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Augmented Reality Interface for Robot-Sensor Coordinate Registration 用于机器人传感器坐标配准的增强现实接口
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-08-08 DOI: 10.1115/1.4063131
Vinh Nguyen, Xiaofeng Liu, J. Marvel
Accurate registration of Cartesian coordinate systems is necessary to facilitate metrology-based solutions for industrial robots in production environments. Conducting coordinate registration between industrial robots and their metrological systems requires measuring multiple points in the robot's and sensor system's coordinate frames. However, operators lack intuitive tools to interface, visualize, and characterize the quality of the selected points in the robot workspace for robot-sensor coordinate registration. This paper proposes an augmented reality system for human-in-the-loop, robot-sensor coordinate registration to efficiently record and visualize the pose-dependent quality of computing the robot-sensor transformation. Furthermore, this work establishes metrics to define the relative quality of measurement points used in robot-sensor coordinate registration, which are shown by the augmented reality application. Experiments were conducted demonstrating the augmented reality environment in addition to investigating the pose-dependency of the measurement point quality. The results indicate that the proposed metrics highlight the dependency of the poses on both robot and sensor placement and that the augmented reality system can provide a human-in-the-loop interface for robot-sensor coordinate registration.
笛卡尔坐标系的精确配准对于促进生产环境中工业机器人基于计量的解决方案是必要的。在工业机器人及其计量系统之间进行坐标配准需要测量机器人和传感器系统坐标系中的多个点。然而,操作员缺乏直观的工具来接口、可视化和表征机器人工作空间中用于机器人传感器坐标配准的选定点的质量。本文提出了一种用于人在环的增强现实系统,机器人传感器坐标配准,以有效地记录和可视化计算机器人传感器变换的姿态相关质量。此外,这项工作建立了度量标准,以定义机器人传感器坐标配准中使用的测量点的相对质量,增强现实应用程序显示了这一点。除了研究测量点质量的姿态依赖性外,还进行了实验来演示增强现实环境。结果表明,所提出的度量突出了姿态对机器人和传感器位置的依赖性,并且增强现实系统可以为机器人传感器坐标配准提供人在环界面。
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引用次数: 0
Metacomputing for Directly Computable Multiphysics Models 直接可计算多物理模型的元计算
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-08-04 DOI: 10.1115/1.4063103
J. Michopoulos, A. Iliopoulos, J. Steuben, N. Apetre
The ever-improving advances of computational technologies have forced the user to manage higher resource complexity and motivates the modeling of more complex multiphysics systems than before. Consequently, the time for the user's iterations within the context space characterizing all choices required for a successful computation far exceeds the time required for the runtime software execution to produce acceptable results. This paper presents metacomputing as an approach to address this issue, starting with describing this high-dimensional context space. Then it highlights the abstract process of multiphysics model generation/solution and proposes performing top-down and bottom-up metacomputing. In the top-down approach, metacomputing is used for: Automating the process of generating theories; Raising the semantic dimensionality of these theories in higher dimensional algebraic systems that enable simplification of the equational representation and raising the syntactic dimensionality of equational representation from 1-D equational forms to 2-D and 3-D algebraic solution graphs that reduce solving to path-following. In the bottom-up approach, already existing legacy codes evolving over multiple decades are encapsulated at the bottom layer of a multilayer semantic framework that utilizes Category Theory based operations on specifications to enable the user to spend time only for defining the physics of the relevant problem and not have to deal with the rest of the details involved in deploying and executing the solution of the problem at hand. Consequently, these two metacomputing approaches enable the generation, composition, deployment, and execution of directly computable multiphysics models.
计算技术的不断进步迫使用户管理更高的资源复杂性,并激发了比以前更复杂的多物理场系统的建模。因此,用户在上下文空间中描述成功计算所需的所有选择的迭代时间远远超过运行时软件执行产生可接受结果所需的时间。本文提出元计算作为解决这个问题的一种方法,从描述这个高维上下文空间开始。然后重点介绍了多物理场模型生成/求解的抽象过程,提出了自顶向下和自底向上的元计算方法。在自顶向下的方法中,元计算用于:自动化生成理论的过程;提高这些理论在高维代数系统中的语义维度,使等式表示能够简化,并将等式表示的语法维度从一维方程形式提高到二维和三维代数解图,从而减少求解路径跟踪。在自底向上的方法中,已经存在的经过几十年演进的遗留代码被封装在多层语义框架的底层,该框架利用基于规范的范畴论操作,使用户只需花时间定义相关问题的物理特性,而不必处理部署和执行手头问题解决方案所涉及的其余细节。因此,这两种元计算方法支持直接可计算的多物理场模型的生成、组合、部署和执行。
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引用次数: 0
Cross-domain Transfer Learning for Galvanized Steel Strips Defect Detection and Recognition 跨域传递学习在镀锌带钢缺陷检测与识别中的应用
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-08-04 DOI: 10.1115/1.4063102
Hao Chen, Hongbin Lin, Qingfeng Xu, Yaguan Li, Yiming Zheng, Jianghua Fei, Kang Yang, Wenhui Fan, Zhenguo Nie
Defect detection is a crucial direction of deep learning, which is suitable for industrial inspection of product quality in strip steel. As the strip steel production line continuously outputs products, it is necessary to take corresponding measures for the type of defect, once a subtle quality problem is found on steel strips. We propose a new defect area detection and classification method for automation strip steel defect detection. In order to eliminate the way of insufficient data in industrial production line scenarios, we design a transfer learning scheme to support the training of defect region detection. Subsequently, in order to achieve a more accurate classification of defect categories, we designed a deep learning model that integrated the detection results of defect regions and defects feature extraction. After applying our method to the test set and production line, we can achieve extremely high accuracy, reaching 87.11%, while meeting the production speed of the production line compared with other methods. The accuracy and speed of the model realize automatic quality monitoring in the manufacturing process of strip steel.
缺陷检测是深度学习的一个重要方向,适用于带钢产品质量的工业检测。由于带钢生产线是连续输出产品,一旦发现带钢出现细微的质量问题,就有必要针对缺陷的类型采取相应的措施。提出了一种用于带钢缺陷自动检测的缺陷区域检测与分类方法。为了消除工业生产线场景中数据不足的方式,我们设计了一种迁移学习方案来支持缺陷区域检测的训练。随后,为了实现更准确的缺陷类别分类,我们设计了一个深度学习模型,将缺陷区域检测结果与缺陷特征提取相结合。将我们的方法应用到测试集和生产线上,可以达到极高的精度,达到87.11%,与其他方法相比,满足了生产线的生产速度。该模型精度高、速度快,实现了带钢生产过程质量自动监控。
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引用次数: 0
Design of Next Generation Automotive Systems: Challenges and Research Opportunities 下一代汽车系统设计:挑战与研究机遇
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-07-31 DOI: 10.1115/1.4063067
Jitesh H. Panchal, Ziran Wang
The automotive industry is undergoing a massive transformation, driven by the mega-trends of “CASE”: connected, automated, shared, and electric. These trends are affecting the nature of automobiles, both internally and externally. Internally, the transition from internal combustion engines (ICE) to electric drive-trains has resulted in a shift from hardware-defined vehicles to software-defined vehicles (SDVs), where software is increasingly becoming the dominant asset in the automotive value chain. These trends are leading to new design challenges such as how to manage different configurations of design, how to decouple the design of software and services from hardware, and how to design hardware to allow for upgrades. Externally, automobiles are no longer isolated products. Instead, they are part of the larger digital ecosystem with cloud connectivity. Vehicle usage data are increasingly connected with smart factories, which creates new opportunities for agile product development and mass customization of features. The role of the human driver is also changing with increasing levels of autonomy features. In this paper, the authors discuss the ongoing transformation in the automotive industry and its implications for engineering design. The paper presents a road map for engineering design research for next-generation automotive applications.
在“CASE”大趋势的推动下,汽车行业正在经历一场巨大的变革:互联、自动化、共享和电动化。这些趋势正在从内部和外部影响着汽车的特性。从内部来看,从内燃机(ICE)到电动传动系统的转变导致了从硬件定义车辆到软件定义车辆(sdv)的转变,其中软件正日益成为汽车价值链中的主导资产。这些趋势带来了新的设计挑战,例如如何管理不同的设计配置,如何将软件和服务的设计与硬件分离,以及如何设计硬件以允许升级。从外部看,汽车不再是孤立的产品。相反,它们是拥有云连接的更大数字生态系统的一部分。车辆使用数据越来越多地与智能工厂联系在一起,这为敏捷产品开发和大规模定制功能创造了新的机会。人类驾驶员的角色也在随着自动驾驶功能水平的提高而发生变化。在本文中,作者讨论了汽车行业正在进行的变革及其对工程设计的影响。本文提出了下一代汽车应用的工程设计研究路线图。
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引用次数: 0
An online quality detection method with ensemble learning on imbalance data for wave soldering 基于集成学习的波峰焊不平衡数据在线质量检测方法
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-07-31 DOI: 10.1115/1.4063068
Hanpeng Gao, Yu Guo, Shaohua Huang, Jian Xie, Daoyuan Liu, Tao Wu, Xu Tian
Online detection of wave soldering is an important method of inspecting defective products in the workshop. Accurate quality detection can reduce production costs and provide support for quality warning in wave soldering process. However, there are still problems of improving the detection accuracy for defect class. Although class imbalance in data can be addressed by data level methods such as over-sampling and under-sampling, these methods destroy the integrity of the original data set and may cause information loss and overfitting problems. In order to solve the above problems, this article focuses on how to design a new loss function that fuses class weights from focal loss (FS) and sample weights form AdaBoost to improve attention to the minority samples without changing data distribution. In this way, a FS-AdaBoost-RegNet model based on transfer learning is constructed to enhance the detection accuracy in industrial environment. Finally, the images of the wave soldering from an electronic assembly workshop are taken to validate the performance of the proposed method. The experiment on 941 testing samples of the imbalance datasets showed that the FS-AdaBoost-RegNet model with new loss function reached the overall accuracy of 98.39%, the overall recall of 96.19%. The results proved that the proposed method promotes the ability to identify defect class compared with other methods
波峰焊在线检测是车间检测缺陷产品的重要方法。准确的质量检测可以降低生产成本,并为波峰焊过程中的质量预警提供支持。然而,仍然存在提高缺陷类别的检测精度的问题。尽管数据中的类不平衡可以通过数据级方法(如过采样和欠采样)来解决,但这些方法会破坏原始数据集的完整性,并可能导致信息丢失和过拟合问题。为了解决上述问题,本文重点研究了如何设计一种新的损失函数,该函数融合了焦点损失(FS)的类权重和AdaBoost的样本权重,以在不改变数据分布的情况下提高对少数样本的关注。通过这种方式,构建了一个基于迁移学习的FS AdaBoost RegNet模型,以提高工业环境中的检测精度。最后,以某电子装配车间的波峰焊图像为例,验证了该方法的有效性。在941个不平衡数据集的测试样本上进行的实验表明,具有新损失函数的FS-AdaBoost-RegNet模型的总体准确率达到98.39%,总体召回率达到96.19%。结果证明,与其他方法相比,该方法提高了识别缺陷类的能力
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引用次数: 0
Enhancing Robot Calibration through Reliable High-Order Hermite Polynomials Model and SSA-BP Optimization 通过可靠的高阶埃尔米特多项式模型和SSA-BP优化增强机器人标定
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-07-25 DOI: 10.1115/1.4063035
Yujie Zhang, Qi Fang, Yu Xie, Weijie Zhang, Runxiang Yu
Various sources of error can lead to the position accuracy of the robot being orders of magnitude worse than its repeatability. For the accuracy of drilling in the aviation field, high-precision assembly, and other fields depend on the industrial robot's absolute positioning accuracy, it is essential to improve the accuracy of absolute positioning by calibration. In the present paper, an error model of the robot is established considering both constant and joint-dependent kinematic errors, and the robot model is modified by the Hermite polynomial. To identify joint-dependent kinematic errors, a robot calibration method based on back-propagation neural network(BP) optimized by Sparrow Search Algorithm (SSA-BP) is proposed, which optimize the uncertainty of weights and thresholds in the BP algorithm . To validate the efficiency of the proposed method, experiments on an EFORT ECR5 robot were implemented. The positioning error is reduced from 3.1704 mm to 0.2798 mm, and the positioning accuracy is improved by 91.27%. With the new calibration method using SSA-BP, robot positioning errors can be effectively compensated for and the robot positioning accuracy can be improved significantly.
各种误差来源可能导致机器人的位置精度比其可重复性差几个数量级。航空领域的钻孔、高精度装配等领域的精度依赖于工业机器人的绝对定位精度,因此通过标定提高绝对定位精度至关重要。本文建立了考虑常量运动误差和关节相关运动误差的误差模型,并用Hermite多项式对模型进行了修正。为了识别关节相关运动误差,提出了一种基于麻雀搜索算法(SSA-BP)优化的反向传播神经网络(BP)的机器人标定方法,该方法优化了BP算法中权值和阈值的不确定性。为了验证该方法的有效性,在EFORT ECR5机器人上进行了实验。定位误差由3.1704 mm减小到0.2798 mm,定位精度提高了91.27%。采用基于SSA-BP的标定方法,可以有效补偿机器人的定位误差,显著提高机器人的定位精度。
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引用次数: 0
Determination of Multi-Component Failure in Automotive System using Deep Learning 基于深度学习的汽车系统多部件故障检测
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-07-20 DOI: 10.1115/1.4063003
John O'Donnell, Hwan-Sik Yoon
The connectivity of modern vehicles allows for the monitoring and analysis of a large amount of sensor data from vehicles during their normal operations. In recent years, there has been a growing interest in utilizing this data for the purposes of predictive maintenance. In this paper, a multi-label transfer learning approach is proposed using fourteen different pretrained classifier models retrained with engine simulation data to predict the failure conditions of a selected set of engine components. The retrained classifiers are designed such that the failure modes, including multimode failure, of an EGR, Compressor, Intercooler, and Fuel Injectors of a four-cylinder diesel engine can be identified. Time-series simulation data of various failure conditions, which includes performance degradation, is generated to retrain the classifier models to predict which components are failing at any given time. The test results of the retrained classifier models show that the overall classification performance is good, with the value of mean average precision varying from 0.7 to 0.75 for most retrained networks. To the best of the authors' knowledge, this work represents the first attempt to characterize such time-series data utilizing a multi-label deep learning approach.
现代车辆的连接性允许在车辆正常运行期间监控和分析来自车辆的大量传感器数据。近年来,人们对利用这些数据进行预测性维护的兴趣日益浓厚。本文提出了一种多标签迁移学习方法,使用14种不同的预训练分类器模型和发动机仿真数据进行再训练,以预测一组选定的发动机部件的故障情况。经过重新训练的分类器可以识别四缸柴油发动机的EGR、压缩机、中冷器和燃油喷射器的故障模式,包括多模式故障。生成各种故障条件(包括性能下降)的时间序列模拟数据,以重新训练分类器模型,以预测在任何给定时间哪些组件发生故障。再训练分类器模型的测试结果表明,总体分类性能良好,大多数再训练网络的平均精度在0.7 ~ 0.75之间。据作者所知,这项工作代表了利用多标签深度学习方法表征此类时间序列数据的首次尝试。
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引用次数: 0
Opportunities and Challenges of Quantum Computing for Engineering Optimization 量子计算在工程优化中的机遇与挑战
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-07-18 DOI: 10.1115/1.4062969
Yan Wang, Jungin E. Kim, K. Suresh
Quantum computing as the emerging paradigm for scientific computing has attracted significant research attention in the past decade. Quantum algorithms to solve the problems of linear systems, eigenvalue, optimization, machine learning, and others have been developed. The main advantage of utilizing quantum computer to solve optimization problems is that quantum superposition allows for massive parallel searching of solutions. This article provides an overview of fundamental quantum algorithms that can be used to solve optimization problems, including Grover search, quantum phase estimation, quantum annealing, quantum approximate optimization algorithm, variational quantum eigensolver, and quantum walk. A review of recent applications of quantum optimization methods for engineering design, including materials design and topology optimization, is also given. The challenges to develop scalable and reliable quantum algorithms for engineering optimization are discussed.
量子计算作为一种新兴的科学计算范式,在过去十年中引起了人们的极大关注。已经开发了解决线性系统、特征值、优化、机器学习等问题的量子算法。利用量子计算机解决优化问题的主要优点是量子叠加允许大规模并行搜索解。本文概述了可用于解决优化问题的基本量子算法,包括Grover搜索、量子相位估计、量子退火、量子近似优化算法、变分量子本征求解器和量子行走。综述了量子优化方法在工程设计中的最新应用,包括材料设计和拓扑优化。讨论了为工程优化开发可扩展和可靠的量子算法所面临的挑战。
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引用次数: 1
The Design of a Virtual Prototyping System for Authoring Interactive VR Environments from Real World Scans 基于真实世界扫描的交互式虚拟现实环境的虚拟样机系统设计
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-07-18 DOI: 10.1115/1.4062970
Ananya Ipsita, Runlin Duan, Hao Li, Subramanian C, Yuanzhi Cao, Min Liu, Alexander J. Quinn, Karthik Ramani
Domain users (DUs) with a knowledge base in specialized fields are frequently excluded from authoring Virtual Reality (VR)-based applications in corresponding fields. This is largely due to the requirement of VR programming expertise needed to author these applications. To address this concern, we developed VRFromX, a system workflow design to make the virtual content creation process accessible to DUs irrespective of their programming skills and experience. VRFromX provides an in-situ process of content creation in VR that (a) allows users to select regions of interest in scanned point clouds or sketch in mid-air using a brush tool to retrieve virtual models, and (b) then attach behavioral properties to those objects. Using a welding use case, we performed a usability evaluation of VRFromX with 20 DUs from which 12 were novices in VR programming. Study results indicated positive user ratings for the system features with no significant differences across users with or without VR programming expertise. Based on the qualitative feedback, we also implemented two other use cases to demonstrate potential applications. We envision that the solution can facilitate the adoption of the immersive technology to create meaningful virtual environments.
具有专业领域知识库的领域用户(DU)经常被排除在相应领域基于虚拟现实(VR)的应用程序之外。这在很大程度上是由于编写这些应用程序需要VR编程专业知识。为了解决这一问题,我们开发了VRFromX,这是一种系统工作流设计,使DU无论其编程技能和经验如何,都可以访问虚拟内容创建过程。VRFromX提供了VR中内容创建的原位过程,该过程(a)允许用户使用画笔工具在扫描的点云中选择感兴趣的区域或在半空中绘制草图以检索虚拟模型,以及(b)然后将行为属性附加到这些对象。使用焊接用例,我们对VRFromX的20个DU进行了可用性评估,其中12个DU是VR编程的新手。研究结果表明,具有或不具有VR编程专业知识的用户对系统功能的评分为正,没有显著差异。基于定性反馈,我们还实现了另外两个用例来展示潜在的应用程序。我们设想该解决方案可以促进采用沉浸式技术来创建有意义的虚拟环境。
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引用次数: 1
The Role of Deep Learning in Manufacturing Applications: Challenges and Opportunities 深度学习在制造业应用中的作用:挑战与机遇
IF 3.1 3区 工程技术 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2023-07-11 DOI: 10.1115/1.4062939
R. Malhan, S. Gupta
There is a growing interest in using deep learning technologies within the manufacturing industry to improve quality, productivity, safety, and efficiency, while also reducing costs and cycle time. This paper discusses the primary applications of deep learning currently being employed, including identifying defects during high-mix production, optimizing processes, streamlining the supply chain, predicting maintenance needs, and recognizing human activity. The paper offers a brief summary of the various components of deep learning technology and their roles. Additionally, the paper draws attention to the current challenges and limitations that need to be addressed to fully realize the potential of deep learning technology in manufacturing. Lastly, several future directions for research within the field are proposed to further improve the use of deep learning in manufacturing.
人们对在制造业中使用深度学习技术来提高质量、生产率、安全性和效率越来越感兴趣,同时也降低了成本和周期时间。本文讨论了目前正在使用的深度学习的主要应用,包括在高混合生产中识别缺陷、优化流程、简化供应链、预测维护需求和识别人类活动。本文简要总结了深度学习技术的各个组成部分及其作用。此外,本文提请注意当前需要解决的挑战和限制,以充分发挥深度学习技术在制造业中的潜力。最后,提出了该领域未来的几个研究方向,以进一步提高深度学习在制造业中的应用。
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引用次数: 1
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