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Deep Learning-Driven Design of Robot Mechanisms 机器人机构的深度学习驱动设计
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-05-18 DOI: 10.1115/1.4062542
A. Purwar, N. Chakraborty
In this paper we discuss the convergence of recent advances in deep neural networks (DNNs) with design of robotic mechanisms, which entails the conceptualization of the design problem as a learning problem from the space of design specifications to a parameterization of the space of mechanisms. We identify three key inter-related problems that are at the forefront of using the versatility of DNNs in solving mechanism design problems. The first problem is that of representation of mechanisms and their design specifications, where the representation challenges arise primarily from the non-Euclidean nature of the data. The second problem is that of developing the mapping from the space of design specifications to the mechanisms where, ideally, we would like to synthesize both type and dimensions of the mechanism for a wide variety of design specifications including path synthesis, motion synthesis, constraints on pivot locations, etc. The third problem is that of designing the neural network architecture for end-to-end training and generation of multiple candidate mechanisms for a given design specification. We also present a brief overview of the state-of-the-art on each of these problems and identify questions of potential interest to the research community.
在本文中,我们讨论了深度神经网络(dnn)与机器人机构设计的最新进展的收敛性,这需要将设计问题概念化为从设计规范空间到机构空间参数化的学习问题。我们确定了三个关键的相互关联的问题,这些问题处于使用深度神经网络的多功能性来解决机制设计问题的前沿。第一个问题是机制的表示及其设计规范,其中表示挑战主要来自数据的非欧几里得性质。第二个问题是开发从设计规范空间到机构的映射,理想情况下,我们希望综合机构的类型和尺寸,以适应各种设计规范,包括路径综合,运动综合,枢轴位置约束等。第三个问题是为给定的设计规范设计端到端训练和生成多个候选机制的神经网络体系结构。我们还简要概述了这些问题的最新进展,并确定了研究界可能感兴趣的问题。
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引用次数: 0
Assistive Sensory Feedback for Trajectory Tracking in Augmented Reality 增强现实中用于轨迹跟踪的辅助感觉反馈
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-05-16 DOI: 10.1115/1.4062543
I-Jan Wang, Lifen Yeh, Chih-Hsing Chu, Yan-Ting Huang
In recent years, Augmented Reality (AR) has been successfully applied in various fields to assist in the execution of manual tasks. However, there is still a lack of complete set of criteria for interface design for generating real-time interactive functions and effectively improving the task efficiency through AR. In this study, subjects performed two kinds of trajectory tracking tasks in AR, the simple trajectory and complex trajectory. Their task performance under five different sensory feedbacks, namely, central vision, peripheral vision, auditory sensation, tactile sensation and no feedback, were compared. The results show that in the trajectory tracking task in complex trajectories, the feedback information should not only provide prompts of error states, but also provide suggestions for correcting the actions to the subjects. In addition, compared with visual sensation and auditory sensation, the feedback information of tactile sensation has better adaptation. Furthermore, the subjects tend to rely on the real-time feedback of tactile sensation to complete difficult tasks. It was found that in the manual trajectory tracking task, determining whether the trajectory tracking task is within the acceptable trajectory range will be affected by the postures subjects use for the tasks, and will change the task performance. Therefore, it is suggested that when designing auxiliary functions, the limitations of the postures of the task should be considered. The experimental results and findings obtained in this study can provide a reference for the auxiliary interface design of manual tasks in AR.
近年来,增强现实(AR)已成功应用于各个领域,以帮助执行手动任务。然而,通过AR生成实时交互函数并有效提高任务效率的界面设计仍然缺乏一套完整的标准。本研究中,受试者在AR中执行了两种轨迹跟踪任务,即简单轨迹和复杂轨迹。比较了他们在中心视觉、周边视觉、听觉、触觉和无反馈五种不同感觉反馈下的任务表现。结果表明,在复杂轨迹中的轨迹跟踪任务中,反馈信息不仅要提供错误状态的提示,还要为被试纠正行为提供建议。此外,与视觉和听觉相比,触觉的反馈信息具有更好的适应性。此外,受试者倾向于依靠触觉的实时反馈来完成困难的任务。研究发现,在手动轨迹跟踪任务中,确定轨迹跟踪任务是否在可接受的轨迹范围内会受到受试者用于任务的姿势的影响,并会改变任务性能。因此,建议在设计辅助功能时,应考虑任务姿势的限制。本研究的实验结果和发现可为AR中手动任务的辅助界面设计提供参考。
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引用次数: 0
Carbon Neutrality: A Review 碳中和:综述
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-05-16 DOI: 10.1115/1.4062545
Bin He, Xin Yuan, Shusheng Qian, Bi Li
The introduction of the idea of “carbon neutrality” gives the development of low carbon and decarbonization a defined path. Climate change is a significant worldwide concern. To offer a theoretical foundation for the implementation of carbon reduction, this research first analyzes the idea of carbon footprinting, accounting techniques, and supporting technologies. The next section examines carbon emission reduction technologies in terms of lowering emissions and raising carbon sequestration. Digital intelligence technologies like the Internet of Things, big data, and artificial intelligence will be crucial throughout the process of reducing carbon emissions. The implementation pathways for increasing carbon sequestration primarily include ecological and technological carbon sequestration. Nevertheless, proving carbon neutrality requires measuring and monitoring greenhouse gas emissions from several industries, which makes it a challenging undertaking. Intending to increase the effectiveness of carbon footprint measurement, this study created a web-based program for computing and analyzing the whole life-cycle carbon footprint of items. The practical applications and difficulties of digital technologies, such as blockchain, the Internet of Things, and artificial intelligence in achieving a transition to carbon neutrality are also reviewed, and additional encouraging research ideas and recommendations are made to support the development of carbon neutrality.
“碳中和”理念的引入,为低碳和脱碳的发展提供了明确的路径。气候变化是一个全球性的重大问题。为了给碳减排的实施提供理论基础,本研究首先分析了碳足迹的概念、核算方法和配套技术。下一节从降低排放和提高碳固存的角度考察碳减排技术。物联网、大数据和人工智能等数字智能技术将在减少碳排放的整个过程中发挥关键作用。增加固碳的实施途径主要包括生态固碳和技术固碳。然而,证明碳中和需要测量和监测几个行业的温室气体排放,这使得它成为一项具有挑战性的任务。为了提高碳足迹测量的有效性,本研究创建了一个基于网络的程序,用于计算和分析项目的整个生命周期的碳足迹。报告还回顾了区块链、物联网和人工智能等数字技术在实现碳中和转型中的实际应用和困难,并提出了其他令人鼓舞的研究思路和建议,以支持碳中和的发展。
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引用次数: 1
Impedance Sensitivity Analysis Based on Discontinuous Isogeometric Boundary Element Method in Automotive Acoustics 基于不连续等几何边界元法的汽车声学阻抗灵敏度分析
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-05-16 DOI: 10.1115/1.4062544
Yi Sun, Liping Xie, Chihua Lu, Zhien Liu, Wan Chen, Xiaolong Li
Acoustic sensitivity analysis is an essential technique to determine the direction of structural-acoustic optimization by evaluating the gradient of the objective functions with respect to the design variables. However, acoustic sensitivity analysis with respect to acoustic impedance, which is an important parameter representing the interior absorbent material in automotive acoustics, is lacking in the study. Moreover, acoustic sensitivity analysis implemented with conventional numerical methods is time and effort-consuming in automotive acoustics, due to the large-scale mesh generation. In this work, the impedance sensitivity analysis for automotive acoustics based on the discontinuous isogeometric boundary element method is presented. The regularized boundary integral equation with impedance boundary conditions is established, then the sensitivity is derived by differentiating the boundary integral equation. The efficiency of the proposed method is improved by employing the parallel technique and generalized minimal residual solver. A long duct example with an analytical solution validates the accuracy of the proposed method, and an automotive passenger compartment subjecting to impedance boundary conditions illustrates that the computing time of the proposed method is one order of magnitude less than the conventional method. This work presents an easily implementable and efficient tool to investigate acoustic sensitivity with respect to impedance, showing great potential in the application of automotive acoustics.
声灵敏度分析是通过评价目标函数相对于设计变量的梯度来确定结构声优化方向的一项重要技术。然而,作为汽车声学中代表车内吸声材料的重要参数,声阻抗的声灵敏度分析在研究中缺乏。此外,在汽车声学中,由于需要进行大规模网格生成,采用传统数值方法进行声灵敏度分析费时费力。本文提出了基于不连续等几何边界元法的汽车声学阻抗灵敏度分析方法。建立了带阻抗边界条件的正则化边界积分方程,通过对边界积分方程求导得到了灵敏度。采用并行技术和广义最小残差求解器,提高了算法的效率。长风道算例的解析解验证了所提方法的准确性,一个具有阻抗边界条件的汽车客舱实例表明,所提方法的计算时间比传统方法少一个数量级。这项工作提供了一种易于实现和有效的工具来研究相对于阻抗的声灵敏度,在汽车声学的应用中显示出巨大的潜力。
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引用次数: 0
Harnessing Multi-Domain Knowledge for User-Centric Product Conceptual Design 利用多领域知识进行以用户为中心的产品概念设计
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-05-03 DOI: 10.1115/1.4062456
Xin-biao Guo, Zechuan Huang, Ying Liu, Wu Zhao, Zeyuan Yu
Conceptual design is the design phase that deploys product functions and structures based on user requirements and ultimately generates conceptual design solutions. The increasing diversification of products has led to the promotion of customized design that involves deep user participation. As a result, there has been a growing focus on user-centric conceptual design. In this regard, the relationship among users, designers, and design solutions has been subtly changed, which has brought challenges to the traditional designer-oriented design model. To address the complex understanding and decision-making problem caused by deeper user participation, emerging new user-centric product conceptual design models need to be discussed. In the new design model, addressing the changing or growing requirements of users through the design of solutions and leveraging multidisciplinary knowledge to guide the conceptual design process are the critical areas of focus. To further describe this design model, this paper examines the user-centric interconnection among users, designers, design solutions, and multi-domain knowledge. In order to optimize design solutions, the solution resolution process and knowledge mapping based on design deviations are considered effective approaches. In addition, the paper also presents the types of design deviations and the multi-domain knowledge support techniques.
概念设计是根据用户需求部署产品功能和结构并最终产生概念设计解决方案的设计阶段。产品的日益多样化导致了用户深度参与的定制设计的推广。因此,人们越来越关注以用户为中心的概念设计。在这方面,用户、设计师和设计方案之间的关系已经发生了微妙的变化,这给传统的以设计师为导向的设计模式带来了挑战。为了解决更深层次的用户参与所带来的复杂理解和决策问题,需要讨论以用户为中心的新产品概念设计模型。在新的设计模型中,通过解决方案的设计来解决用户不断变化或增长的需求,并利用多学科知识来指导概念设计过程是重点关注的关键领域。为了进一步描述这个设计模型,本文考察了用户、设计师、设计方案和多领域知识之间以用户为中心的互连。为了优化设计方案,基于设计偏差的方案解析过程和知识映射被认为是有效的方法。此外,本文还介绍了设计偏差的类型和多领域知识支持技术。
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引用次数: 1
Combinational Framework for Classification of Bearing Faults in Rotating Machines 旋转机械轴承故障分类的组合框架
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-05-03 DOI: 10.1115/1.4062453
Sujit Kumar, D. Ganga
In rotating machines, roller bearings are important and prone to frequent faults. Hence, accurate classification of bearing faults is significant in maintenance of machines. Towards this, a framework using the combination of signal processing, machine learning and deep learning algorithms has been proposed in contrast to traditional approaches. The benefits of each algorithm have been reaped in the proposed framework to overcome challenges met in fault identification. In this, Ensemble Empirical Mode Decomposition is applied on bearing vibration signals to reduce non-stationarity and noise. The 12 Intrinsic Mode Function (IMF) signals of 24k length obtained for 3 bearing conditions at 4 speeds constituted feature space of dimension [36*8*24000]. IMFs that have highest correlation coefficient with raw vibration signals are selected as features [3*8*24000] and intelligent algorithms are applied. Application of Principal Component Analysis on selected IMF feature space resulted in extraction of significant features retaining temporal characteristics along 2 major components [3*2*24000]. Considering the temporal dependence of faults in signals, a Stacked Long Short Term Memory (LSTM) deep network is chosen and trained with extracted features to improve fault classification. The performance of this developed framework has been evaluated for different metrics of stacked LSTM model. The proposed framework also satisfactorily surpassed the performance of stacked LSTM model trained with raw data, capable of auto-feature learning. The comparative results inclusive of models in relevant literature illustrate efficacy of developed combinational framework in handling dynamic vibration data for precise classification of bearing faults.
在旋转机械中,滚子轴承是重要的,容易发生频繁故障。因此,轴承故障的准确分类在机器维修中具有重要意义。为此,与传统方法相比,提出了一种结合信号处理、机器学习和深度学习算法的框架。该框架充分利用了各算法的优点,克服了故障识别中遇到的挑战。在此基础上,对轴承振动信号进行集成经验模态分解,以降低非平稳性和噪声。在4种转速下3种轴承工况下得到的12个24k长度的IMF信号构成了维数为[36*8*24000]的特征空间。选取与原始振动信号相关系数最高的imf作为特征[3*8*24000],并应用智能算法。对选定的IMF特征空间进行主成分分析,提取出沿2个主成分[3*2*24000]保留时间特征的重要特征。考虑信号中故障的时间依赖性,选择堆叠长短期记忆(LSTM)深度网络,并利用提取的特征对其进行训练,提高故障分类能力。针对不同的堆叠LSTM模型指标,对该框架的性能进行了评价。该框架还令人满意地超越了使用原始数据训练的堆叠LSTM模型的性能,能够自动学习特征。与相关文献模型的对比结果表明,所开发的组合框架在处理动态振动数据以精确分类轴承故障方面是有效的。
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引用次数: 0
Exploring the Intersection of Metaverse, Digital Twins, and Artificial Intelligence in Training and Maintenance 探索虚拟世界、数字孪生和人工智能在培训和维护中的交集
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-05-03 DOI: 10.1115/1.4062455
M. Bordegoni, F. Ferrise
As technology advances, we are surrounded by more complex products that can be challenging to use and troubleshoot. We often turn to online resources and the help of others to learn how to use a product's features or fix malfunctions. This is a common issue in both everyday life and industry. The key to be able to use a product or fix malfunctions is having access to accurate information and instructions and to gain the necessary skills to perform the tasks correctly. This paper offers an overview of how Artificial Intelligence, Digital Twins, and the Metaverse - currently popular technologies - can enhance the process of acquiring knowledge, know-how, and skills, with a focus on industrial maintenance. However, the concepts discussed may also be applicable to the maintenance of consumer products.
随着技术的进步,我们被更复杂的产品所包围,这些产品的使用和故障排除可能具有挑战性。我们经常求助于在线资源和他人的帮助来学习如何使用产品的功能或修复故障。这在日常生活和工业中都是一个常见的问题。能够使用产品或修复故障的关键是能够访问准确的信息和说明,并获得正确执行任务所需的技能。本文概述了当前流行的人工智能、数字孪生和元宇宙技术如何增强获取知识、专有技术和技能的过程,重点是工业维护。然而,所讨论的概念也可能适用于消费品的维护。
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引用次数: 5
Pointing Tasks Using Spatial Audio on Smartphones for People With Vision Impairments 视觉障碍人士在智能手机上使用空间音频的指向任务
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-04-27 DOI: 10.1115/1.4062426
Abhijeet S. Raina, Ronak R. Mohanty, Abhirath Bhuvanesh, Divya Prabha J, Manohar Swaminathan, Vinayak R. Krishnamurthy
We present an experimental investigation of spatial audio feedback using smartphones to support direction localization in pointing tasks for people with visual impairments (PVIs). We do this using a mobile game based on a bow-and-arrow metaphor. Our game provides a combination of spatial and non-spatial (sound beacon) audio to help the user locate the direction of the target. Our experiments with sighted, sighted-blindfolded, and visually impaired users shows that (a) the efficacy of spatial audio is relatively higher for PVIs than for blindfolded sighted users during the initial reaction time for direction localization, (b) the general behavior between PVIs and blind-folded individuals is statistically similar, and (c) the lack of spatial audio significantly reduces the localization performance even in sighted blind-folded users. Based on our findings, we discuss the system and interaction design implications for making future mobile-based spatial interactions accessible to PVIs.
我们提出了一项实验研究,利用智能手机的空间音频反馈来支持视觉障碍(PVIs)的指向任务中的方向定位。我们使用基于弓箭比喻的手机游戏来做到这一点。我们的游戏提供了空间和非空间(声音信标)音频的组合,以帮助用户定位目标的方向。我们对正常、盲视和视障用户的实验表明:(a)在定位方向的初始反应时间内,空间音频对视障用户的效果相对高于蒙眼视障用户;(b)视障用户与蒙眼视障用户的总体行为具有统计学上的相似性;(c)即使蒙眼视障用户,空间音频的缺乏也会显著降低定位性能。基于我们的研究结果,我们讨论了系统和交互设计的含义,使未来基于移动的空间交互对PVIs无障碍。
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引用次数: 0
Fuzzy Recurrence Plots for Shallow Learning-Based Blockage Detection in a Centrifugal Pump Using Pre-Trained Image Recognition Models 基于预训练图像识别模型的离心泵浅学习阻塞检测的模糊递归图
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-04-27 DOI: 10.1115/1.4062425
Nagendra Singh Ranawat, Jatin Prakash, Ankur Miglani, P. K. Kankar
Rags, dusts, foreign particles etc. are primary cause of blockage in centrifugal pump and deteriorates the performance. This study elaborates an experimental and data-driven methodology to identify suction, discharge and simultaneous occurrence of both blockages. The discharge pressure signals are acquired and denoised using CEEMD. The fuzzy recurrence plots obtained from denoised signals are attempted to classify using three pre-trained models: Xception, GoogleNet and Inception. None of these models are trained on such images, thus, features are extracted from different pooling layers which include shallow features too. The features extracted from different layers are fed to four shallow learning classifiers: Quadratic SVM, Weighted KNN, Narrow Neural network, and subspace discriminant classifier. The study finds that subspace discriminant achieves highest accuracy of 97.8% when trained using features from second pooling of Xception model. Furthermore, this proposed methodology is implemented at other blockage condition of the pump. The subspace discriminant analysis outperforms the other selected shallow classifier with an accuracy of 93% for the features extracted from the first pooling layer of the Xception model. Therefore, this study demonstrates an efficient method to identify pump blockage using pre-trained and shallow classifiers.
碎布、灰尘、外来颗粒等是造成离心泵堵塞和性能下降的主要原因。本研究详细阐述了一种实验和数据驱动的方法来识别吸入、排出和同时发生的两种阻塞。利用CEEMD对放电压力信号进行采集和去噪。利用Xception、GoogleNet和Inception三种预训练模型对去噪后的模糊递归图进行分类。这些模型都没有在这些图像上进行训练,因此,从不同的池化层中提取特征,其中也包括浅特征。从不同层提取的特征被馈送到四个浅学习分类器:二次支持向量机、加权KNN、窄神经网络和子空间判别分类器。研究发现,使用Xception模型的二次池化特征训练子空间判别器,准确率达到97.8%。此外,该方法还适用于泵的其他堵塞情况。子空间判别分析优于其他选择的浅分类器,从Xception模型的第一个池化层提取的特征的准确率为93%。因此,本研究展示了一种使用预训练和浅层分类器识别泵堵塞的有效方法。
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引用次数: 0
Digital Twin-Driven Product Sustainable Design for Low Carbon Footprint 低碳足迹的数字双驱动产品可持续设计
IF 3.1 3区 工程技术 Q1 Computer Science Pub Date : 2023-04-27 DOI: 10.1115/1.4062427
Bin He, Hangyu Mao
Product sustainability is a pressing global issue that requires urgent improvement, and low-carbon design is a crucial approach towards achieving sustainable product development. Digital twin technology, which connects the physical and virtual worlds, has emerged as an effective tool for supporting product design and development. However, obtaining accurate product parameters remains a challenge, and traditional low-carbon product design primarily focuses on design parameters. To address these issues, this paper proposes a method for data collection throughout the product lifecycle, leveraging the Internet of Things. The paper envisions the automatic collection of product lifecycle data to enhance the accuracy of product design. Moreover, traditional low-carbon design often has a limited scope that primarily considers product structure and lifecycle stage for optimization. In contrast, combining digital twin technology with low-carbon design can effectively improve product sustainability. Therefore, this paper proposes a three-layer architecture model of product sustainability digital twin, comprising data layer, mapping layer, and application layer. This model sets the carbon footprint as the iterative optimization goal and facilitates the closed-loop sustainable design of the product. The paper envisions sustainable product design based on digital twins that can address cascading problems and achieve closed-loop sustainable design.
产品的可持续性是一个迫切需要改进的全球性问题,而低碳设计是实现可持续产品开发的关键途径。连接物理世界和虚拟世界的数字孪生技术已经成为支持产品设计和开发的有效工具。然而,获得准确的产品参数仍然是一个挑战,传统的低碳产品设计主要侧重于设计参数。为了解决这些问题,本文提出了一种利用物联网在整个产品生命周期中收集数据的方法。本文设想了产品生命周期数据的自动采集,以提高产品设计的准确性。此外,传统的低碳设计往往范围有限,主要考虑产品结构和生命周期阶段进行优化。相比之下,将数字孪生技术与低碳设计相结合可以有效地提高产品的可持续性。为此,本文提出了产品可持续性数字孪生的三层架构模型,包括数据层、映射层和应用层。该模型以碳足迹为迭代优化目标,有利于产品闭环可持续设计。本文设想了基于数字孪生的可持续产品设计,可以解决级联问题,实现闭环可持续设计。
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引用次数: 1
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