2023 International Conference on Robotics and Automation in Industry (ICRAI)最新文献_第2页

Diagnosis of Localized Bearing Defects using Texture Analysis of Vibration Envelope Signals and Machine Learning 基于振动包络信号织构分析和机器学习的轴承局部缺陷诊断

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089574

Cong Dai Nguyen, Fazal Nasir, Shahbaz Khan, S. Khan, Jong-Myon Kim

{"title":"Diagnosis of Localized Bearing Defects using Texture Analysis of Vibration Envelope Signals and Machine Learning","authors":"Cong Dai Nguyen, Fazal Nasir, Shahbaz Khan, S. Khan, Jong-Myon Kim","doi":"10.1109/ICRAI57502.2023.10089574","DOIUrl":"https://doi.org/10.1109/ICRAI57502.2023.10089574","url":null,"abstract":"Bearings are important because they play a critical role in the operation of many machines and devices by reducing friction and enabling smooth motion between two moving parts. They are commonly used in rotating machinery, such as electric motors, turbines, pumps, and gearboxes, where they support and guide the rotating shafts. The primary cause of failure in wind turbines and induction motors is bearing faults, resulting in significant downtime and economic losses. Detecting these faults accurately and promptly is crucial to preventing unexpected shutdowns. Most of the existing methods for bearing fault detection rely on envelope analysis, which involves filtering and demodulating the raw signal, and Fourier analysis of the envelope signal to identify defect frequencies. Recent research has focused on improving the visibility of these frequencies by selecting an optimal band for filtering, using sub-band analysis and spectral kurtosis, which is a complex process and can be time-consuming. This paper presents a new approach to envelope signal analysis using texture analysis of the envelope signals that are projected as 2D grayscale images where each fault generates a unique texture. These textures are encoded using the local binary pattern operator and then used for fault classification. The method is tested on a publicly available seeded fault dataset.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117061804","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}

引用次数: 0

Dynamic Flexibility for Resource Sharing Initialization with Fame and Confidence of Robot 机器人名声置信度下资源共享初始化的动态灵活性

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089611

Nayyer Fazal, Zubair Ahmad, Tahir Khan

引用次数: 0

A Review of Activity Detection Methods Used in Videos Streaming 视频流中的活动检测方法综述

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089567

Sehrish Khursheed, S. Khalid, Farzana Riaz, Tehmina Shehryar

引用次数: 0

A Novel Approach for Multi-Criteria Workspace Optimization of Parallel Kinematic Machines 并联机床多准则工作空间优化的新方法

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089541

Sheikh Muhammad Muneeb Hamid Rasheed, Adnan Shujah, Sadia Ayub, Aamer Baqai, Kunwar Faraz Ahmad

{"title":"A Novel Approach for Multi-Criteria Workspace Optimization of Parallel Kinematic Machines","authors":"Sheikh Muhammad Muneeb Hamid Rasheed, Adnan Shujah, Sadia Ayub, Aamer Baqai, Kunwar Faraz Ahmad","doi":"10.1109/ICRAI57502.2023.10089541","DOIUrl":"https://doi.org/10.1109/ICRAI57502.2023.10089541","url":null,"abstract":"Parallel kinematic machines (PKM) or parallel robots have been a topic of research for the last two decades. Serial robots, due to their inherent drawbacks (Higher error amplification at the end effector, Greater weight to payload ratio, etc.), cannot be used in applications that require high accuracy across the workspace. Parallel robots overcome these drawbacks, making them a natural replacement for serial robots. However, they also have associated drawbacks (Small irregularly shaped workspace, many singularities in the workspace, etc.). For complex applications, the use of parallel robots instead of serial robots is preferred. For large-scale deployment of parallel manipulators in industries, remedial measures to overcome their drawbacks need to be developed. Most importantly, workspace optimization is required to exploit the full potential of these robots. This optimization is subject to one or more performance parameters (objectives) that often have conflicting requirements i.e. improving one objective deteriorates the performance of another, which is by far a severe challenge in this domain. An example of conflicting goals is “To purchase a car that is cheap, comfortable, safe, environment-friendly, high power and fuel-efficient”. In such cases, “best compromise between conflicting goals” is the best solution. Thus far, workspace optimization of parallel robots focuses on optimization concerning a single objective at a given time. The basic idea of this work is to propose a methodology to optimize the workspace of a PKM subject to multiple objectives simultaneously. Several optimization schemes including weighted averages, gradient descent, surrogate optimization, and genetic algorithms were studied. Pareto front optimization appears to be most suited to the application at hand.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129689915","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}

引用次数: 0

SWYNT: Swin Y-Net Transformers for Deepfake Detection SWYNT:用于Deepfake检测的Swin Y-Net变压器

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089585

Fatima Khalid, Muhammad Haseed Akbar, Shehla Gul

{"title":"SWYNT: Swin Y-Net Transformers for Deepfake Detection","authors":"Fatima Khalid, Muhammad Haseed Akbar, Shehla Gul","doi":"10.1109/ICRAI57502.2023.10089585","DOIUrl":"https://doi.org/10.1109/ICRAI57502.2023.10089585","url":null,"abstract":"Nowadays, less technical individuals can create false videos by only source and target images, using deepfakes generation tools and methodologies. Distributing false information on social media and other concerns related to the deepfakes have thus significantly increased. To deal with the challenges posed by incorrect details, efficient Deepfakes detection algorithms must be developed considering the tremendous advancement in deepfakes generating techniques. Existing techniques are not reliable enough to find deepfakes, especially when the videos are made with various deepfakes generation methods. The Swin Y-Net Transformers (SWYNT) architecture we created in this paper can visually discriminate between natural and artificial faces. The architecture uses a Swin transformer, encoder, and decoder in a U -Net architecture with a classification branch to build a model that can classify and segment deepfakes. The segmentation process creates segmentation masks and helps train the classifier. We have evaluated our suggested method using the extensive, standard, and diverse FaceForensics++ (FF++) and the Celeb-DF dataset. The generalizability evaluation of our process, which is part of the performance evaluation, reveals the model's promising performance in identifying deepfakes videos generated using various methodologies on both large-scale datasets.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"78 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121013258","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}

引用次数: 1

Autonomous Navigation and Mapping of Snake Robot for Urban Search and Rescue 面向城市搜救的蛇形机器人自主导航与制图

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089544

Syed Izzat Ullah, Tallat Mahmood, Anayatullah

{"title":"Autonomous Navigation and Mapping of Snake Robot for Urban Search and Rescue","authors":"Syed Izzat Ullah, Tallat Mahmood, Anayatullah","doi":"10.1109/ICRAI57502.2023.10089544","DOIUrl":"https://doi.org/10.1109/ICRAI57502.2023.10089544","url":null,"abstract":"In an Urban Search and Rescue situation, under extreme time pressure, rescue workers have to locate and extract the trapped people in collapsed structures. Due to the lack of medical treatment, food, and water, the victim's mortality rate dramatically increases over time. Rescue operations for both rescue workers and victims might be as dangerous as the initial event. For such situations, snake robots which are inspired by their biological counterparts, are shown to be a good option in the literature, to help the rescue workers in positioning the victims or delivering life-saving drugs to extend the life of the victims for some time. However, current research mainly focuses on mechanical design, control mechanisms, and gait generation. To alleviate this concern, we have integrated state-of-the-art methods to develop an autonomous snake robot that can navigate in an unknown environment while also generating a 3D map, to provide a better idea of the environment to the rescue workers. A simulated maze environment is implemented and demonstrated by using the CoppeliaSim simulation, running on Robot Operation System (ROS) and Linux OS. The simulation result shows the effectiveness of the proposed autonomous navigation system for the snake robot to plan an obstacle-free path from the robot's current position to the goal position without an apriori knowledge of the environment.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126218963","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}

引用次数: 0

Design and Fabrication of Inexpensive Portable Polar 3D Printer 廉价便携式极地3D打印机的设计与制造

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089592

Syed Bacha Hussain Bukhari, Tayyaba Tanveer, A. Abid, Shahzad Anwar

{"title":"Design and Fabrication of Inexpensive Portable Polar 3D Printer","authors":"Syed Bacha Hussain Bukhari, Tayyaba Tanveer, A. Abid, Shahzad Anwar","doi":"10.1109/ICRAI57502.2023.10089592","DOIUrl":"https://doi.org/10.1109/ICRAI57502.2023.10089592","url":null,"abstract":"A lot of improvement, research, and growth has taken place in the 3D printing industry over the decades. The technology of 3D printing has evolved throughout time as a result of its rising utilization and popularity. To produce better-quality 3D prints, the 3D printing industry has developed a variety of features and fixtures, including heated printing beds, Bowden extruders, and print bed enclosures. Cartesian 3D printers operate similarly to a CNC machining center, specifically containing the up and down motion of either the print bed or extruder. Another 3D printer configuration is a Delta 3D printer, which has a stationary build platform and uses three motors located on pillars controlling the end-effector location. Consists of a 3D printer extruder with three fixed triangle points that is mounted on a circular print bed. To position the print head where it needs to be to print, each of these three locations may move up and down within the cylinder print structure. With the advent of Polar 3D printers, one of the most significant and obvious modifications to 3D printers has occurred. Despite the fact that this printer is still believed to be in its infancy, 3D printing experts are beginning to see its potential benefits. The design and operation of these printer types significantly diverged from those of the conventional Cartesian and Delta 3D printers. The main aim is to showcase the potential that this polar 3D printer offers better flexibility, reduced cost, and large build volume for printing because of its design, even though the design is simple and compact. In addition, to endorse open science with the application of improved experimental techniques while discussing its limitations.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126997277","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}

引用次数: 0

HRV Dynamical Analysis of Cardiac Autonomic Activity of Healthy Subjects with Age 不同年龄健康人心脏自主活动HRV动力学分析

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089610

Syed Zain Muhammad Bukhari, I. Akhtar

{"title":"HRV Dynamical Analysis of Cardiac Autonomic Activity of Healthy Subjects with Age","authors":"Syed Zain Muhammad Bukhari, I. Akhtar","doi":"10.1109/ICRAI57502.2023.10089610","DOIUrl":"https://doi.org/10.1109/ICRAI57502.2023.10089610","url":null,"abstract":"Human heart rate is not a constant phenomenon; it varies over time and is known as Heart rate variability (HRV). HRV is a predictor of cardiac health because several physiological activities regulate the heart rhythm. Electrocardiogram (ECG) is a non-invasive biomarker tool used to diagnose various cardiac problems by extracting hidden patterns. Cardiac health declines with age and the interbeat interval (RR) gives high-temporal resolution to assess Autonomic nervous system function in healthy patients (ANS). This study utilizes the ECG data of healthy neonates, infants, children, young adults, and middle-aged adults. The HRV indices, including the Time domain (SDNN, SDNNI, DC, AC, HRVti, TINN, Stress index), Frequency domain (VLF, LF, HF, Total power), and Nonlinear analysis (Poincare plot, Approximate entropy, Sample Entropy, Detrended fluctuation analysis, and Recurrence plot), are used to extract the linear and nonlinear physiology of the heart. The Kruskal-Wallis test is utilized to examine the correlations between these groups. The study demonstrates that the activity of the parasympathetic nervous system increases from neonates to children and then tends to diminish after 12 years. The activity of the Sympathetic nervous system tends to diminish in neonates and rise in adults. The autonomic nervous system imbalance in neonates tends to balance until age 12 and then grow. This study demonstrates how normal heart physiology's complexity, correlation, and temporal dimension vary with age.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128445152","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}

引用次数: 2

Machine Vision Based Predictive Maintenance for Machine Health Monitoring: A Comparative Analysis 基于机器视觉的机器健康监测预测性维护:比较分析

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089572

Ihtisham Ul Haq, S. Anwar, Tahir Khan

{"title":"Machine Vision Based Predictive Maintenance for Machine Health Monitoring: A Comparative Analysis","authors":"Ihtisham Ul Haq, S. Anwar, Tahir Khan","doi":"10.1109/ICRAI57502.2023.10089572","DOIUrl":"https://doi.org/10.1109/ICRAI57502.2023.10089572","url":null,"abstract":"Smart manufacturing was given unparalleled chances by data-driven approaches, speeding up the shift to Industry 4.0 ways of production. Machine learning and deep learning are indispensable in the creation of smart systems that could perform descriptive, analytical, and predictive analytics for monitoring the health of manufacturing processes and equipment. This study discusses the advantages and disadvantages of applying deep learning (DL) to intelligent machining and tool maintenance. The building blocks of a smart monitoring system are unveiled. The primary benefits and drawbacks of ML models are described, and they are contrasted to those of deep learning models. Deep belief networks, Auto-Encoder, recurrent neural network (RNNs) and convolutional neural networks (CNNs), were some of the most prominent DL models covered, their applications in smart manufacturing and tool health monitoring were also examined. Intelligent machining could benefit from a data-driven smart manufacturing strategy in six ways: (1) by providing hybrid intelligent models; (2) by managing high-dimensional data; (3) by dealing with big data; (4) by achieving optimal sensor fusion; (5) by avoiding sensor redundancy; and (6) by automating feature engineering. Finally, the data-driven challenges and research needs in smart manufacturing were discussed. There were many obstacles, such as those related to process uncertainty, data nature, data size, and model selection.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115650831","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}

引用次数: 1

Vision-Based Hybrid Detection For Pick And Place Application In Robotic Manipulators 基于视觉的混合检测在机械臂取放中的应用

2023 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2023-03-03 DOI: 10.1109/ICRAI57502.2023.10089602

Muhammad Umar Anjum, U. S. Khan, W. S. Qureshi, Ameer Hamza, Wajih Ahmed Khan

{"title":"Vision-Based Hybrid Detection For Pick And Place Application In Robotic Manipulators","authors":"Muhammad Umar Anjum, U. S. Khan, W. S. Qureshi, Ameer Hamza, Wajih Ahmed Khan","doi":"10.1109/ICRAI57502.2023.10089602","DOIUrl":"https://doi.org/10.1109/ICRAI57502.2023.10089602","url":null,"abstract":"Pick and place using cobots is a common application in industry. In a cyber-physical system, a smarter cobot with vision sensing can decrease the uncertainty in decision-making for acquiring the position of objects in a scene. In this paper, a UR5 cobot is used as a cobot to automatically detect objects on a tabletop utilizing a monocular wrist camera. An improved statistical method and error reduction approach is designed by formulation of a mathematical relation for estimating the position of the object (w.r.t to the manipulator coordinate system) using the object detected in the camera coordinate system. Firstly, correspondence between simulated world coordinates and image coordinates is used to make a relation. This is followed by an error reduction approach by capturing multiple images and gradually moving towards the target centre. The object location accuracy of 99.785% was achieved using the statistical method. The error is reduced up to 2mm which is compensated since the gripper is still able to pick up the object. Our proposed method can be used to accurately approach an object's location and can be used effectively in pick-and-place applications using robotic manipulators. Fruit sorting has been used as a sample application however the proposed method is generic and can be applied to any object.","PeriodicalId":447565,"journal":{"name":"2023 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"427 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121001284","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}

引用次数: 1