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Model heat source using actual distribution of laser power density for simulation of laser processing

Journal of Central South University 2022年第10期29卷 3277-3293页

作者： WANG Gen-wang DING Ye GUAN Yan-chao WANG Yang YANG Li-jun State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

The model of heat source(MHS) which reflects the thermal interaction between materials and laser during processing determines the accuracy of simulation results. To acquire desirable simulations results, although various modifications of heat sources in the aspect of absorption process of laser by materials have been purposed, the distribution of laser power density(DLPD) in MHS is still modeled theoretically. However, in the actual situations of laser processing, the DLPD is definitely different from the ideal models. So, it is indispensable to build MHS using actual DLPD to improve the accuracy of simulation results. Besides, an automatic modeling method will be benefit to simplify the tedious pre-processing of simulations. This paper presents a modeling method and corresponding algorithm to model heat source using measured DLPD. This algorithm automatically processes original data to get modeling parameters and provides a step MHS combining with absorption models. Simulations and experiments of heat transfer in steel plates irradiated by laser prove the mothed and the step MHS. Moreover, the investigations of laser induced thermal-crack propagation in glass highlight the signification of modeling heat source based on actual DLPD and demonstrate the enormous application of this method in the simulation of laser processing.

关键词： heat source laser processing distribution of power density digital images processing heat transfer

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New Software Bionic Haptic Actuator Design Based on Barometric Array

New Software Bionic Haptic Actuator Design Based on Baromet...

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International Conference on Applied Nonlinear Dynamics, Vibration, and Control, ICANDVC 2023

作者： Yu, Zige Li, Sai Lin, Mengying Hu, Hang Li, Yingying Lei, Qian Huang, Zixin School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China

ISBN: (纸本)9789819705535

To address the limitations of single-point tactile perception in soft biomimetic actuators, such as fixed positioning, limited coverage area, low resolution at long distances from the geometric center, and challenges in maintaining high sensitivity and stability over a broad range, a novel soft biomimetic tactile actuator based on a pneumatic array is designed and manufactured. Using liquid silicone rubber and BMP280 pressure sensor, the actuator was crafted by an injection molding process. Silicone gel was injected into the pressure sensor array, and vacuum extraction created a sealed space within the sensor cavity. The pressure excitation applied on the surface of the actuator could be converted into electrical signals, enabling tactile pressure detection. An STM32 microprocessor is utilized for building haptic information acquisition and processing system, with sensitivity assessed using the Kalman filter algorithm. Experimental results show that the soft biomimetic tactile actuator has high sensitivity and minimal repetition error, which can effectively detects changes in tactile force output, mitigates noise interference, and enhances the precision and stability of physiological pressure data feedback in physiotherapy applications. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Bionics

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The Collection of a Human Robot Collaboration Dataset for Cooperative Assembly in Glovebox Environments

arXiv

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arXiv 2024年

作者： Sharma, Shivansh Huang, Mathew Nair, Sanat Wen, Alan Petlowany, Christina Moore, Juston Wanna, Selma Pryor, Mitch Nuclear and Applied Robotics Group Department of Mechanical Engineering Advanced Research in Cyber Systems Los Alamos National Laboratory United States

Industry 4.0 introduced AI as a transformative solution for modernizing manufacturing processes. Its successor, Industry 5.0, envisions humans as collaborators and experts guiding these AI-driven manufacturing solutions. Developing these techniques necessitates algorithms capable of safe, real-time identification of human positions in a scene, particularly their hands, during collaborative assembly. Although substantial efforts have curated datasets for hand segmentation, most focus on residential or commercial domains. Existing datasets targeting industrial settings predominantly rely on synthetic data, which we demonstrate does not effectively transfer to real-world operations. Moreover, these datasets lack uncertainty estimations critical for safe collaboration. Addressing these gaps, we present HAGS: Hand and Glove Segmentation Dataset. This dataset provides challenging examples to build applications toward hand and glove segmentation in industrial human-robot collaboration scenarios as well as assess out-of-distribution images, constructed via green screen augmentations, to determine ML-classifier robustness. We study state-of-the-art, real-time segmentation models to evaluate existing methods. Our dataset and baselines are publicly available. © 2024, CC BY.

关键词： Semantic Segmentation

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Development of Autonomous Underwater Robot for Navigation through Narrow Passages

Development of Autonomous Underwater Robot for Navigation th...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Luo, Yang Zhu, Xiyu Zhou, Yuchuan Li, You Xu, Zhihui Wei, Yan Ke, Wende Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China

ISBN: (纸本)9781665481090

Autonomous Underwater Vehicle (AUV), also called autonomous underwater robot, refers to an underwater robot that can independently complete tasks such as autonomous navigation, autonomous obstacle avoidance, and autonomous operation without human intervention. In some complex and narrow detection scenarios, autonomous underwater robots need to have a small volume, a high level of autonomy, and good maneuverability. Here, we design a miniature autonomous underwater robot driven by propellers, which integrates a high-performance processor, camera module, high-precision inertial measurement unit (IMU), etc. The attitude and position information of the robot is obtained in real-time through the IMU, and the processor controls the motion state of the six propellers, achieving the motion in six degrees of freedom in space. The highly integrated design ensures the maximum length of the whole machine within 15 cm, the 3-way PID controller design ensures an efficient and stable attitude control, and the high-performance processor provides more possibilities for target tracking and recognition. The developed AUV in this study shows superior navigation performance through narrow passages. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Acquiring feedback into the manufacturing process design from Industrial policies

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Procedia CIRP 2024年 128卷 579-584页

作者： Alexios Papacharalampopoulos Manolis Toupalis Panagiotis Lagios Olga Maria Karagianni Panagiotis Stavropoulos Laboratory for Manufacturing Systems and Automation (LMS) Department of Mechanical Engineering and Aeronautics University of Patras Rio Patras 26504 Greece Gizelis Robotics Schimatari Viotias 32009 Kormatzini Area Greece

The regulatory and social framework of European industry can be demanding, i.e. in terms of achieving different strategies, such as Industry 4.0 and Industry 5.0. To study this co-existence of strategies, a circular cell is utilized herein. It has been implemented based on a specific design, meeting requirements for an automotive microfactory and under the concept of circular economy. The objective of the cell has been to address resources efficiency and partial digitalization of workflows towards human-in-the-loop remanufacturing parts of electric vehicles. The process chain includes removal and joining processes, the processed part has been of medium complexity, and the workflow has engaged several digital tools, as a result of the quality monitoring requirements. The cell has been operational and various qualitative metrics have been elaborated. Subsequently, feedback is extracted towards the design for future applications pertaining to both circular economy and Industry 5.0. As such, in addition to the environmental sustainability implied by the resources efficiency, the production resilience and the human-centricity of the jobs involved are also regarded as extra requirements. Also, the connection to the ecosystem is taken into consideration. Finally, guidelines for future designs are also extracted.

关键词： Manufacturing process Cell Industry 5.0 application design criteria

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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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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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A New Workspace and Structural Parameter Optimization Method of Parallel Robot 18

A New Workspace and Structural Parameter Optimization Method...

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

作者： Zhang, Haiyun Hu, Weijun Zhang, Renge Wang, Jin Lu, Guodong School of Robotics Ningbo University of Technology Ningbo315211 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang Qiantang Robot and Intelligent Equipment Reserch Co. Ltd Hangzhou310018 China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China

ISBN: (纸本)9798350312201

The parallel robot workspace refers to the set of points and boundary that can be reached by the parallel mechanism. With the continuous development and industrial application of parallel robots, the workspace analysis and optimization becomes a critical link in this process. In this paper, a workspace solution approach based on seed space segmentation and principal component analysis is proposed. In order to improve the working performance of parallel robots, a flexible workspace evaluation method based on quadratic fourth moment is proposed, and a relationship model between flexible workspace and structural parameters is established. Furthermore, based on the multi-objective genetic algorithm, the structure parameters of the parallel robot are optimized by the workspace and flexible workspace indexes. Finally, the advantage and effectiveness of proposed method are verified by experiment and comparison with traditional methods. © 2023 IEEE.

关键词： Principal component analysis

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A kinematic calibration method for robots based on the PGTF error model and Levenberg-Marquardt algorithm 18

A kinematic calibration method for robots based on the PGTF ...

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

作者： Zheng, Zhi Wang, Jin Zhu, Jun Liu, Luan Zhang, Haiyun Lu, Guodong State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China School of Robotics Ningbo University of Technology Ningbo315211 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang Qiantang Robot and Intelligent Equipment Research Co. Ltd Hangzhou310018 China

ISBN: (纸本)9798350312201

Robots use motors for power output and realize joint motion through reducers and mechanical transmissions, which affect the absolute positioning accuracy. In view of this problem, an error model based on Preprocessing-Geometric-Transmission-Flexibility (PGTF) is proposed and solved by Levenberg-Marquardt algorithm. First, the theoretical kinematic model is established by MD-H model method. Second, the data was pre-processed in dimension upgrade and the robot error identification model was established for geometric error, transmission error and flexible error. Third, Levenberg-Marquardt algorithm was used to find the global convergence solution to realize the identification of error parameters, and the actual robot kinematic model was compensated. Finally, the experiment is carried out on the real robot machine. Through theoretical analysis and verification of real machine data, the average error of kenbei-5kg robot is reduced from 6.8787 mm to 0.1267 mm, the positioning accuracy is improved by 98.16%, the accuracy compensation algorithm is accurate, and the compensation effect is remarkable. © 2023 IEEE.

关键词： Robots

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TDANet: Target-Directed Attention Network For Object-Goal Visual Navigation With Zero-Shot Ability

arXiv

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arXiv 2024年

作者： Lian, Shiwei Zhang, Feitian The Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China The Department of Advanced Manufacturing and Robotics The State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China

The generalization of the end-to-end deep reinforcement learning (DRL) for object-goal visual navigation is a longstanding challenge since object classes and placements vary in new test environments. Learning domain-independent visual representation is critical for enabling the trained DRL agent with the ability to generalize to unseen scenes and objects. In this letter, a target-directed attention network (TDANet) is proposed to learn the end-to-end object-goal visual navigation policy with zero-shot ability. TDANet features a novel target attention (TA) module that learns both the spatial and semantic relationships among objects to help TDANet focus on the most relevant observed objects to the target. With the Siamese architecture (SA) design, TDANet distinguishes the difference between the current and target states and generates the domain-independent visual representation. To evaluate the navigation performance of TDANet, extensive experiments are conducted in the AI2-THOR embodied AI environment. The simulation results demonstrate a strong generalization ability of TDANet to unseen scenes and target objects, with higher navigation success rate (SR) and success weighted by length (SPL) than other state-of-the-art models. TDANet is finally deployed on a wheeled robot in real scenes, demonstrating satisfactory generalization of TDANet to the real world. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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