Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931863
Ricus Husmann, H. Aschemann
In this paper, a physically-oriented vapor compression cycle model is analyzed regarding different measures of the degree of observability. The high-dimensional nonlinear model employs pressures and enthalpies as state variables and involves two control inputs. A set of equilibrium points is determined over a grid of both input variables, and corresponding Taylor linearizations are performed. After an analysis of the eigenvalue locations, the observability properties are investigated using two alternative approaches: the first is based on the observability Gramians, the second on a stationary Kalman Filter. The analysis of the Gramians provides a deeper insight into the interconnections of states and individual measured outputs, whereas the Kalman Filter indicates the achievable estimation quality which is related to the variances. Moreover, a direct way to include equality constraints related to the overall mass conservation and its impact on the observability is discussed in detail.
{"title":"Analysis and Qualitative Observability of Two Vapor Compression Cycle Models","authors":"Ricus Husmann, H. Aschemann","doi":"10.1109/ICSTCC55426.2022.9931863","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931863","url":null,"abstract":"In this paper, a physically-oriented vapor compression cycle model is analyzed regarding different measures of the degree of observability. The high-dimensional nonlinear model employs pressures and enthalpies as state variables and involves two control inputs. A set of equilibrium points is determined over a grid of both input variables, and corresponding Taylor linearizations are performed. After an analysis of the eigenvalue locations, the observability properties are investigated using two alternative approaches: the first is based on the observability Gramians, the second on a stationary Kalman Filter. The analysis of the Gramians provides a deeper insight into the interconnections of states and individual measured outputs, whereas the Kalman Filter indicates the achievable estimation quality which is related to the variances. Moreover, a direct way to include equality constraints related to the overall mass conservation and its impact on the observability is discussed in detail.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"277 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123307105","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931857
Ciprian-Bogdan Chirila, Ioana Sora
Key classes are the most important classes of an object-oriented software system. They are usually described in project documentations or executive summaries representing the backbone of the software system. Key classes are vital in software reengineering tasks especially in the context where poor or no documentation is maintained with the project. Thus, detecting key classes becomes an important issue. Several methods for key classes detection were reported: static code analysis, dynamic code analysis, machine learning. In a static code analysis approach the model of a weighted graph is used to represent the relations between classes like: inheritance, interface realization, field usage, return type usage etc. On the weighted graph model we run a link analysis algorithm to rank the classes in their order of importance, thus detecting the top 20 most important ones. We intend to assess the importance of class relations by generating all possible weights combinations of 0 and 1 for each class relation in the weighted graph construction. We experiment our approach on 14 analyzed systems of different sizes regarding the number of classes and from domains like: games, web servers, utilities, etc.
{"title":"The assessment of class relations importance using enumeration in a graph representation model for key classes detection based on PageRank","authors":"Ciprian-Bogdan Chirila, Ioana Sora","doi":"10.1109/ICSTCC55426.2022.9931857","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931857","url":null,"abstract":"Key classes are the most important classes of an object-oriented software system. They are usually described in project documentations or executive summaries representing the backbone of the software system. Key classes are vital in software reengineering tasks especially in the context where poor or no documentation is maintained with the project. Thus, detecting key classes becomes an important issue. Several methods for key classes detection were reported: static code analysis, dynamic code analysis, machine learning. In a static code analysis approach the model of a weighted graph is used to represent the relations between classes like: inheritance, interface realization, field usage, return type usage etc. On the weighted graph model we run a link analysis algorithm to rank the classes in their order of importance, thus detecting the top 20 most important ones. We intend to assess the importance of class relations by generating all possible weights combinations of 0 and 1 for each class relation in the weighted graph construction. We experiment our approach on 14 analyzed systems of different sizes regarding the number of classes and from domains like: games, web servers, utilities, etc.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123938419","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931844
M. Nicola, C. Nicola, C. Ionete, D. Sendrescu, M. Roman
This article presents a Permanent Magnet Synchronous Motor (PMSM) control system which retains its performance for a significant variation of the parameters and load torque which represent disturbance for the control system. Classically, the PMSM control system is built in the form of a Field Oriented Control (FOC) control strategy structure built around PI speed (outer loop) and current (inner loop) controllers. We present the design stages and the numerical simulations performed in Matlab/Simulink, which prove the superiority of the robust control, by comparison with the classic FOC-type control structure. Because the Reinforcement Learning Twin-Delayed Deep Deterministic Policy Gradient (RL-TD3) agent is the most suitable for machine learning for process control, we synthesize a robust controller whose control quantities $boldsymbol{u}_{d}$ and $boldsymbol{u}_{q}$ are adjusted by a properly created and trained RL-TD3 agent. Using this robust combined controller plus RL-TD3 agent, superior performance is achieved in terms of response time and speed ripple.
{"title":"Improved Performance for PMSM Control Based on Robust Controller and Reinforcement Learning","authors":"M. Nicola, C. Nicola, C. Ionete, D. Sendrescu, M. Roman","doi":"10.1109/ICSTCC55426.2022.9931844","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931844","url":null,"abstract":"This article presents a Permanent Magnet Synchronous Motor (PMSM) control system which retains its performance for a significant variation of the parameters and load torque which represent disturbance for the control system. Classically, the PMSM control system is built in the form of a Field Oriented Control (FOC) control strategy structure built around PI speed (outer loop) and current (inner loop) controllers. We present the design stages and the numerical simulations performed in Matlab/Simulink, which prove the superiority of the robust control, by comparison with the classic FOC-type control structure. Because the Reinforcement Learning Twin-Delayed Deep Deterministic Policy Gradient (RL-TD3) agent is the most suitable for machine learning for process control, we synthesize a robust controller whose control quantities $boldsymbol{u}_{d}$ and $boldsymbol{u}_{q}$ are adjusted by a properly created and trained RL-TD3 agent. Using this robust combined controller plus RL-TD3 agent, superior performance is achieved in terms of response time and speed ripple.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130580230","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931869
Ionut Procop, F. Pacuraru, Sandita Pacuaru, R. Șolea, George Cotoc, Adrian Caramatescu
The purpose of this paper is to outline the development of a robust and low-cost semi-autonomous, remotely operated unmanned surface vessel (USV) used as a platform for environmental remediation technologies. By defining the shape as a catamaran, the first practical purpose is to build the collection mechanism in form of a cage to collect floating waste from rivers and lakes - in particular, plastic recipients that accumulate at the surface of the water. The unit was named “GreenCat” deriving from the purpose and the shape. Preliminary hull shape numerical investigation studies enabled carefully managed manufacturing processes resulting in a reduced manufacturing time. Based on hydrodynamic numerical simulations it is suggested that 6 km/h is an optimal travel speed. The electronic equipment was fitted and tested using two different controllers, manoeuvred by using both a radio command and a touch screen. Full-scale tests showed an autonomy of more than 60 minutes on one LiFePO04 - 12.8V-50Ah accumulator. The hull was designed to fit several accumulators making it possible to increase the autonomy to an estimated 8 hours. The data collected from the LiDAR system provided key information for the next level of autonomy, where obstacles can be avoided and the USV can charge automatically in a charging dock.
{"title":"Semi-Autonomous System for Lakes and Rivers Depollution","authors":"Ionut Procop, F. Pacuraru, Sandita Pacuaru, R. Șolea, George Cotoc, Adrian Caramatescu","doi":"10.1109/ICSTCC55426.2022.9931869","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931869","url":null,"abstract":"The purpose of this paper is to outline the development of a robust and low-cost semi-autonomous, remotely operated unmanned surface vessel (USV) used as a platform for environmental remediation technologies. By defining the shape as a catamaran, the first practical purpose is to build the collection mechanism in form of a cage to collect floating waste from rivers and lakes - in particular, plastic recipients that accumulate at the surface of the water. The unit was named “GreenCat” deriving from the purpose and the shape. Preliminary hull shape numerical investigation studies enabled carefully managed manufacturing processes resulting in a reduced manufacturing time. Based on hydrodynamic numerical simulations it is suggested that 6 km/h is an optimal travel speed. The electronic equipment was fitted and tested using two different controllers, manoeuvred by using both a radio command and a touch screen. Full-scale tests showed an autonomy of more than 60 minutes on one LiFePO04 - 12.8V-50Ah accumulator. The hull was designed to fit several accumulators making it possible to increase the autonomy to an estimated 8 hours. The data collected from the LiDAR system provided key information for the next level of autonomy, where obstacles can be avoided and the USV can charge automatically in a charging dock.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"177 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129560110","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931854
Alexandru Codres, B. Codres, A. Stancu
This paper presents a new Simultaneous Localisation And Mapping (SLAM) method which takes into account all measurements provided by a 2D LiDAR sensor and generates a Constraint Satisfaction Problem (CSP). Interval methods are used to solve the CSP in a guaranteed way. The approach proposed in this paper does not make any assumptions about the probability distribution of the measurements and does not require any probabilistic methods for feature detection. The SLAM problem is solved in a guaranteed way by purely using only interval methods.
{"title":"Guaranteed SLAM - A pure interval approach","authors":"Alexandru Codres, B. Codres, A. Stancu","doi":"10.1109/ICSTCC55426.2022.9931854","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931854","url":null,"abstract":"This paper presents a new Simultaneous Localisation And Mapping (SLAM) method which takes into account all measurements provided by a 2D LiDAR sensor and generates a Constraint Satisfaction Problem (CSP). Interval methods are used to solve the CSP in a guaranteed way. The approach proposed in this paper does not make any assumptions about the probability distribution of the measurements and does not require any probabilistic methods for feature detection. The SLAM problem is solved in a guaranteed way by purely using only interval methods.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125914603","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931790
Adrian Croitoru, F. Stîngă, Marius Marian
This paper presents a case study for designing and implementing a secure communication protocol over a Controller Area Network (CAN). The CAN based protocol uses a hybrid encryption method on a relatively simple hardware / software environment. Moreover, the blockchain technology is proposed as a working solution to provide an extra secure level of the proposed system.
{"title":"A Case Study for Designing a Secure Communication Protocol over a Controller Area Network","authors":"Adrian Croitoru, F. Stîngă, Marius Marian","doi":"10.1109/ICSTCC55426.2022.9931790","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931790","url":null,"abstract":"This paper presents a case study for designing and implementing a secure communication protocol over a Controller Area Network (CAN). The CAN based protocol uses a hybrid encryption method on a relatively simple hardware / software environment. Moreover, the blockchain technology is proposed as a working solution to provide an extra secure level of the proposed system.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115285209","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931849
Catalina Bejan, D. Munteanu, Nicoleta Munteanu
People with Alzheimer's disease are at risk for malnutrition, overeating and dehydration because short-term memory loss can be confusing. They need a caregiver to make sure they adhere to the main meals of the day and are properly hydrated. The purpose of this paper is to present the need for a developed surveillance system that has the role of regaining their independence through artificial intelligence. The system is based on a unique concept that involves the use of artificial intelligence to recognize human activity in video. The system identifies the times when the monitored person is feeding or hydrating and reminds them by sound messages that they forgot to eat, drink or eat too much. It also allows for the remote supervision and management of the nutrition program by a caregiver. The paper includes the study, search, training and use of models and algorithms specific to the field of computer vision in order to classify images, detect objects in images and recognize human activity in video. The study shows that artificial intelligence used to help people with Alzheimer's is a new concept, but a real help for both them and their caregivers.
{"title":"Deep Learning-based software application for assisting people with Alzheimer's disease","authors":"Catalina Bejan, D. Munteanu, Nicoleta Munteanu","doi":"10.1109/ICSTCC55426.2022.9931849","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931849","url":null,"abstract":"People with Alzheimer's disease are at risk for malnutrition, overeating and dehydration because short-term memory loss can be confusing. They need a caregiver to make sure they adhere to the main meals of the day and are properly hydrated. The purpose of this paper is to present the need for a developed surveillance system that has the role of regaining their independence through artificial intelligence. The system is based on a unique concept that involves the use of artificial intelligence to recognize human activity in video. The system identifies the times when the monitored person is feeding or hydrating and reminds them by sound messages that they forgot to eat, drink or eat too much. It also allows for the remote supervision and management of the nutrition program by a caregiver. The paper includes the study, search, training and use of models and algorithms specific to the field of computer vision in order to classify images, detect objects in images and recognize human activity in video. The study shows that artificial intelligence used to help people with Alzheimer's is a new concept, but a real help for both them and their caregivers.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124429287","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931778
M. Costin, C. Lazar
The synchronous reluctance motor (SynRM), due to its advantages, has been used recently in many applications. In this paper, we propose a comparison of two current control structures for a SynRM based on constrained predictive control algorithms to analyze the performance of each algorithm. The first structure starts from the V -canonical model of the $dq$ current system, and then, using a decoupling controller, two single-input single-output (SISO) decoupled systems result, each being controlled with a SISO constrained predictive control algorithm. The second one uses a multi-input multi-output (MIMO) state-space model of the $dq$ current system for which a constrained MIMO predictive control algorithm is designed. For a better evaluation of the proposed predictive controllers with constraints of the two current control structures, a comparative investigation of these predictive control techniques was performed using the Matlab-Simulink environment. For the performance testing, two scenarios were considered that included both input and output constraints and a set of performance indices.
{"title":"Comparative Study of Predictive Current Control Structures for a Synchronous Reluctance Machine","authors":"M. Costin, C. Lazar","doi":"10.1109/ICSTCC55426.2022.9931778","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931778","url":null,"abstract":"The synchronous reluctance motor (SynRM), due to its advantages, has been used recently in many applications. In this paper, we propose a comparison of two current control structures for a SynRM based on constrained predictive control algorithms to analyze the performance of each algorithm. The first structure starts from the V -canonical model of the $dq$ current system, and then, using a decoupling controller, two single-input single-output (SISO) decoupled systems result, each being controlled with a SISO constrained predictive control algorithm. The second one uses a multi-input multi-output (MIMO) state-space model of the $dq$ current system for which a constrained MIMO predictive control algorithm is designed. For a better evaluation of the proposed predictive controllers with constraints of the two current control structures, a comparative investigation of these predictive control techniques was performed using the Matlab-Simulink environment. For the performance testing, two scenarios were considered that included both input and output constraints and a set of performance indices.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129720263","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931823
Bogdan Gabriel Draghici, Alexandra Elena Dobre, Marius Misaros, O. Stan, L. Miclea
The significant evolution of perception over humanoid robots had led to a great development of applications in different areas. The most engaging interactions between humans and robots involve visual and auditive communication which can be achieved using cameras due to their rich sensory information. The main focus of the Pepper robot is to amuse users and make their daily routines better. The objective of the application would be to observe Pepper's behavior in the scenario of a humanoid-robot appointment system and to develop a corresponding optimal approach.
{"title":"From Pepper's Photographic Lessons to Appointment Application","authors":"Bogdan Gabriel Draghici, Alexandra Elena Dobre, Marius Misaros, O. Stan, L. Miclea","doi":"10.1109/ICSTCC55426.2022.9931823","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931823","url":null,"abstract":"The significant evolution of perception over humanoid robots had led to a great development of applications in different areas. The most engaging interactions between humans and robots involve visual and auditive communication which can be achieved using cameras due to their rich sensory information. The main focus of the Pepper robot is to amuse users and make their daily routines better. The objective of the application would be to observe Pepper's behavior in the scenario of a humanoid-robot appointment system and to develop a corresponding optimal approach.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130563183","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}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931812
A. Filipescu, R. Șolea, D. Cernega, D. Ionescu, Georgian Simion, A. Filipescu
The main contribution of this paper is to present the implementation of an assisting technology digital twin based for a processing/reprocessing mechatronics line (P/RML). The implemented technology allows the reprocessing of the workpieces which do not pass the quality test. The digital twin approach considers the P/RML equipped with a complex autonomous system (CAS). The CAS is an autonomous robotic system (ARS) with a robotic manipulator (RM) equipped with a mobile visual servoing system (MVS) used for precise positioning in the technology executed on the laboratory mechatronics line. Modeling and control for the P/RML with CAS are presented. The P/RML has four workstations. The assisting technology uses the complex autonomous system (CAS). The MVS is involved in picking, transporting, and placing processes of the workpieces and it aims at increasing the precision of the RM operations. The reprocessing feature of the system is performed for the processed pieces that do not pass the quality test. To be reprocessed these workpieces are transferred by the CAS to the first station. The control of this complex process is presented. For this flexible manufacturing process, a digital twin control is designed.
{"title":"Complex Autonomous System Assisting a Manufacturing Technology on a Mechatronics Line. A Digital Twin Approach","authors":"A. Filipescu, R. Șolea, D. Cernega, D. Ionescu, Georgian Simion, A. Filipescu","doi":"10.1109/ICSTCC55426.2022.9931812","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931812","url":null,"abstract":"The main contribution of this paper is to present the implementation of an assisting technology digital twin based for a processing/reprocessing mechatronics line (P/RML). The implemented technology allows the reprocessing of the workpieces which do not pass the quality test. The digital twin approach considers the P/RML equipped with a complex autonomous system (CAS). The CAS is an autonomous robotic system (ARS) with a robotic manipulator (RM) equipped with a mobile visual servoing system (MVS) used for precise positioning in the technology executed on the laboratory mechatronics line. Modeling and control for the P/RML with CAS are presented. The P/RML has four workstations. The assisting technology uses the complex autonomous system (CAS). The MVS is involved in picking, transporting, and placing processes of the workpieces and it aims at increasing the precision of the RM operations. The reprocessing feature of the system is performed for the processed pieces that do not pass the quality test. To be reprocessed these workpieces are transferred by the CAS to the first station. The control of this complex process is presented. For this flexible manufacturing process, a digital twin control is designed.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130551393","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}
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