2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)最新文献

{"title":"Load Emulation for Testing of Electrical Actuators in Industrial Applications","authors":"Viktor Šlapák, Jozef Ivan, Karol Kyslan, Juraj Bil'anský, Matúš Hric, F. Ďurovský","doi":"10.1109/ECMSM51310.2021.9468865","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468865","url":null,"abstract":"Geared servodrives are tested with different types of short-term or long-term tests. This paper presents the industrial approach to load emulation in the testing process of electrical actuators. Presented emulation method is based on the real dataset provided by the customer. This dataset is modified, processed, and then used for the calculation of a load torque reference for the drive loading actuator under test. The final implementation is done with industrial drives controlled by PLC. NI PXI was used as a graphical user interface and for data acquisition. Experimental results that confirm the correctness of the implementation are included.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114424863","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Invited speech: Virtual Reality and interactive and immersive planning for the assistance to manipulation or navigation","authors":"P. Fillatreau","doi":"10.1109/ecmsm51310.2021.9468853","DOIUrl":"https://doi.org/10.1109/ecmsm51310.2021.9468853","url":null,"abstract":"In industry, whereas the economic competition increases, up-to-date industrial products are more and more integrated and the tasks related to their lifecycle (assembly, maintenance, disassembly…) have to be performed under sometimes very strong geometric constraints. In the context of Industry 4.0 (Factory of the Future) and PLM (Product Lifecycle Management), industrial companies therefore express the needs to validate these tasks from design stage on, in order to be able to update the design of these products (before manufacturing the physical prototypes) if needed. Such an approach allows to reduce development time and cost, to detect errors as early as possible, and to target more environment friendly development processes. When simulating such complex scenarios, it is necessary to deal with the relative positioning or to the movement of objects and of resources (machines, robots, human operators) that manipulate them. A key issue is then to find a path, a trajectory, a movement to show the feasibility of scenarios and simulate what the execution of a task will be. Our works deal with the assistance to the simulation and validation of such complex scenarios in Virtual Reality. We present the original scientific approach on which these works are based: the joint use of motion planning and VR techniques to validate the feasibility of the movement for the simulated scenarios in an interactive and immersive way, with visuo-haptic guidance to the human operator in the loop. The initial approach was based on the use of purely geometric models. In order to improve the relevance of the assistance and the modalities of interaction and control sharing (authority sharing and intents detection) between the VR platform and the human operator, we then considered higher abstraction level (topological and semantic) data than the purely geometrical data traditionally used. Finally, for a better, task- or trade-oriented assistance, and in order to move from the “virtual experience” to the “trade-oriented experience”, our work now targets the development of joint, interactive and immersive task and path planning strategies.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116318534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"3D Finite Difference Model of the Open Circuit Field of Permanent Magnet Spoke Type Axial Flux Machines","authors":"Andre Mrad, Y. Lefèvre, J. Llibre, M. Arnaout, C. Nadal","doi":"10.1109/ECMSM51310.2021.9468833","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468833","url":null,"abstract":"This paper deals with Spoke Type Permanent Magnet Axial Flux Machines which have a great interest in transportation applications. Indeed, as the other permanent magnet axial flux machines they can have very high specific torque. The spoke type architecture has ability for flux weakening. 3D finite difference model of the open circuit field is developed. In order to reduce the number of unknowns, the magnetic scalar potential formulation is used. According to the geometrical symmetries of the motor, the study domain can be reduced strongly. These choices contribute to get a fast computation time. The obtained results from this approach are compared to the results obtained by 3D finite element analysis.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128075677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Image Enhancement using GANs for Monocular Visual Odometry","authors":"Jon Zubieta Ansorregi, Mikel Etxeberria Garcia, Maider Zamalloa Akizu, Nestor Arexolaleiba","doi":"10.1109/ECMSM51310.2021.9468831","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468831","url":null,"abstract":"Drones, mobile robots, and autonomous vehicles use Visual Odometry (VO) to move around complex environments. ORB-SLAM or deep learning-based approaches like DF-VO are two of the state-of-the-art technics for monocular VO. Those two technics perform correctly in outdoor scenarios but show some limitations in indoor environments. The extreme lighting conditions, non-Lambertian surfaces, or occlusion of indoor environments can disturb the visual information, and so the odometry information. Generative Adversarial Network (GAN) architectures recently proposed in the literature can help to overcome image low-light and blurring limitations. This research study aims to assess image enhancement's impact using GANS on the Visual Odometry algorithm DF-VO. Since DF-VO is also based on visual geometric information, the paper first considers the effect of two different GAN architectures in the camera's calibration. Then, the impact in the odometry information computed by DF-VO is evaluated. The preliminary results show that the reprojection error and the uncertainty of the calibration of a pin-hole-based camera do not increase significantly, and DF-VO's performance is improved.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125647121","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A State-Space Solution to the Estimation of Interacting Vehicle Trajectories with Deep Neural Networks and Variational Bayes Filtering","authors":"Tristan Klempka, P. Danès","doi":"10.1109/ECMSM51310.2021.9468863","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468863","url":null,"abstract":"This paper addresses the estimation of trajectories of interacting vehicles at a microscopic scale, as a prerequisite to their prediction for risk assessment. A state-space solution is investigated, where both the Markov hidden state (continuous-valued, which captures the joint histories of vehicles) and the measurements (low-dimensional and noisy) admit a vehicle-wise structure. The vehicles' transition models are assumed independent of each other, time- and vehicle-invariant, and coequal to an “egocentric” prior dynamics pdf. To cope with the vehicles' interactions, this pdf is conditioned on the full state vector as the past time index, which imposes a centralized estimation/prediction of the fleet motion. The two fundamental pillars of the approach are developed: learning of a Gaussian mixture egocentric transition model by means of Deep Neural Networks; synthesis of a stochastic variational Bayes filtering algorithm which features a decentralized vehicle-wise structure but takes into account interactions. Tests on highway scenarios are presented.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132916226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Indoor environment monitoring as a measure to reduce epidemic spreading","authors":"J. Loosová, Miloš Hernych","doi":"10.1109/ECMSM51310.2021.9468838","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468838","url":null,"abstract":"The COVID-19 pandemic has highlighted a major problem that has been neglected for a long time for various reasons - proper ventilation of indoor spaces in public buildings, schools, the industry, but also in households. The national legislation of developed countries usually sets some ventilation requirements but their parameters often differ and, most importantly, they are practically unenforceable in everyday life. According to the WHO, the majority of the population of European countries spends up to 90% of their time indoors, which, by the way, significantly contributed to the massive spread of the disease, transmitted mainly by inhalation of aerosols containing the Covid-19 virus. Our paper aims to describe the current state of legislation on indoor environment quality, with some studies dealing with population behavior and its impact on their health. Another goal of our paper is to describe a method that can detect the air exchange quality in a building and predict development of an indoor environment in order to be able to take appropriate measures well in advance, either by technical means of forced ventilation or by conventional methods of manual ventilation. In the future, timely and adequate ventilation should not only be one of the important ways to reduce spreading of respiratory diseases in the population but also, more generally, an important way to increase the quality of life and health of the European population.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130968789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"About the Double Degree Master's Programs between University Toulouse III-Paul Sabatier and Technical University of Liberec","authors":"I. Ober, J. Nosek","doi":"10.1109/ECMSM51310.2021.9468839","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468839","url":null,"abstract":"The paper focuses on the development of cooperation between University Toulouse III - Paul Sabatier (UPS, newly UT3) and Technical University of Liberec (TUL), culminating in the completion of the Double Degree Master's program “Engineering of Interactive Systems” (2009–2015) and “Computer Science for Aerospace” (2017 - 2021). The development of the International doctoral workshop ECMS(M) uses the patronage of IEEE.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130267435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Path planning control using high abstraction level environment model and industrial task-oriented knowledge","authors":"Florent Leoty, P. Fillatreau, B. Archimède","doi":"10.1109/ECMSM51310.2021.9468850","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468850","url":null,"abstract":"In order to face an increasing economic competition, industrial manufacturers wish to reduce the time and cost of product development. Furthermore, up-to-date products are more and more integrated, and must be assembled, disassembled or maintained under potentially very strong geometric constraints. In the context of Industry 4.0, manufacturers are therefore expressing the desire to validate all the tasks related to their products lifecycles, from design stage on, by simulation using a digital mock-up, and before building the physical prototypes. A key issue is then to find a trajectory, a movement, to show the feasibility of the simulated scenarios. Automatic path planning algorithms, developed by the robotics community from the 1980s on, have been widely used for this purpose. In this paper, we intend to improve the relevance of the trajectories proposed by such algorithms and the associated computation times. To do so, we consider: a) the use of path planning algorithms or of combinations of these; b) the involvement for the environment modelling of data with a higher abstraction level than the purely geometric data traditionally used; and c) the representation of the knowledge related to the task to be performed by using ontologies. The approaches developed and associated improvements of the state of the art are validated experimentally through the simulation of highly geometrically constrained manipulation tasks.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"987 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123090770","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Vector Controlled Ultrasonic Transducer Applied to Soft Material Mechanical Impedance Estimation","authors":"Elis Marina Sales de Castro, F. Giraud, B. Lemaire-Semail, M. Amberg","doi":"10.1109/ECMSM51310.2021.9468870","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468870","url":null,"abstract":"The study of skin mechanical impedance is a clue to analyse its health. We use a Langevin Transducer at 60kHz to excite the skin. In return we observe the acoustic forces generated by the interaction. To achieve that, the system is identified and presented in the rotating reference frame, and we describe the design of two PI controllers that accurately control the vibration velocity. However, in vivo analysis can be tricky when it comes to safety and duration of tests. Thus, phantom tissues are used as substitute to simulate skin behaviour. Due to its mechanical properties similar to skin, and its simple manipulation, Dragon Skin ®, a silicone rubber type of phantom, was chosen. The paper presents the characterisation of the mechanical impedance of three silicon phantoms with different properties based on force observation. The results show that the phantoms can be indeed identified based on this method.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116760389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Cetratus: Live Updates in Programmable Logic Controllers","authors":"Imanol Mugarza, Juan Carlos Mugarza","doi":"10.1109/ECMSM51310.2021.9468841","DOIUrl":"https://doi.org/10.1109/ECMSM51310.2021.9468841","url":null,"abstract":"Manufacturing companies are facing new market demands, mostly driven by global competition and digitalization. In this context, more efficient, fl exible, ad aptable an d evolvable mechatronic and manufacturing systems are required, which enable quick adjustments to the production in order to address (all these) market changes. However, production idle times due to such re-configurations and adaptations might be costly. In this paper, a live updates concept for Programmable Logic Controllers (PLCs) is presented. The proposed design employs a Petri net runtime engine, in which the executed functional program (the Petri net model with its interpretation) is updated while running, without system shutdown and restart being needed. To this end, a quarantine-mode execution and monitoring approach is used for the new PLC program functional validation. A reconfigurable Vernadat machine case study is also presented.","PeriodicalId":253476,"journal":{"name":"2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122651986","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}