Physics-guided logistic classification for tool life modeling and process parameter optimization in machining

This paper describes a physics-guided logistic classification method for tool life modeling and process parameter optimization in machining. Tool life is modeled using a classification method since the exact tool life cannot be measured in a typical production environment where tool wear can only be directly measured when the tool is replaced. In this study, laboratory tool wear experiments are used to simulate tool wear data normally collected during part production. Two states are defined: tool not worn (class 0) and tool worn (class 1). The non-linear reduction in tool life with cutting speed is modeled by applying a logarithmic transformation to the inputs for the logistic classification model. A method for interpretability of the logistic model coefficients is provided by comparison with the empirical Taylor tool life model. The method is validated using tool wear experiments for milling. Results show that the physics-guided logistic classification method can predict tool life using limited datasets. A method for pre-process optimization of machining parameters using a probabilistic machining cost model is presented. The proposed method offers a robust and practical approach to tool life modeling and process parameter optimization in a production environment.     

Intelligent tool wear monitoring based on parallel residual and stacked bidirectional long short-term memory network

Effective tool wear monitoring (TWM) is essential for accurately assessing the degree of tool wear and for timely preventive maintenance. Existing data-driven monitoring methods mainly rely on complex feature engineering, which reduces the monitoring efficiency. This paper proposes a novel TWM model based on a parallel residual and stacked bidirectional long short-term memory (PRes–SBiLSTM) network. First, a parallel residual network (PResNet) is used to extract the multi-scale local features of sensor signals adaptively. Subsequently, a stacked bidirectional long short-term memory (SBiLSTM) network is used to obtain the time-series features related to the tool wear characteristics. Finally, the predicted tool wear value is outputted through a fully connected network. A smoothing correction method is applied to improve the prediction accuracy. The proposed model is experimentally verified to have a high prediction accuracy without sacrificing its generalization ability. A TWM system framework based on the PRes–SBiLSTM network is proposed, which has a certain reference value for TWM in actual industrial environments.     

Improving human robot collaboration through Force/Torque based learning for object manipulation

Human–Robot Collaboration (HRC) is a term used to describe tasks in which robots and humans work together to achieve a goal. Unlike traditional industrial robots, collaborative robots need to be adaptive; able to alter their approach to better suit the situation and the needs of the human partner. As traditional programming techniques can struggle with the complexity required, an emerging approach is to learn a skill by observing human demonstration and imitating the motions; commonly known as Learning from Demonstration (LfD). In this work, we present a LfD methodology that combines an ensemble machine learning algorithm (i.e. Random Forest (RF)) with stochastic regression, using haptic information captured from human demonstration. The capabilities of the proposed method are evaluated using two collaborative tasks; co-manipulation of an object (where the human provides the guidance but the robot handles the objects weight) and collaborative assembly of simple interlocking parts. The proposed method is shown to be capable of imitation learning; interpreting human actions and producing equivalent robot motion across a diverse range of initial and final conditions. After verifying that ensemble machine learning can be utilised for real robotics problems, we propose a further extension utilising Weighted Random Forest (WRF) that attaches weights to each tree based on its performance. It is then shown that the WRF approach outperforms RF in HRC tasks.     

Land‐use dynamic discovery based on heterogeneous mobility sources

Nowadays, cities are the most relevant type of human settlement and their population has been endlessly growing for decades. At the same time, we are witnessing an explosion of digital data that capture many different aspects and details of city life. This allows detecting human mobility patterns in urban areas with more detail than ever before. In this context, based on the fusion of mobility data from different and heterogeneous sources, such as public transport, transport‐network connectivity and Online Social Networks, this study puts forward a novel approach to uncover the actual land use of a city. Unlike previous solutions, our work avoids a time‐invariant approach and it considers the temporal factor based on the assumption that urban areas are not used by citizens all the time in the same manner. We have tested our solution in two different cities showing high accuracy rates.     

彩色CCD比色测温的灰度值融合处理方法研究

设计了基于两个彩色CCD通道的比色测温系统,提出了用于比色测温时彩色CCD的R、G、B亮度(灰度)值融合处理方法,解决了在不同快门下利用两个通道的灰度值进行比色测温计算的问题;黑体炉实验结果表明,与常用的基于面阵CCD的简化比色测温方法相比较,基于两个彩色CCD通道的比色测温方法系统虽稍显复杂,但由于采用了经融合处理后的亮度值进行比色测量计算使得测温精度较高。     

一种基于特征点匹配的图像拼接方法研究

针对图像间因具有旋转及光线强度差异等现象而导致的拼接效果不佳及拼接速度慢的问题,提出一种基于特征点的配准算法;在特征点提取阶段,尺度不变的特征变换方法 (SIFT)具有对图像尺度缩放、旋转、放射变换以及亮度变化保持不变的优点,文章采用了改进的SIFT特征点提取算法;在特征点匹配阶段,采用改进的RANSAC算法对特征点匹配对提纯;最后用加权平均法实现拼接图像的融合;实验证明,该算法有效提高了图像拼接的效率和准确性,拼接精度可以达到亚像素级。     

On‐off iterative adaptive controller for low‐power micro‐robotic step regulation

A novel model‐free iterative adaptive controller is presented for low‐power control of piezoelectric actuators. The controller uses simple adaptation rules based on known general behavior of piezoelectric actuators to adjust on‐off switching times to drive piezoelectric actuators through a desired transient step motion. Adaptation rules are based on small numbers of measurements taken during each iteration of the actuator movement. Combined with the use of only on‐off control inputs, controller implementation can be possible at much lower overall power levels than would be needed to implement a conventional control strategy such as through pulse‐width‐modulation (PWM) with real‐time feedback. Such power savings are particularly important for the intended controller application to piezoelectric microactuators driving autonomous terrestrial micro‐robots. A method for predicting convergence of systems with nominally linear dynamics and unknown, bounded nonlinearities is described, and applied to a sample target piezoelectric actuator. The controller is tested in simulation and experimentally on a piezoelectric cantilever actuator, and shows predicted convergence to the desired response. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Heuristic collision-free path planning for an autonomous platform

In this paper, a heuristic and learning, algorithmic scheme for collision-free navigation is presented. This scheme determines an optimum collision-free navigation path of an autonomous platform by using a trial and error process, past navigation knowledge and current information extracted from the generated surrounding environment.     

A Heuristic Approach to the Discovery of Macro-Operators

This paper describes a heuristic approach to the discovery of useful macro-operators (macros) in problem solving. The approach has been implemented in a program, MACLEARN, that has three parts: macro-proposer, static filter, and dynamic filter. Learning occurs during problem solving, so that performance improves in the course of a single problem trial. Primitive operators and macros are both represented within a uniform representational framework that is closed under composition. This means that new macros can be defined in terms of others, which leads to a definitional hierarchy. The representation also supports the transfer of macros to related problems. MACLEARN is embedded in a supporting system that carries out best-first search. Experiments in macro learning were conducted for two classes of problems: peg solitaire (generalized Hi-Q puzzle), and tile sliding (generalized Fifteen puzzle). The results indicate that MACLEARN'S filtering heuristics all improve search performance, sometimes dramatically. When the system was given practice on simpler training problems, it learned a set of macros that led to successful solutions of several much harder problems.     

Commercial objectives,technology transfer,and systems analysis for fusion power development

Fusion is an essentially inexhaustible source of energy that has the potential for economically attractive commercial applications with excellent safety and environmental characteristics. The primary focus for the fusion-energy development program is the generation of centralstation electricity. Fusion has the potential, however, for many other applications. The fact that a large fraction of the energy released in a DT fusion reaction is carried by high-energy neutrons suggests potentially unique applications. These include breeding of fissile fuels, production of hydrogen and other chemical products, transmutation or burning of various nuclear or chemical wastes, radiation processing of materials, production of radioisotopes, food preservation, medical diagnosis and medical treatment, and space power and space propulsion. In addition, fusion R&D will lead to new products and new markets.Each fusion application must meet certain standards of economic and safety and environmental attractiveness. For this reason, economics on the one hand, and safety and environment and licensing on the other hand, are the two primary criteria for setting long-range commercial fusion objectives. A major function of systems analysis is to evaluate the potential of fusion against these objectives and to help guide the fusion R&D program toward practical applications. The transfer of fusion technology and skills from the national laboratories and universities to industry is the key to achieving the long-range objective of commercial fusion applications.