Machines最新文献

{"title":"Model Predictive Control for Formation Placement and Recovery of Traffic Cone Robots","authors":"Zhiyong Li, Siyuan Chang, Min Ye, Shengjie Jiao","doi":"10.3390/machines12080543","DOIUrl":"https://doi.org/10.3390/machines12080543","url":null,"abstract":"The challenge of effectively managing the formation and recovery of traffic cone robots (TCRs) is addressed by proposing a linear time-varying model predictive control (MPC) strategy. This problem involves coordinating multiple TCR formations within a work area to reach a target location, which is a huge challenge due to the complexity of dynamic coordination. Unlike conventional approaches, our method decomposes the formation control problem into two main components: leader TCR motion planning and follower formation tracking control. The motion planning component involves path and velocity planning to achieve leader trajectory control, which serves as a reference trajectory for the follower. The formation tracking task extends to formation control among multiple robots to achieve the traffic cone robot formation placement and recovery task. To address the TCR input limitation problem, input constraints are considered during the design process of the MPC controllers. The effectiveness and practicality of the proposed control strategy are validated through a series of numerical simulations and physical experiments with TCRs.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141927035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Fault Diagnosis in Drones via Multiverse Augmented Extreme Recurrent Expansion of Acoustic Emissions with Uncertainty Bayesian Optimisation","authors":"Tarek Berghout, Mohamed Benbouzid","doi":"10.3390/machines12080504","DOIUrl":"https://doi.org/10.3390/machines12080504","url":null,"abstract":"Drones are a promising technology performing various functions, ranging from aerial photography to emergency response, requiring swift fault diagnosis methods to sustain operational continuity and minimise downtime. This optimises resources, reduces maintenance costs, and boosts mission success rates. Among these methods, traditional approaches such as visual inspection or manual testing have long been utilised. However, in recent years, data representation methods, such as deep learning systems, have achieved significant success. These methods learn patterns and relationships, enhancing fault diagnosis, but also face challenges with data complexity, uncertainties, and modelling complexities. This paper tackles these specific challenges by introducing an efficient representation learning method denoted Multiverse Augmented Recurrent Expansion (MVA-REX), allowing for an iterative understanding of both learning representations and model behaviours and gaining a better understanding of data dependencies. Additionally, this approach involves Uncertainty Bayesian Optimisation (UBO) under Extreme Learning Machine (ELM), a lighter neural network training tool, to tackle both uncertainties in data and reduce modelling complexities. Three main realistic datasets recorded based on acoustic emissions are involved in tackling propeller and motor failures in drones under realistic conditions. The UBO-MVA Extreme REX (UBO-MVA-EREX) is evaluated under many, error metrics, confusion matrix metrics, computational cost metrics, and uncertainty quantification based on both confidence and prediction interval features. Application compared to the well-known long-short term memory (LSTM), under Bayesian optimisation of the approximation error, demonstrates performances, certainty, and cost efficiency of the proposed scheme. More specifically, the accuracy obtained by UBO-MVA-EREX, ~0.9960, exceeds the accuracy of LSTM, ~0.9158, by ~8.75%. Besides, the search time for UBO-MVA-EREX is ~0.0912 s, which is ~98.15% faster than LSTM, ~4.9287 s, making it highly applicable for such challenging tasks of fault diagnosis-based acoustic emission signals of drones.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141800972","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Prediction Model of Two-Sided Unbalance in the Multi-Stage Assembled Rotor of an Aero Engine","authors":"Lingling Song, Yue Chen","doi":"10.3390/machines12080503","DOIUrl":"https://doi.org/10.3390/machines12080503","url":null,"abstract":"In rotating machinery with a multi-stage assembled rotor, such as is found in aero engines, any unbalance present will undergo unknown changes at each stage when rotating the assembly phases of the rotor. Repeated disassembly and adjustments are often required to meet the rotor’s residual unbalance specifications. Therefore, developing a prediction model of this two-sided unbalance for a multi-stage assembled rotor is crucial for improving the first-time assembly pass rate and assembly efficiency. In this paper, we propose a prediction model of the two-sided unbalance seen in the multi-stage assembled rotor of an aero engine. Firstly, a method was proposed to unify the mass feature parameters of each stage’s rotor into a geometric measurement coordinate system, achieving the synchronous transmission of geometric and mass feature parameters during the assembly process of the multi-stage rotor. Building upon this, a linear parameter equation of the actual rotation axis of the multi-stage rotor was established. Based on this axis, the mass eccentricity errors of the rotor were calculated at each stage, further enabling the accurate prediction of two-sided unbalance and its action phase in a multi-stage rotor. The experimental results indicate that the maximum prediction errors of the two-sided unbalance and its action phase for a four-stage rotor are 9.6% and 2.5%, respectively, when using this model, which is a reduction of 53.0% and 38.1% compared to the existing model.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141807191","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Designing an Experimental Platform to Assess Ergonomic Factors and Distraction Index in Law Enforcement Vehicles during Mission-Based Routes","authors":"Marvin H. Cheng, Jinhua Guan, Hemal K. Dave, Robert S. White, Richard Whisler, Joyce V. Zwiener, Hugo E. Camargo, Richard S. Current","doi":"10.3390/machines12080502","DOIUrl":"https://doi.org/10.3390/machines12080502","url":null,"abstract":"Mission-based routes for various occupations play a crucial role in occupational driver safety, with accident causes varying according to specific mission requirements. This study focuses on the development of a system to address driver distraction among law enforcement officers by optimizing the Driver–Vehicle Interface (DVI). Poorly designed DVIs in law enforcement vehicles, often fitted with aftermarket police equipment, can lead to perceptual-motor problems such as obstructed vision, difficulty reaching controls, and operational errors, resulting in driver distraction. To mitigate these issues, we developed a driving simulation platform specifically for law enforcement vehicles. The development process involved the selection and placement of sensors to monitor driver behavior and interaction with equipment. Key criteria for sensor selection included accuracy, reliability, and the ability to integrate seamlessly with existing vehicle systems. Sensor positions were strategically located based on previous ergonomic studies and digital human modeling to ensure comprehensive monitoring without obstructing the driver’s field of view or access to controls. Our system incorporates sensors positioned on the dashboard, steering wheel, and critical control interfaces, providing real-time data on driver interactions with the vehicle equipment. A supervised machine learning-based prediction model was devised to evaluate the driver’s level of distraction. The configured placement and integration of sensors should be further studied to ensure the updated DVI reduces driver distraction and supports safer mission-based driving operations.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141808437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Pose Selection Based on a Hybrid Observation Index for Robotic Accuracy Improvement","authors":"Tiewu Xiang, Chunhui Gao, Baoan Du, Guifang Qiao, Hongfu Zuo","doi":"10.3390/machines12080501","DOIUrl":"https://doi.org/10.3390/machines12080501","url":null,"abstract":"The problem of the insufficient accuracy performance of industrial robots in high-precision manufacturing is addressed in this paper. Firstly, a kinematic error model based on an M-DH model was presented. Secondly, a hybrid observability index O6 was proposed to select the optimal poses for parameter identification. O6 is the combination of O1 and O3. The optimal poses were obtained by using the IOOPS algorithm. Thirdly, the fitness function for parameter identification was established, and the Levenberg–Marquardt (LM) algorithm was applied for the accurate identification of kinematic parameter errors. Finally, several experiments were conducted to evaluate the performance of the proposed hybrid observability index O6. The average position error and average attitude error of Staubli TX60 robot were reduced by 89% and 49%. The results show that the proposed hybrid observability index O6 has great stability and effectiveness for robot calibration.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141806051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimental Evaluation of Acoustical Materials for Noise Reduction in an Induction Motor Drive","authors":"A. Sahu, Abeka Selliah, Alaa Hassan, Moien Masoumi, Berker Bilgin","doi":"10.3390/machines12080499","DOIUrl":"https://doi.org/10.3390/machines12080499","url":null,"abstract":"Electric propulsion motors are more efficient than internal combustion engines, but they generate high-frequency tonal noise, which can be perceived as annoying. Acoustical materials are typically suitable for high-frequency noise, making them ideal for acoustic noise mitigation. This paper investigates the effectiveness of three acoustical materials, namely, 2″ Polyurethane foam, 2″ Vinyl-faced quilted glass fiber, and 2″ Studiofoam, in mitigating the acoustic noise from an induction motor and a variable frequency inverter. Acoustic noise rates at multiple motor speeds, with and without the application of acoustical materials, are compared to determine the effectiveness of acoustical materials in mitigating acoustic noise at the transmission stage. Acoustical materials reduce acoustic noise from the induction motor by 5–14 dB(A) at around 500 Hz and by 22–31 dB(A) at around 10,000 Hz. Among the tested materials, Studiofoam demonstrates superior noise absorption capacity across the entire frequency range. Polyurethane foam is a cost-effective and lightweight alternative, and it is equally as effective as Studifoam in mitigating high-frequency acoustic noise above 5000 Hz.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141813400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Safety-Centric Precision Control of a Modified Duodenoscope Designed for Surgical Robotics","authors":"Yuxuan Cheng, Ruyan Yan, Bingyi Liu, Chun Yang, Tianyu Xie","doi":"10.3390/machines12080500","DOIUrl":"https://doi.org/10.3390/machines12080500","url":null,"abstract":"There is limited research on robotic systems designed for Endoscopic Retrograde Cholangiopancreatography (ERCP) procedures using a side-view duodenoscope. The unique structure of the duodenoscope presents challenges to safely and precisely control the distal end pose. Control methods applied can reduce potential medical risks. We have redesigned the control section of the duodenoscope to facilitate its manipulation by a robotic system. An orthogonal compensator is employed to rectify the motion planes to standard planes. A hysteresis compensator based on the Prandtl-Ishlinskii model enables precise control of the distal pose of the duodenoscope. Furthermore, we utilize a contact force prediction model to prevent excessive contact force at the distal end. The performance of the modified duodenoscope is comparable to that of the standard duodenoscope. Following orthogonal compensation, the deviation angles of the motion planes is reduced by 32% to 98%. Post-hysteresis compensation, the root mean square error (RMSE) of the output angle of the distal end is decreased from 8.347° to 4.826°. The accuracy of distal end contact force prediction was approximately ±25% under conditions of high contact force. In conclusion, the modification and control strategy we proposed can achieve relatively safe and precise control of bending section, laying the foundation for the subsequent roboticization of duodenoscope systems for ERCP procedures.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141813858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Research on Sintering Machine Axle Fault Detection Based on Wheel Swing Characteristics","authors":"Bo Chen, Husheng Yang, Jiarui Mei, Yueming Wang, Hao Zhang","doi":"10.3390/machines12080498","DOIUrl":"https://doi.org/10.3390/machines12080498","url":null,"abstract":"During the sintering process in iron production, wheel swing is a sign of sintering machine trolley axle faults, which may lead to the wheel falling off and affect the production operation of the sintering machine system in serious cases. To solve this problem, this paper proposes a fault detection and localization method based on the You Only Look Once version 9 (YOLOv9) object detection algorithm and frame difference method for detecting sintering machine trolley wheel swing. The wheel images transmitted from the camera were sent to a trolley wheel and side panel number detection model that was trained on YOLOv9 for recognition. The wheel recognition boxes of the previous and subsequent frames were fused into the wheel region of interest. In the wheel region of interest, the difference operation was carried out. The result of the difference operation was compared with the preset threshold to determine whether the trolley wheel swings. When a wheel swing fault occurs, the image of the side plate at the time of the fault is collected, and the number on the side plate is identified so as to accurately locate the faulty trolley and to assist the field personnel in troubleshooting the fault. The experimental results show that this method can detect wheel swing faults in the industrial field, and the detection accuracy of wheel swing faults was 93.33%. The trolley side plate numbers’ average precision was 99.2% in fault localization. Utilizing the aforementioned method to construct a system for detecting wheel swing can provide technical support for fault detection of the trolley axle on the sintering machine.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141811345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Fault Diagnosis in Induction Motors through Infrared Thermal Images Using Convolutional Neural Network Feature Extraction","authors":"Uriel Calderon-Uribe, Rocio A. Lizarraga-Morales, Igor V. Guryev","doi":"10.3390/machines12080497","DOIUrl":"https://doi.org/10.3390/machines12080497","url":null,"abstract":"The development of diagnostic systems for rotating machines such as induction motors (IMs) is a task of utmost importance for the industrial sector. Reliable diagnostic systems allow for the accurate detection of different faults. Different methods based on the acquisition of thermal images (TIs) have emerged as diagnosis systems for the detection of IM faults to prevent the further generation of faults. However, these methods are based on artisanal feature selection, so obtaining high accuracy rates is usually challenging. For this reason, in this work, a new system for fault detection in IMs based on convolutional neural networks (CNNs) and thermal images (TIs) is presented. The system is based on the training of a CNN using TIs to select and extract the most salient features of each fault present in the IM. Subsequently, a classifier based on a decision tree (DT) algorithm is trained using the features learned by the CNN to infer the motor conditions. The results of this methodology show an improvement in the accuracy, precision, recall, and F1-score metrics for 11 different conditions.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141810881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design of Active Posture Controller for Trailing-Arm Vehicle: Improving Path-Following and Handling Stability","authors":"Zhengyu Pan, Boyuan Li, Shiyu Zhou, Shaoxun Liu, Shouyuan Chen, Rongrong Wang","doi":"10.3390/machines12070493","DOIUrl":"https://doi.org/10.3390/machines12070493","url":null,"abstract":"To address the question of which posture trailing-arm vehicles (TAVs) should be adopted while driving, this study introduces an innovative active posture controller (APC) to improve both path-following and handling stability performance. Leveraging a nonlinear tire model that considers corner load variation and wheel camber, alongside the kinematics and double-track model of TAVs, the impact of vehicle body posture on handling performance has been investigated. To fully utilize the four-wheel independent drive and posture adjustable characteristics of the TAV mechanisms, an integrated nonlinear model predictive control (NMPC) combining APC and tire forces distribution is devised. Through simulations conducted using Simulink-Multibody (2023a), the effectiveness of the proposed controller is demonstrated, particularly when compared to the scheme that does not account for the unique posture adjustment mechanisms of TAVs.","PeriodicalId":48519,"journal":{"name":"Machines","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141815600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}