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Power and Energy Engineering (ICPEE), International Conference on

作者： Bowen Zhang Weiwei Miao Lei Wei Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Information & Telecommunication Branch State Grid Jiangsu Electric Power Co. Ltd. Nanjing China State Grid Jiangsu Electric Power Co. Ltd. Nanjing China

ISBN: (纸本)9781665420471

Focusing on the resource constrained IoT agent collaboration requirements at the edge of the power Internet of things, this paper proposes an edge agent collaborative computation method based on Actor model to satisfy the rapid processing and response requirements of large-scale data in the perception layer of the power Internet of things. Through a unified programming model, this paper can divide the collection and analysis of sensing data in the sensing layer of the power Internet of things into functional components, which can be deployed in different edge IoT agents, to improve the rapid processing ability of edge-side data. At the same time, the components achieve the function cooperation through the message passing mechanism. Finally, this paper implements the proposed scheme based on Akka framework, and designs the edge IoT agent collaborative computing prototype. The prototype system experiments show that the proposed scheme can split the complex services with high resource requirements into different components and deploy them in different edge IoT agents. The proposed method can improve the resource utilization and data processing capacity of the edge IoT agent of the power Internet of things, while ensuring the real-time requirements of edge service analysis.

关键词： Computational modeling Message passing Collaboration Prototypes Programming Data models Real-time systems

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Identification of muscle morphology with noncontact capacitive sensing: Preliminary study

Identification of muscle morphology with noncontact capaciti...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Enhao Zheng Jiacheng Wan Dongfang Xu Qining Wang Hong Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Information Engineering China university of geosciences (Beijing) Beijing China The Robotics Research Group College of Engineering Peking University Beijing China

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

Human-machine interface with muscle signals serves as an important role in the field of wearable robotics. To compensate for the limitations of the existing surface Electromyography (sEMG) based technologies, we previously proposed a noncontact capacitive sensing approach that could record the limb shape changes. The sensing approach frees the human skin from contacting to the metal electrodes, thus enabling the measurement of muscle signals by dressing the sensing front-ends outside of the clothes. We validated the capacitive sensing in human motion intent recognition tasks with the wearable robots and produced comparable results to existing studies. However, the biological significance of the capacitance signals is still unrevealed, which is an indispensable issue for robot intuitive control. In this study, we address the problems of identifying the relationships between the muscle morphological parameters and the capacitance signals. We constructed a measurement system that recorded the noncontact capacitive sensing signals and the muscle ultrasound (US) images simultaneously. With the designed device, five subjects were employed and the US images from the gastrocnemius muscle (GM) and the tibialis anterior (TA) muscle during level walking were sampled. We fitted the calculated muscle morphological parameters (the pinnation angles and the muscle fascicle length) and the capacitance signals of the same gait phases. The results demonstrated that at least one-channel capacitance signal strongly correlated to the muscle morphological parameters (R 2 > 0.5, quadratic regression). The average R 2 s of the most correlated channels were up to 0.86 for pinnation angles and 0.83 for the muscle fascicle length changes. The interesting findings in this preliminary study suggest the biological physical significance of the capacitance signals during human locomotion. Future efforts are worth being paid in this new research direction for more promising results.

关键词： Muscles Robot sensing systems Capacitance Legged locomotion Electrodes Ultrasonic variables measurement

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The Method of Neural Network Control over the Process of Manufacturing Foil Solar Panels 2

The Method of Neural Network Control over the Process of Man...

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2nd IEEE International Conference on System Analysis and Intelligent Computing, SAIC 2020

作者： Sachenko, Anatoliy Ivakhiv, Orest Vyshnia, Volodymyr Grzeszczyk, Konrad Osolinskyi, Oleksandr Novosad, Stanislav Kochan, Volodymyr Nakonechnyi, Markiyan Kochan, Orest Kopania, Lukasz Kazimierz Pulaski University of Technology and Humanities in Radom Department of Informatics Radom Poland Lviv Polytechnic National University Department of Intelligent Mechatronics and Robotics Lviv Ukraine Dnipropetrovsk State University of Internal Affairs Department of Economic and Information Security Dnipro Ukraine International Vision Machinery VISORT Sp. J Radom Poland Ternopil National Economic University Department for Information Computer Systems and Control Ternopil Ukraine Ternopil National Economic University Research Institute for Intelligent Computer Systems Ternopil Ukraine Lviv Polytechnic National University Department of Computerized Automation Systems Lviv Ukraine Lviv Polytechnic National University Department of Measuring Information Technologies Lviv Ukraine

ISBN: (纸本)9781728190822

Authors have developed a method of control over one of the main technological processes of manufacturing foil solar panels, i.e., burning tracks in the layers of semiconductor material and insulation. The proposed method is based on neural networks trained directly on the control object. This eliminates the laborious process of identifying the parameters of the control object mathematical model and the impact of its error on the training outcomes. To clarify the conditions for optimizing a certain law for generating the control action by neural networks various laws of control have been simulated. It's established that laws of control can be changed according to the current situation of the control object. Simulation outcomes proofed that the most efficient is the system with the PI- controller. © 2020 IEEE.

关键词： Process control

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A generalized model for predicting the optimal overlap rate and height of successive single-layer involved in laser metal deposition process based on the aspect ratio

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Optics & Laser Technology 2025年 191卷

作者： Enjie Dong Tingyu Chang Gan Li Ze Liu Liming Xia Linjie Zhao Junwen Lu Jiaxuan Chen Mingjun Chen Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Mechanical Engineering City University of Hong Kong Hong Kong China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Guangdong 518055 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

The surface flatness of single-layer islands deposition is essential for high-quality multi-layer component deposition and the stability of the Laser metal deposition (LMD) manufacturing process. The aspect ratio of single-track deposition and the overlap rate are critical factors influencing the flatness of single-layer island deposition. Existing methods for determining the optimal overlap rate, whether through experimental approaches or simplified recursive overlap models, still suffer from long development cycles and limited accuracy. In this study, a generalized, efficient and reliable model for predicting the optimal overlap rate only using the aspect ratio of the single-track deposition as the input parameter was developed after fully understanding the influence of the aspect ratio and overlap rate on the morphology, stacking effect and flatness of single-layer islands. Besides, a prediction model for the height of the single-layer island, based on the input parameters of the aspect ratio and the overlap rate has also been developed. Further, verification datasets from different experimental batches and materials were used to validate the accuracy and generalizability of the island height prediction model. The validation results indicated that the relative error between the predicted and actual values was less than 10%. The single-track aspect ratio can be directly used to guide the LMD multi-layer component deposition, regardless of the combination of powder and substrate materials, using these reliable and generalized prediction models for the optimal overlap rate and the island height developed in current study. The single-layer island deposition stage was completely eliminated, thereby significantly shorten the development cycle and reduce the cost of LMD process parameter development.

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Aerodynamic performance of the three dimensional flexible hovering wing

Aerodynamic performance of the three dimensional flexible ho...

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第六届国际仿生工程学术大会暨2019年自然启迪科技国际研讨会

作者： Jianyang Zhu Mingkang Zhu School of Machinery and Automation Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

Flapping wing micro aero vehicle(FMAV) is a special type of MAV which is capable of working in constraint space and complicated environment. The flexibility effects on the aerodynamics of flapping wing is one of the most important considerations for designing this kind of vehicle. This paper aims at providing a systematic synthesis on the flexibility effects on the characteristics of the flapping wing, based on the numerical analysis approach. Firstly, the physical model of flexible wing and its parameter definitions are presented. Secondly, the numerical model for simultaneously solving the in-compressible flow and flexible deformation motion of the wing is developed. Thirdly, the effect of deformation amplitude and vibration frequency on the aerodynamic characteristics of the wing are analyzed. Finally, the quantification effects of the deformation amplitude and vibration frequency on the aerodynamic characteristics of the flapping wing can be obtained. The analysis in this study will provide straightforward physical insight into understanding of the aerodynamic characteristics of flexible wing.

关键词： Flapping wing micro aero vehicle Flexibility Deformation amplitude Vibration frequency Aerodynamic characteristics

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Accelerating surgical robotics research: A review of 10 years with the da Vinci research kit

arXiv

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arXiv 2021年

作者： D’Ettorre, Claudia Mariani, Andrea Stilli, Agostino Rodriguez y Baena, Ferdinando Valdastri, Pietro Deguet, Anton Kazanzides, Peter Taylor, Russell H. Fischer, Gregory S. DiMaio, Simon P. Menciassi, Arianna Stoyanov, Danail University College London LondonW1W 7EJ United Kingdom Pisa Italy Mechanical Engineering Department Imperial College London United Kingdom STORM Lab Institute of Robotics Autonomous Systems and Sensing School of Electronic and Electrical Engineering University of Leeds Leeds United Kingdom Johns Hopkins University Baltimore United States Automation and Interventional Medicine Laboratory Worcester Polytechnic Institute WorcesterMA United States Intuitive Surgical Inc SunnyvaleCA United States

Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade with a range of new robotic devices emerging to address unmet clinical needs across different specialties. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to re-purpose decommissioned da Vinci surgical systems (Intuitive Surgical Inc, CA, USA) as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this paper, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain this initiative and build upon it. © 2021, CC BY.

关键词： Robotic surgery

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Atomic force microscopy studies on cellular elastic and viscoelastic properties

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Science China(Life Sciences) 2018年第1期61卷 57-67页

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong Hong Kong China

In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic and viscoelastic properties of normal breast cells and cancerous breast cells were measured, showing significant differences in Young’s modulus and relaxation times between normal and cancerous breast cells. Remarkable differences in cellular topography between normal and cancerous breast cells were also revealed by AFM imaging. Next, the elastic and viscoelasitc properties of three other types of cell lines and primary normal B lymphocytes were measured; results demonstrated the potential of cellular viscoelastic properties in complementing cellular Young’s modulus for discerning different states of cells. This research provides a novel way to quantify the mechanical properties of cells by AFM, which allows investigation of the biomechanical behaviors of single cells from multiple aspects.

关键词： atomic force microscopy cell mechanical properties viscoelastic properties Young＇s modulus relaxation time

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On the Selection and Application of a Convenient Energy Management Software for Industrial Purposes

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IOP Conference Series: Materials Science and Engineering 2021年第1期1140卷

作者： Larissa Wurster Gregor Thiele Clemens Briese Jörg Krüger Plant Development Infrastructure / Assembly Trucks (TG/MAD) Daimler Truck AG Department for Process automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Department for Machine Vision Fraunhofer Institute for Production Systems and Design Technology Department for Industrial automation at the Institute for Machine Tools and Factory Management Technical University of Berlin

The profitability of companies, especially in Germany, is affected by rising energy prices and increasingly stringent energy legislation. Certification according to ISO 50.001, an international standard for energy management systems, can help to meet legal requirements and increase energy efficiency. This article offers assistance in the form of a methodology that provides a structure for the selection process of an energy management system (EnMS). Considering properties of the individual company, it helps to identify an appropriate software solution. It is applied to a globally operating metalworking company in an example study. Furthermore, the measurement infrastructure in particular is a basic requirement that should not be overlooked in addition to the process of choosing an appropriate software solution. In this context, suitable metering points or criteria must be defined as well as sufficient attention paid to the anticipated costs for acquiring and integrating new measuring transducer and energy meters. The type and number of relevant measuring points must be considered in particular. Discussing these aspects, this article facilitates the process of planning and implementing an energy monitoring.

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Energy Efficiency Optimization using automationML modeling and an EnPI methodology

Energy Efficiency Optimization using AutomationML modeling a...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Gregor Thiele Niloufar Khorsandi Jörg Krüger Department for Process Automation and Robotics Institute for Production Systems and Design Technology Berlin Germany Department for Industrial Automation Technology Technical University of Berlin Berlin Germany

Industrial facilities are complex and heterogeneous systems in permanent technological change. The ambitions towards smart factories heighten the requirements for the flexible interconnection of various devices. These industrial entities are controlled, observed and optimized by many services. The tuning of process parameters of several linked components in order to boost the overall energy efficiency is one example of such services. automationML (AML) provides a hierarchical description language for industrial systems considering both structure and properties. An extension of the established standard allows for intuitive modeling of energy optimization problems. An approved energy performance indicator (EnPI) methodology was integrated in the libraries of AML in order to simplify and shorten the modeling procedure for the optimization task. The procedure is demonstrated using the example of an industrial cooling system.

关键词： Optimization Object oriented modeling Cooling Planning Energy consumption Biological system modeling Databases

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Fault Detection using Common and Specific Variable Decomposition for Nonlinear Multimode Process

Fault Detection using Common and Specific Variable Decomposi...

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Chinese automation Congress (CAC)

作者： Shuai Li Xiaofeng Zhou Haibo Shi Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Due to the change of operating conditions including external environments and production schemes, there are usually multiple modes in most industrial processes. Moreover, different linear and nonlinear correlations simultaneously coexist in different modes, which brings difficulty to fault detection. Aiming at this problem, the paper proposes a fault detection method using common and specific variable decomposition for nonlinear multimode process. The proposed method takes into account the linear and nonlinear correlations in different modes and utilizes the common and specific modeling ideas for enhancing the performance of fault detection in multimode process. First, the multimode process data are divided into the common variable subspace and the specific variable subspace based on sliding window low-order and high-order statistics. Then, the nonlinearity coefficient is used to evaluate the linear and nonlinear correlations for each variable subspace. Subsequently, the common and specific PCA-KPCA-SPCA-based multimode process modeling is developed for fault detection. The fault detection results of the Tennessee Eastman (TE) process demonstrate the feasibility and effectiveness of the proposed method.

关键词： Fault detection Correlation Principal component analysis Silicon Process control Manufacturing Loading

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