2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)最新文献_第9页

A Multi-Stage Dispatching and Scheduling Algorithm for Individualized Public Transportation System 个性化公共交通系统的多阶段调度算法

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8843019

Zhenming Yang, Xuetao Wang, Chenghao Li, Qianchuan Zhao

引用次数: 0

A Cuckoo Search-Based Scheduling Algorithm for a Semiconductor Production Line with Constrained Waiting Time 基于布谷鸟搜索的等待时间约束半导体生产线调度算法

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8842869

Lijie Zhou, Chengran Lin, Biao Hu, Zhengcai Cao

引用次数: 1

Hidden Markov Model Combined with Kernel Principal Component Analysis for Nonlinear Multimode Process Fault Detection 结合核主成分分析的隐马尔可夫模型非线性多模过程故障检测

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8843205

Peng Peng, Jiaxin Zhao, Yi Zhang, Heming Zhang

引用次数: 4

Singularity-Robust Inverse Kinematics Solver for Tele-manipulation 遥控操作的奇异鲁棒逆运动学求解器

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8842871

V. Ortenzi, Naresh Marturi, Vijaykumar Rajasekaran, Maxime Adjigble, R. Stolkin

{"title":"Singularity-Robust Inverse Kinematics Solver for Tele-manipulation","authors":"V. Ortenzi, Naresh Marturi, Vijaykumar Rajasekaran, Maxime Adjigble, R. Stolkin","doi":"10.1109/COASE.2019.8842871","DOIUrl":"https://doi.org/10.1109/COASE.2019.8842871","url":null,"abstract":"This paper investigates the effect of inverse kinematics (IK) on operator performance during the telemanipulation of an industrial robot. Robotic teleoperation is often preferred when manipulating objects in extreme conditions. In many applications, e.g., hazardous and high-consequence environments, operators cannot directly perceive the robot motions and have to rely only on CCTV views of the scene for situational awareness while teleoperating the heavy-duty industrial robots. Making best guesses for the IK plays a significant role on the task success rate and increases the operator cognitive load significantly. In this context, we develop a new optimisation-based IK solver that is robust with respect to the robot’s singularities and assists the operator in generating smooth trajectories. Inspired by a successful algorithm used in computer graphics to solve the IK problem and devise smooth movements (FABRIK), our algorithm takes advantage also of the kinematic structure of the robot in order to decouple the notoriously difficult IK problem of orientation and position. To evaluate the effectiveness of the proposed method, we have compared its performance to that of the commonly used Jacobian pseudo inverse-based method in terms of positional accuracy and task-space reachability. We also report the results of telemanipulation experiments with human test-subjects. Our proposed IK algorithm outperforms classical IK methods on both objective metrics of task success, and subjective metrics of operator preference.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"88 1","pages":"1821-1828"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76389738","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: 6

Representation of Uncertain Occupancy Maps with High Level Feature Vectors 用高级特征向量表示不确定占用地图

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8842965

Janindu Arukgoda, Ravindra Ranasinghe, G. Dissanayake

{"title":"Representation of Uncertain Occupancy Maps with High Level Feature Vectors","authors":"Janindu Arukgoda, Ravindra Ranasinghe, G. Dissanayake","doi":"10.1109/COASE.2019.8842965","DOIUrl":"https://doi.org/10.1109/COASE.2019.8842965","url":null,"abstract":"This paper presents a novel method for representing an uncertain occupancy map using a “feature vector” and an associated covariance matrix. Input required is a point cloud generated using observations from a sensor captured at different locations in the environment. Both the sensor locations and the measurements themselves may have an associated uncertainty. The output is a set of coefficients and their uncertainties of a cubic spline approximation to the distance function of the environment, thereby resulting in a compact parametric representation of the environment geometry. Cubic spline coefficients are computed by solving a non-linear least squares problem that enforces the Eikonal equation over the space in which the environment geometry is defined, and zero boundary condition at each observation in the point cloud. It is argued that a feature based representation of point cloud maps acquired from uncertain locations using noisy sensors has the potential to open up a new direction in robot mapping, localisation and SLAM. Numerical examples are presented to illustrate the proposed technique.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"20 1","pages":"1035-1041"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78750946","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

Investigation of Deep Learning for Real-Time Melt Pool Classification in Additive Manufacturing 基于深度学习的增材制造熔池实时分类研究

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8843291

Zhuo Yang, Yan Lu, H. Yeung, S. Krishnamurty

{"title":"Investigation of Deep Learning for Real-Time Melt Pool Classification in Additive Manufacturing","authors":"Zhuo Yang, Yan Lu, H. Yeung, S. Krishnamurty","doi":"10.1109/COASE.2019.8843291","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843291","url":null,"abstract":"Consistent melt pool geometry is an indicator of a stable laser powder bed fusion (L-PBF) additive manufacturing process. Melt pool size and shape reflect the impact of process parameters and scanning path on the interaction between the laser and the powder material, the phase change and the flow dynamics of the material during the process. Current L-PBF processes are operated based on predetermined toolpaths and processing parameters and consequently lack the ability to make reactions to unexpected melt pool changes. This paper investigated how melt pool can be characterized in real-time for feedback control. A deep learning-based melt pool classification method is developed to analyze melt pool size both fast and accurately. The classifier, based on a convolutional neural network, was trained with 2763 melt pool images captured from a laser melting powder fusion build using a serpentine scan strategy. The model is validated through 2926 new images collected from a different part in the same build using ‘island’ serpentine strategy with predictive accuracy of 91%. Compared to a traditional image analysis method, the processing time of the validation images is reduced by 90 %, from 9.72 s to 0.99 s, which gives the feedback control a reaction time window of 0.34 ms/image. Results show the feasibility of the proposed method for a real-time closed loop control of L-PBF process.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"97 1","pages":"640-647"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76736842","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: 36

Joint Torque Estimation using Base Force-Torque Sensor to Facilitate Physical Human-Robot Interaction (pHRI) 基于基础力-扭矩传感器的关节扭矩估计促进人机物理交互(pHRI)

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8843092

S. Das, M. Saadatzi, Shamsudeen Abubakar, D. Popa

{"title":"Joint Torque Estimation using Base Force-Torque Sensor to Facilitate Physical Human-Robot Interaction (pHRI)","authors":"S. Das, M. Saadatzi, Shamsudeen Abubakar, D. Popa","doi":"10.1109/COASE.2019.8843092","DOIUrl":"https://doi.org/10.1109/COASE.2019.8843092","url":null,"abstract":"To detect forces during physical Human-Robot Interaction (pHRI), a force-torque sensor (FTS) is generally attached at the wrist of a robot manipulator. Alternatively, collaborative robots can measure interaction forces via torque sensing at their joints. Yet another direction toward safe and interactive robots is to cover them in smart skins with embedded tactile sensors. In this paper, we explore another idea to facilitate pHRI using an FTS placed at the base of a robot arm. The resulting base force-torque sensor (BFTS) is able to sense external forces and torques applied anywhere along the robot body. We formulate a model-free, on-line learning controller to estimate the interaction forces on the robot from the BFTS data. The controller does not require a robot dynamic model to operate, and has Lyapunov stability guarantees. We conduct experiments to validate the mean-square estimation error of our scheme using a custom 6-DOF robotic arm under real-time control. Results show that the measured torques at individual joints closely follow the estimated values. In the future, this controller can be used for adaptive pHRI with non-collaborative robots or robot manipulators.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"75 5 1","pages":"1367-1372"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77311281","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: 6

Multi-objective optimization for Work-In-Process balancing and throughput maximization in global fab scheduling 全球晶圆厂调度中在制品平衡与产量最大化的多目标优化

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8842864

Félicien Barhebwa-Mushamuka, S. Dauzére-Pérés, C. Yugma

引用次数: 4

Task-Space Position and Containment Control of Redundant Manipulators with Bounded Inputs 输入有界冗余机械臂的任务空间位置与约束控制

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8842863

Amir Zakerimanesh, Ali Reza Torabi, F. Hashemzadeh, M. Tavakoli

引用次数: 1

Integrating Heuristics and Approximations into a Branch and Bound Framework* 将启发式和近似集成到分支和界框架中*

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) Pub Date : 2019-08-01 DOI: 10.1109/COASE.2019.8842982

Z. Zabinsky, Ting-Yu Ho, Hao Huang

{"title":"Integrating Heuristics and Approximations into a Branch and Bound Framework*","authors":"Z. Zabinsky, Ting-Yu Ho, Hao Huang","doi":"10.1109/COASE.2019.8842982","DOIUrl":"https://doi.org/10.1109/COASE.2019.8842982","url":null,"abstract":"Algorithms for solving large-scale optimization problems often use heuristics and approximations to achieve a solution quickly, however there is often little or no information as to the quality of the solution. We integrate heuristics and approximations into a branch and bound framework to take advantage of obtaining a solution quickly, while using the framework to prune regions that do not contain an optimal solution, and provide an optimality gap. Three examples are cast into this framework. First, we describe a Rollout Algorithm with Branch-and-Bound (RA-BnB) that embeds an approximate dynamic program into a branch and bound framework to address a challenging resource allocation problem in population disease management. Second, we describe a Vehicle Routing and Scheduling Algorithm (VeRSA) that embeds an easily calculated index, as is commonly used in scheduling, to dynamically search and prune a branch and bound tree. Third, we describe a Probabilistic Branch and Bound algorithm (PBnB) that uses a statistical sampling method to obtain confidence interval bounds that are embedded into a tree to probabilistically prune regions of the tree. These three, apparently different, methods share commonalities that make use of heuristics and approximations to generate a “near-optimal” solution quickly, and also provide information on the quality of the solution by providing an optimality gap. Lessons learned on implementation decisions and how to balance computation in the context of these three problems are discussed.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"8 1","pages":"774-779"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75895179","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: 3