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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering (QR2MSE 2022)

作者： D. Fu T. Zhou T. Yang T. Zhang J. Dong Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Digital Factory Department Shenyang Institute of Automation Chinese Academy of Sciences Shenyang People's Republic of China Technical Management Division Guodian Technology & Environment Group Co Ltd. Beijing People's Republic of China Digital Factory Department Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang People's Republic of China

Biofuel-based heat sources are gradually penetrated into heating systems in Northern China in the background of carbon neutrality. It is essential to conduct biofuel risk management study, not only for enhancing the ability of continuous heat supply for heating systems, but also improving the ability of effective cost control. A biofuel risk management model is thus proposed innovatively for biomass-based heat sources considering supply-demand-side uncertainties. The developed model integrates Chance-constrained programming, Two-stage stochastic programming and the traditional linear programming into a general framework. After that, the developed model is applied in to a real heat-source case of biofuel risk management under uncertainties and the corresponding solutions on biofuel risk management are generated. The beneficial results of biofuel allocation pattern can be obtained for decision-makers to provide the fuel management support under different risk levels. Besides, a trade-off analysis between the constraint-violation risk and the system cost can also be provided to conduct in-depth analysis.

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Research on compliant configuration of hydraulic manipulator with passive following characteristic

Research on compliant configuration of hydraulic manipulator...

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作者： Jiang, Lin Ren, Lisheng Pan, Xiaoyue Zhu, Jianyang Zhao, Hui Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

To decrease the injury caused by an accidental collision between the hydraulic manipulator and human, a hydraulic rotating angle self-servo compliant robot driver joint is designed. Based on this joint, a variable stiffness passive servo-hydraulic rotary joint is improved. The passive follow-up characteristics of the improved servo-hydraulic rotary joint enable it to enter the low stiffness mode by itself when it encounters collisions beyond the force limit. Combining this characteristic, the research method of the hydraulic mechanical arm flexible configuration is proposed. Firstly, the joint motion mode is defined by the Euler angle, and a variety of configurations conforming to the motion characteristics of the manipulator are determined. Then, the virtual prototype and collision environment are built, and the dynamic characteristics of the end effector of the arm under high and low stiffness are measured. The results show that the flexible configurations with passive follow-up characteristics can significantly suppress the collision force. Finally, the visual method is employed to solve, draw, and compare the workspace of the selected compliant configuration, to obtain the optimal compliant configuration with both flexibility and motion, which provides theoretical guidance for the subsequent design of the compliant manipulator. © 2020 Institution of Engineering and Technology. All rights reserved.

关键词： Stiffness

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Method for detecting surface defects of ceramic tile based on improved Cascade RCNN

Method for detecting surface defects of ceramic tile based o...

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Frontiers Technology of Information and Computer (ICFTIC), IEEE International Conference on

作者： Yu Cao Yu Wang Haiwen Feng Ting Wang School of Software College Shenyang University of Technology Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

In view of the problems of small scale and low contrast of ceramic tile defects, various types of ceramic tile surface defects, and difficulty in realizing high-precision ceramic tile defect detection, a ceramic tile surface defect detection model based on improved Cascade RCNN is proposed to locate and identify the types of ceramic tile surface defects in different texture backgrounds. The improved ResNest network is used to improve the classification ability of the algorithm and optimize the performance of the model. The improved feature pyramid enhanced the feature extraction ability of the algorithm, and improved the accuracy of detecting small-scale defects and low-contrast defects of ceramic tiles. The whole connection structure of the last layer of cascade detectors was modified to double-head structure, which improved the ability of detectors to perform classification and regression tasks, and solved the problem of various kinds of defects on the surface of ceramic tiles. After data collection, 2810 tiles defect pictures were obtained, and then 7934 tiles defect slices were obtained by image segmentation, and the slices were made into tiles defect data sets. Experiments show that this method can achieve 77.8 % MAP and 93.9% average positive detection rate, which is higher than Faster RCNN and original Cascade RCNN.

关键词： Training Image segmentation Tiles Detectors Feature extraction Data models Ceramics

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Heterogeneous microstructure and mechanical behaviour of Al-8.3Fe-1.3V-1.8Si alloy produced by laser powder bed fusion

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Virtual and Physical Prototyping 2023年第1期18卷 Article: e2155197页

作者： Yu, S.J. Wang, P. Li, H.C. Setchi, R. Wu, M.W. Liu, Z.Y. Chen, Z.W. Waqar, S. Zhang, L.C. Additive Manufacturing Institute Shenzhen University Shenzhen China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen China School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai China Cardiff School of Engineering Cardiff University Cardiff United Kingdom Department of Materials and Mineral Resources Engineering National Taipei University of Technology Taipei Taiwan Department of Mechanical Engineering Institute of Space Technology Islamabad Pakistan School of Engineering Edith Cowan University Perth Australia

The relationship between processing parameters, microstructure, and mechanical properties of Al-8.3Fe-1.3V-1.8Si alloy processed by laser powder bed fusion is seldom studied. Therefore, fully dense alloys with two parameters were selected to investigate this key issue. The results show that the alloy with low power and scanning speed (S200) shows fan-shell-shaped melt pools and laser tracks while another (S350) shows a deeper and wider melt pool. Both alloys obtain a heterogeneous microstructure without a secondary phase in melt pool (MP) and a nano-sized phase in melt pool boundary (MPB). The difference between solid-solution strengthening and Orowan strengthening in MP and MPB contributes to the difference in compressive yield strength (S200: 380 ± 14 MPa and S350: 705 ± 16 MPa), and heterogeneous nano-hardness results in different crack behaviours and failure strains. This work indicates that adjusting processing parameters is an effective method to control microstructure and mechanical properties of this alloy. © 2022 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Aluminum alloys

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When Shannon Meets Nonstochastic Information: Communication and Estimation

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IEEE Transactions on Automatic control 2025年

作者： Zhang, Wentao Zuo, Zhiqiang Zhao, Rui Wang, Yijing Hu, Guoqiang Zhang, Hui Wang, Yaonan Hunan University School of Robotics Changsha410082 China Nanyang Technological University Continental-NTU Corporate Lab Singapore639798 Singapore Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin300072 China Nanyang Technological University School of Electrical and Electronic Engineering Singapore639798 Singapore National Engineering Research Center for Robot Visual Perception and Control Changsha410082 China Hunan University College of Electrical and Information Engineering Changsha410082 China

This notes focuses on the issue of whether or not the state of a plant can be estimated when the inputs of communication channel involve noise and disturbance simultaneously. It turns out to calculate the maximum capacity of stationary memoryless multiple quasi-access channel under nonstochastic information theory. It is shown that the maximum information rate over such a channel is determined by a convex hull spanned by the zero-error capacities which are specified on the underlying sample spaces. Moreover, the state of a plant could be estimated provided that the maximal information rate is strictly greater than the topology entropy. © 1963-2012 IEEE.

关键词： Communication channels (information theory)

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A Novel Hybrid Method for Fault Diagnosis of Industrial Equipment Based on Vibration Signals

A Novel Hybrid Method for Fault Diagnosis of Industrial Equi...

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Prognostics and System Health Management Conference (PHM-Qingdao)

作者： Sen Tao Kai Wang Peng Zeng Tianda Yu Hao Wu 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 Shenyang China Nuclear Power Institute of China Chengdu China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing China

Industrial equipment reliability is a critical issue that smart manufacturing systems must address. Implementation of online fault diagnosis for industrial equipment is a promising technology that can improve equipment reliability. Vibration analysis is a popular technique for equipment condition monitoring. For the non-linear and non-stationary features of industrial vibration signals, a hybrid model based on wavelet transform (WT), support vector machine (SVM), and grey wolf optimization algorithm (GWO) is proposed. The time-frequency domain features of fault signals are extracted by wavelet transform to solve the non-linearity of signals, and the obtained feature vectors are input into SVM for classification. Aiming at the problem of setting penalty coefficient and kernel function parameters, GWO is introduced to seek hyperparameters by using the hunting principle of wolves. In the experimental part, firstly, the comparison of the GWO-WT-SVM, GWO-SVM and SVM models was carried out. Secondly, Comparison with classical classification algorithms is made. Apparently, the GWO-WT-SVM model achieves higher accuracy than other models in bearing fault diagnosis.

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A Space Crawling Robotic Bio-Paw (Scrbp) Enabled by Triboelectric Sensors for Surface Identification

SSRN

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SSRN 2022年

作者： Hou, Xuyan Zhang, Li Gao, Guowei Liu, Yuhui Na, Zhonglai Xu, QingZhang Ding, Tianxiang Li, Long Chen, Tao Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Department of MECHANICAL ENGINEERING FACULTY OF ENGINEERING Hong Kong Polytechnic University Hong Kong Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215123 China

With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. © 2022, The Authors. All rights reserved.

关键词： End effectors

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Defect Sample Generation System Based on DCGAN for Glass Package Electrical Connectors

Defect Sample Generation System Based on DCGAN for Glass Pac...

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Chinese intelligent Systems Conference, CISC 2020

作者： Liu, Qunpo Wang, Mengke Hanajima, Naohiko Department of Robotics Engineering Henan Polytechnic University 2001 Century Avenue JiaozuoHenan454003 China Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment 2001 Century Avenue JiaozuoHenan454003 China College of Information and Systems Muroran Institute of Technology 27-1 Mizumoto-cho Muroran-shiHokkaido050-8585 Japan

ISBN: (纸本)9789811584572

Precision glass packaged electrical connectors are widely used to connect precision modular electrical appliances. Manual detection is currently used due to its small size. In order to improve the detection efficiency and accuracy, deep learning is applied to the automatic detection of the defect. In this paper, in order to solve the problem of lack of defect samples, a defect sample generation system for micro-precision glass package electrical connectors based on deep convolutional generation confrontation network (DCGAN) is constructed. A network model of defect samples based on DCGAN is constructed, and algorithm design, parameter settings, network training and experiments are performed. More than 1,500 samples were generated. Finally, the generated samples were tested for defects (including missing blocks and bubbles). The results show that the samples generated by this method can be used as real samples in defect detection training. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Defects

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Optimization of input shaping parameters based on genetic algorithm 4

Optimization of input shaping parameters based on genetic al...

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4th International Symposium on Power Electronics and control Engineering, ISPECE 2021

作者： Lu, Xu Jia, Danping Zhang, Hualiang Zhao, Bingjie Zhang, Tao Liu, Yang Yan, Hongyu School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China 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

ISBN: (数字)9781510650374

ISBN: (纸本)9781510650367

In view of the position control vibration problem of permanent magnet synchronous motor, the control model of permanent magnet synchronous motor is simulated by using Simulink software. At the same time, according to the structure of the system model, an input shaper is added to the input end of the system to suppress the vibration of the system. However, the input parameters of the shaper are highly dependent on the parameters of the system model, so it is usually necessary to accurately identify the system model. However, the identification of permanent magnet synchronous motor is often not accurate enough, which makes it difficult to determine the input parameters of the shaper. Aiming at the problem that the input shaper is too dependent on the system, a method of input shaper parameter optimization based on genetic algorithm is designed and verified by experiments. The results show that the parameters of the input shaper with better effect can be selected by genetic optimization, and the dependence of the input shaper on the system model is reduced. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Computer control systems

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Curved path planning based on 3D vision water immersion ultrasonic nondestructive testing 2

Curved path planning based on 3D vision water immersion ultr...

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2nd International Conference on Computer Vision and Data Mining, ICVDM 2021

作者： Chen, Zheng Wang, Jian Zhang, Hualiang School of Information Engineering Shenyang University of Chemical Technology Liaoning Shenyang110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110169 China

Compared with traditional 2D image processing, 3D point cloud processing has become a hot technology in the industry, but there are few researches applied to nondestructive testing of curved workpieces. This article aims at the non-destructive testing of curved workpieces, using 3D point cloud and robotic arm for water immersion ultrasonic nondestructive testing. Aiming at the 3D point cloud with many outliers, using the commonly used filter in two-dimensional images-the guide filter, the algorithm is improved and used for the filtering and downsampling of the 3D point cloud, and the adjustment of the curved surface workpiece and the robot arm's pose is introduced. Finally, the workpiece was scanned by a robotic arm with a water immersion ultrasonic nondestructive testing system to prove the feasibility of the experiment and improve the detection efficiency of traditional nondestructive testing technology. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Robotic arms

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