a robot can perform a collaborative activities even if it has not been acquired for this purpose, it is enough that it meets the safety requirements proposed in the work.

关键词： Collaborative Robots industrial Robots Safety Hazard Rating Number Introduction

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Control of a Refrigeration System Benchmark Problem: An Approach based on COR Metaheuristic Algorithm and TOPSIS Method

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IFAC-PapersOnLine 2019年第11期52卷 85-90页

作者： Ricardo Massao Kagami Gilberto Reynoso-Meza Eduardo A.P. Santos Roberto Zanetti Freire Industrial and Systems Engineering Graduate Program (PPGEPS) Pontifical Catholic University of Paraná (PUCPR) Brazil

The Proportional-Integral-Derivative (PID) controller is widely used in industrial applications. In order to evaluate the performance of distinct types of controllers, several benchmark systems are available in the specialized literature. In this work, an alternative approach to tune PID controllers based on the Competition Over Resources (COR) metaheuristic optimization algorithm and TOPSIS (Technique for Order of Preference by Similarity to Ideal Solution) method is proposed to solve a vapor compression refrigeration system problem, which is a benchmark control challenge. The proposed technique considered the normalization of multiple cost functions to simplify the selection of two PIDs’ parameters, reducing the need of understanding the influences of cost functions variations in complex problems. The proposed controllers outperformed the base line controllers, providing a performance index 68.39% better than the original approach. Finally, the proposed method was compared with other tuning methods.

关键词： Competition over resources algorithm controller tuning multi-objective problem multivariable control

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Evaluation of alternatives for offshore petroleum production system in deep and ultradeep water depth

Evaluation of alternatives for offshore petroleum production...

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ASME 2011 30th International Conference on Ocean, Offshore and Arctic engineering, OMAE2011

作者： Morooka, Celso K. De Carvalho, Maria Deolinda B.M. Faculty of Mechanical Engineering Department of Petroleum Engineering University of Campinas Campinas-SP Brazil Graduate Program Petroleum Science and Engineering University of Campinas Campinas-SP Brazil

ISBN: (纸本)9780791844335

Different equipments combined compose an offshore petroleum production system. Several development alternatives are available for a given offshore petroleum field. The selection of the most suitable system for a given scenario depends on field development characteristics and strategies such as its geographical location, water depth, environmental conditions and knowledge about similar systems already selected and in use for oil and gas production and available infrastructure in around. For the purpose of field production system design a database with types of production platforms, mooring systems, subsea equipments, reservoir main characteristics, type of wells and lifting processes is fundamental. Today, offshore petroleum reservoir production is more and more complex due to several variables involved and requirement needed to meet deep and ultra deep water depth, pre-salt petroleum with aggressive fluid characteristics, fields in remote areas and other environmental issues. Large fields in deep and ultra deep water are particularly challenging due to little availability of suitable platform types, among known concepts such as floating, production, storage and offloading unit (FPSO), semisubmersible, spar and tension leg platform (TLP). In the present paper, a database for worldwide offshore petroleum systems in use has been elaborated by searching data available in the literature. The database is organized for more than three hundred platforms distributed on more than four hundred different offshore oil fields. To serve as a basis for the conceptual design of a field production system, this database contains information such as type of the platform, field location, water depth, days for the first production, type of well, completion, mooring system, riser and offloading system. This information is structured for different water depth and environmental condition, for each field. From this database, analysis has been conducted for distribution of each type of platfo

关键词： Offshore oil wells

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Mine-to-client planning with Markov Decision Process 18

Mine-to-client planning with Markov Decision Process

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18th European Control Conference, ECC 2020

作者： Leal Gomes Leite, Joao Marcelo Arruda, Edilson F. Bahiense, Laura Marujo, Lino G. Federal University of Rio de Janeiro Industrial Engineering Program Alberto Luiz Coimbra Institute Graduate School and Research in Engineering Rio de Janeiro Brazil Federal University of Rio de Janeiro Systems Engineer and Computer Science Program Alberto Luiz Coimbra Institute Graduate School and Research in Engineering Rio de Janeiro Brazil

ISBN: (纸本)9783907144015

This works presents an innovative application of Markov Decision Process (MDP) to a medium-term mining logistics planning problem considering the mine-to-client supply chain. We implemented three distinct algorithms based on state-of-the-art approaches to solve large-scale problems, and compared their results. Furthermore, we combined all three variants in a single novel algorithm that attained fast convergence and may be an alternative to circumvent the curse of dimensionality underlying large scale problems. © 2020 EUCA.

关键词： Supply chains

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Parametric study of vertical axis wind turbine rotor configurations using CFD 11

Parametric study of vertical axis wind turbine rotor configu...

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ASME 2017 11th International Conference on Energy Sustainability, ES 2017, collocated with the ASME 2017 Power Conference Joint with ICOPE 2017, the ASME 2017 15th International Conference on Fuel Cell Science, engineering and Technology, and the ASME 2017 Nuclear Forum

作者： Difuntorum, John Keithley Danao, Louis Angelo M. Energy Engineering Graduate Program University of the Philippines Diliman Quezon City Philippines Department of Mechanical Engineering University of the Philippines Diliman Quezon City Philippines

ISBN: (纸本)9780791857595

Vertical axis wind turbines present several advantages over the horizontal axis machines that make them suitable to a variety of wind conditions. However due to the complexity of VAWT aerodynamics, available literature on VAWT performance in steady and turbulent wind conditions is limited. This paper aims to numerically predict the performance of a 5kW VAWT under steady wind conditions through computational fluid dynamics modeling by varying turbine configuration parameters. Two dimensional VAWT models using a cambered blade (1.5%) were created with open field boundary extents. Turbine configuration parameters studied include blade mounting position, blade fixing angle, and rotor solidity. Baseline case with peak Cp of 0.31 at tip speed ratio of 4 has the following parameters: mounting position at 0.5c, zero fixing angle, 3 blades (solidity = 0.3). Independent parametric studies were carried out and results show that a blade mounting position of 0.7c from the leading edge produces best performance with maximum Cp = 0.315 while worst case is a mounting position of 0.15c with peak Cp = 0.273. Fixing angle study reveals a toe-out setting of-1° producing the best performance with peak Cp of 0.315 and the worst setting at toe-in of 1.5° with peak Cp of 0.287. The solidity study resulted in a best case of 4 blades (solidity = 0.4) with peak Cp = 0.316 and worst case of 2 blades (solidity = 0.2) with peak Cp = 0.283. Copyright © 2017 ASME.

关键词： Mountings

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Aerodynamic Effects Compensation on Multi-Rotor UAVs Based on a Neural Network Control Allocation Approach

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 295-312页

作者： Sarah P.Madruga Augusto H.B.M.Tavares Saulo O.D.Luiz Tiago P.do Nascimento Antonio Marcus N.Lima Graduate Program of Electrical Engineering Universidade Federal de Campina GrandeCampina Grande-PBBrazil Department of Electrical Engineering Universidade Federal de Campina GrandeCampina Grande-PBBrazil IEEE Department of Computer Systems Universidade Federal da ParaibaJoao Pessoa-PBBrazil

This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural ***,the system performance can be improved by replacing the classic allocation matrix,without using the aerodynamic inflow equations *** network training is performed offline,which requires low computational *** target system is a Parrot MAMBO drone whose flight control is composed of PD-PID controllers followed by the proposed neural network control allocation *** a quadrotor is particularly susceptible to the aerodynamics effects of interest to this work,because of its small *** compared the mechanical torques commanded by the flight controller,i.e.,the control input,to those actually generated by the actuators and established at the *** was observed that the proposed neural network was able to closely match them,while the classic allocation matrix could not achieve *** allocation error was also determined in both ***,the closed-loop performance also improved with the use of the proposed neural network control allocation,as well as the quality of the thrust and torque signals,in which we perceived a much less noisy behavior.

关键词： Aerodynamics effects control allocation minidrone multi-rotor UAV neural networks

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CT slice retrieval by shape ellipses descriptors for skull repairing

CT slice retrieval by shape ellipses descriptors for skull r...

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2013 20th IEEE International Conference on Image Processing, ICIP 2013

作者： Rudek, Marcelo Canciglieri Jr., Osiris Jahnen, Andreas Bichinho, Gerson Linck Industrial and Systems Engineering Graduate Program Pontifical Catholic University of Parana PUCPR Brazil Public Research Centre Henri Tudor Luxembourg Technology in Healthcare Postgraduate Program Pontifical Catholic University of Parana PUCPR Brazil

ISBN: (纸本)9781479923410

This paper addresses the problem of automated prosthesis modelling and manufacturing, whose machining parameters are based on images extracted from different medical databases. The specific case of 3D surface restoration of a defective skull was used as study case. A method based on adjusted ellipses on skull bone curvature performs the symbolic representation of searching parameters. The superellipse concept permits to define geometric parameters to fit an ellipse on each Computed Tomography slice. Those ellipse descriptors can be used as a template for the retrieval of similar images from databases whose parameters match the sampled image. The similarity is measured according to the best fitness values through an optimization algorithm. The slices found by similarity are retrieved from all databases in order to build the 3D model. Experiments show that the proposed method is a promising technique for content based image retrieval. © 2013 IEEE.

关键词： Medical imaging

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Preparation and Characterization of Nypa Fruit Pulp Extraction as a Natural Material for Scaffold Fabrication using 3D Printing Method 9

Preparation and Characterization of Nypa Fruit Pulp Extracti...

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9th International Conference on Applying New Technology in Green Buildings, ATiGB 2024

作者： Irwansyah, Irwansyah Hendri, Darwin Maulana, Muhammad Rizki Indriani, Aulia Saputra, Maidi University of Teuku Umar Dept. of Mechanical Engineering Aceh Indonesia University of Syiah Kuala Dept. of Mechanical and Industrial Eng. Aceh Indonesia University of Syiah Kuala Dept. of Mechanical Engineering Graduate Program Aceh Indonesia

ISBN: (纸本)9798331505042

The aim of this study is to investigate the extracted Nypa fruticans as an alternative biomaterial used for 3D printing application in the biomedical and pharmaceutical. An important substances that was extracted from nipa palm fruit is galactomannan, a water-soluble heteropolysaccharide. It was considered to the polysaccharide-based polymer material used to fabricate scaffold tissue by 3D printing approach for medical purposes. Emphasis was placed on the synthesis and characterization of extracted nypa fruticans as the primary material, along with glycerol and sorbitol serving as polimerization agents. Extracted nypa with 3%, 5% and 10% amout of variation glycerol and sorbitol was evaluated. The experimental procedures conducted in the laboratory facilitated the isolation, production, purification, and fabrication of the extracted nypa polymer gels. Various properties of the nypa compounds and chemical composition through Fourier-transform infrared (FTIR) Spectrometry were analyzed. Findings indicated that extracted nypa refer to ether bonds (CH2-O- CH2) observed at 875.04 cm-1, identifying compound is galactomannan. This substance is classified within the polysaccharide category due to the appearance of peaks within the range of 900 to 1200cm-1. The incorporation of different amount percentage of glycerol and sorbitol, resulted in distinct impacts on the geometry of 3D printing scaffold material laying down. © 2024 IEEE.

关键词： Glycerol

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Warranty Cost Models for Products Protected by Lemon Laws Considering Mutual Failure Interaction 13

Warranty Cost Models for Products Protected by Lemon Laws Co...

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13th International Conference on Reliability, Maintainability, and Safety, ICRMS 2022

作者： Iskandar, Bermawi P. Alifin, Fakhri I. Husniah, Hennie Bandung Institute of Technology Department of Industrial Engineering & Management Bandung Indonesia Graduate Program in Industrial Engineering & Management Bandung Institute of Technology Indonesia Singaperbangsa University Department of Industrial Engineering Karawang Indonesia Langlangbuana University Department of Industrial Engineering Bandung Indonesia

ISBN: (数字)9781665486903

ISBN: (纸本)9781665486903

In this study, we develop warranty cost models for a warranted product that is also protected by lemon laws. The product is viewed as a multi-component system consisting of critical (C) and non-critical (NC) components. We model failure process of each type of components, which considers a bidirectional (or mutual) failure interaction between the C and NC components. Hence, each component has two types of failures -i.e., natural failure and induced failure. The product is declared a lemon if the recurrent failures of C or NC component occur - i.e., when the number of the C or NC component failures reaches the threshold value, k. If a lemon is declared, the manufacturer will provide either a refund or a replacement to the consumer. Then, we develop the warranty cost models for the two cases (i.e., refund and replacement cases) and find the optimal lemon law period that minimizes the expected warranty cost rate. The numerical examples are provided to illustrate the expected warranty cost and the optimal lemon law period. © 2022 IEEE.

关键词： Failure (mechanical)

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Behavior of plane synthetic jets generated by an asymmetric stepped slot

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International Journal of Fluid Machinery and systems 2020年第1期13卷 253-265页

作者： Kobayashi, Ryota Terakado, Hiroaki Sato, Kotaro Taniguchi, Junya Nishibe, Koichi Yokota, Kazuhiko Mechanical Engineering Program in the Graduate School of Engineering Kogakuin University 1-24-2 Nishi-Shinjuku Shinjuku-ku Tokyo163-8677 Japan Mechanical Engineering Program in the Graduate School of Engineering Kogakuin University 1-24-2 Nishi-Shinjuku Shinjuku-ku Tokyo163-8677 Japan Department of Mechanical System Engineering Kogakuin University 1-24-2 Nishi-Shinjuku Shinjuku-ku Tokyo163-8677 Japan Graduate School of Integrative Science and Engineering Tokyo City University 1-28-1 Tamatsuzumi Setagaya-ku Tokyo158-8557 Japan Department of Mechanical Engineering Tokyo City University 1-28-1 Tamatsuzumi Setagaya-ku Tokyo158-8557 Japan Department of Mechanical Engineering Aoyama Gakuin University 5-10-1 Fuchinobe Sagamihara-shi Kanagawa252-5258 Japan

This paper presents a fundamental study of jet directional control, i.e., thrust vectoring, using a synthetic jet generated by an asymmetric stepped slot. We present and discuss the results for a synthetic jet generated by a one-sided asymmetric stepped slot and focus on the relationship between the traveling direction of the formed jet and the offset ratio of the stepped slot and/or dimensionless frequency of the synthetic jet, within a jet deflection angle range of 0–90°. We demonstrate that there is an optimum offset ratio for jet deflection under the same dimensionless frequency because the traveling direction of the synthetic jet is dependent on the offset ratio of the stepped slot and the dimensionless stroke length (dimensionless frequency). © 2020, Turbomachinery Society of Japan. All rights reserved.

关键词： Jets

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