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2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)最新文献

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A mathematical model for surface roughness of ship hull grit blasting 船体喷砂表面粗糙度的数学模型
Xin Zheng, Sibao Wang, C. Chew, W. Lu
Surface cleaning and blasting for the ship hull of oil tankers and passenger ships are conventional operations in a ship yard with surface roughness requirements. Several process parameters affect the blasting quality outcome, such as the distance between the blasting nozzles and ship hull, feed rate of copper grit, grit size, etc. In this paper, a mathematical model is derived to describe the relationship between several input parameters and blasting quality. In addition, a blasting experiment is designed using the Taguchi method in order to reduce the number of experiments required for validating the proposed model. Due to resource and time constraints, the experiments will be carried out as future work.
油轮和客船的船体表面清洗和喷砂是对表面粗糙度有要求的船厂的常规作业。影响爆破质量结果的有几个工艺参数,如喷管与船体之间的距离、铜砂的进给量、砂粒度等。本文建立了一个数学模型来描述几个输入参数与爆破质量之间的关系。此外,为了减少验证所提出模型所需的实验次数,采用田口法设计了一个爆破实验。由于资源和时间的限制,实验将作为未来的工作进行。
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引用次数: 3
Multivariable GPC for processes with multiple time delays: Implementation issues 具有多个时间延迟的过程的多变量GPC:实现问题
A. Pawłowski, J. L. Guzmán, M. Berenguel, J. Normey-Rico, S. Dormido
In this work, implementation issues related to multivariable Generalized Predictive Control (GPC) for processes with multiple time delays are analyzed. Due to specific properties of those processes, the resulting control system has to account for the existing delays between control variables changes and their effect on controlled outputs. In the case of Model Predictive Control (MPC) techniques, such as GPC, the dead-time issue can be captured in the process model and thus considered in the predictive mechanism of the controller. However, this working principle results in augmented matrix dimensions that considers input-output time delays as additional zero entries. This fact increases the computational load and has to be accounted for in the control system design, specially in systems where computing resources are scarce (eg. embedded systems). The reduction of the matrix dimension, and hence the computation required, depends on how the delay terms are structured. The presented analysis considers two different GPC implementations for multivariable dead-time processes, which are used to compensate for internal matrix dimensions for the multiple time delays. Each implementation mode is evaluated for two industrial multivariable processes, providing several performance indexes. Performed simulations show that the required computational load can be reduced when adequate implementation mode is selected.
在这项工作中,分析了多变量广义预测控制(GPC)在多时滞过程中的实现问题。由于这些过程的特殊性质,所得到的控制系统必须考虑控制变量变化及其对被控输出的影响之间存在的延迟。在模型预测控制(MPC)技术中,如GPC,死区时间问题可以在过程模型中捕获,从而在控制器的预测机制中考虑。然而,这种工作原理会导致矩阵维度的增加,将输入-输出时间延迟视为额外的零条目。这一事实增加了计算负荷,必须在控制系统设计中加以考虑,特别是在计算资源稀缺的系统中。嵌入式系统)。矩阵维数的降低以及所需的计算量取决于延迟项的结构。本文的分析考虑了两种不同的多变量死时过程的GPC实现,这两种实现用于补偿多个时间延迟的内部矩阵维度。对两个工业多变量过程的每种实施模式进行了评估,提供了几个性能指标。仿真结果表明,选择适当的实现方式可以减少所需的计算负荷。
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引用次数: 1
Fuzzy control of an electrical energy generation system based on renewable sources 基于可再生能源发电系统的模糊控制
C. Vlad, M. Barbu, R. Vilanova
The control of low power systems, which include renewable energy sources, a local network, an electrochemical storage subsystem and a grid connection, is inherently hierarchical. The lower level consists on the control systems of wind sources (power limitation at rated value in full load regime and energy optimization in partial load regime) and photovoltaic (energy conversion optimization). The control problem at the higher level is treated in this paper and aims at generating the control solution for the energetic transfer between the system components, given that the powers of the renewable energy sources and the power in the local network are random variables. For the higher level, the paper proposes a mixed performance criterion, which includes an energy sub-criterion concerning the costs of electricity supplied to local consumers, and a sub-criterion related to the lifetime of the battery. It was defined an algorithm to control the energy transfer in the system, implemented by using fuzzy techniques and a deficit/surplus prediction of energy in the system.
低功率系统的控制,包括可再生能源,本地网络,电化学存储子系统和电网连接,本质上是分层的。下一层包括风源控制系统(满负荷时功率限制在额定值,部分负荷时能量优化)和光伏控制系统(能量转换优化)。本文研究的是更高层次的控制问题,其目的是在可再生能源功率和局域网络功率为随机变量的情况下,生成系统各组成部分之间能量传递的控制解。对于更高的层次,本文提出了一个混合性能标准,其中包括一个关于向当地消费者供电成本的能源子标准,以及一个与电池寿命相关的子标准。定义了一种控制系统能量传递的算法,该算法采用模糊技术和系统能量亏余预测来实现。
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引用次数: 1
Opportunistic preventive maintenance strategy of a multi-component system with hierarchical structure by simulation and evaluation 多部件分层结构系统的机会性预防性维修策略仿真与评估
Stéphane R. A. Barde, Hayong Shin, S. Yacout
Equipment usually consists of many components arranged in hierarchical structure. In order to achieve efficient maintenance strategy, the system hierarchy should be taken into account. In this paper, we first give a nomenclature to describe a system composed of multiple non-identical components in a hierarchical structure, the system for an age-based and an opportunistic preventive maintenance strategies is modeled by using a Markov Decision Process (MDP). Then, near-optimal policies are found through the SARSA(λ) algorithm from Reinforcement Learning (RL), where the expected discounted cost is minimized. Simulation experiments to compare near-optimal policies obtained by SARSA(λ) are performed for both strategies with corrective maintenance and with age-based preventive maintenance policy obtained from renewal reward theory. We show that the proposed opportunistic preventive maintenance outperforms other strategies.
设备通常由许多按层次结构排列的部件组成。为了实现高效的维护策略,需要考虑系统层次结构。本文首先给出了一个由多个不相同组件组成的分层结构系统的命名,并利用马尔可夫决策过程(MDP)对基于年龄和机会性预防性维护策略的系统进行了建模。然后,通过强化学习(RL)中的SARSA(λ)算法找到近似最优策略,其中期望贴现成本最小。在校正维修策略和基于年龄的预防性维修策略下,对SARSA(λ)算法得到的近最优策略进行了仿真实验比较。我们表明,所提出的机会预防性维护优于其他策略。
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引用次数: 7
A model-based approach for process monitoring in oil production industry 基于模型的石油生产过程监控方法
E. Irisarri, Marcelo V. García, F. Pérez, Elisabet Estévez-Estévez, M. Marcos
The basis for the fourth industrial revolution is the availability of accessing all relevant information in real time by connecting all instances involved in the value chain. The ultimate goal is to manage the entire value chain process, improving efficiencies in the production process and coming up with better products and services. The essence of vertical networking comes from the use of cyber-physical production systems (CPPSs) and vertical integration from sensors to the business level of the company. But in order to assure global interoperability, it is mandatory to use industrial standards to model the different views of stakeholders and communicate heterogeneous devices. This paper focuses on the field of process industry, particularly on the oil production process. A modeling approach based on industry standards is proposed. The final goal is to generate, from the models of the plant and data supplier devices, the OPC UA server configuration. The approach has been tested to model part of the Petroamazonas EP Company located in Ecuador.
第四次工业革命的基础是通过连接价值链中的所有实例来实时访问所有相关信息的可用性。最终目标是管理整个价值链过程,提高生产过程的效率,并提供更好的产品和服务。垂直网络的本质来自于网络物理生产系统(CPPSs)的使用,以及从传感器到公司业务层面的垂直集成。但是为了确保全局互操作性,必须使用工业标准对涉众的不同视图进行建模,并对异构设备进行通信。本文主要研究过程工业领域,特别是石油生产过程。提出了一种基于行业标准的建模方法。最终目标是从工厂和数据供应商设备的模型中生成OPC UA服务器配置。该方法已在位于厄瓜多尔的Petroamazonas EP公司的部分模型中进行了测试。
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引用次数: 12
Hand-guiding robots along predefined geometric paths under hard joint constraints 在硬关节约束下沿预定几何路径进行手动引导的机器人
M. Hanses, R. Behrens, N. Elkmann
In this paper a method is presented that allows an operator to hand-guide a robot along a predefined geometric path. This is a common use case in robot assisted surgery, which often has high demands on precision. In order to ensure the path accuracy of the robot, joint velocity and joint acceleration constraints are enforced to prevent undesired saturation effects of the actuators. Furthermore, necessary optimization steps are calculated in an offline phase and utilized during runtime to ensure realtime capabilities. The functionality of the method is evaluated using simulated sensor readings, controlling a kinematic model of the robot. While the focus is on surgical applications, the method can be useful in other domains as well, e.g. rehabilitation robotics or industrial applications.
本文提出了一种方法,允许操作员沿着预定义的几何路径手动引导机器人。这是机器人辅助手术的常见用例,通常对精度要求很高。为了保证机器人的路径精度,对关节速度和关节加速度进行了约束,以防止执行器产生不期望的饱和效应。此外,在脱机阶段计算必要的优化步骤,并在运行时使用,以确保实时功能。该方法的功能是评估使用模拟传感器读数,控制机器人的运动学模型。虽然重点是外科应用,但该方法也可用于其他领域,例如康复机器人或工业应用。
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引用次数: 11
Adaptive Fault Diagnoser based on PSO algorithm for a class of Timed Continuous Petri Nets 一类定时连续Petri网的PSO自适应故障诊断
Ricardo Casas Carrillo, O. Begovich, J. Ruiz-León, S. Čelikovský
This work is concerned with the implementation of an Adaptive Fault Diagnoser (AFD) for a system modeled by Timed Continuous Petri Nets under infinite server semantics, where the set of potential faults is a priori known, however their presence during system evolution, type, location, occurrence time, magnitude and behavior over time are unknown. There exist previous works reported in literature, where this problem has been solved, unfortunately the number of diagnosers used to detect, isolate and identify the fault is too large. Now, this work proposes a single diagnoser model where its structure is known and some of its parameters are updated depending on the fault occurrence. Considering this model, identification algorithms, based on heuristic optimization methods, are used to identify these unknown fault parameters. The analysis of the diagnoser parameters allows the faults detection, isolation and identification. The effectiveness of the proposed diagnoser is shown through two examples with different fault behaviors.
这项工作涉及到在无限服务器语义下由定时连续Petri网建模的系统的自适应故障诊断器(AFD)的实现,其中潜在故障集是先验已知的,但是它们在系统演化过程中的存在,类型,位置,发生时间,大小和随时间的行为是未知的。以前有文献报道的工作,解决了这个问题,遗憾的是用于检测、隔离和识别故障的诊断器数量太大。现在,这项工作提出了一个单一的诊断模型,它的结构是已知的,它的一些参数根据故障的发生而更新。针对该模型,采用基于启发式优化方法的识别算法对未知故障参数进行识别。通过对诊断参数的分析,实现故障的检测、隔离和识别。通过两个具有不同故障行为的实例,验证了该诊断方法的有效性。
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引用次数: 2
EPSCore: A didactic open architecture of an Evolvable Production System EPSCore:一个可进化生产系统的教学开放架构
R. Mendonça, A. Cavalcante, V. F. D. L. Junior
New production paradigms have been proposed along the industrial evolution in the attempt to solve problems like product customization, industrial manufacture of low quantities, and high variety of products in the same production plant (or even production line). Diverse architectures and devices have been used in order to achieve an optimum solution. Notably, the Evolvable Production Systems (EPS) proven to be an interesting alternative to deal with issues of mass customization. These systems make use of mechatronic and software agents to construct manufacturing plants, where the former may be associated to the systems' muscles (actuators and other mechanical devices), while the later are the systems' intelligence (software). Although such systems are becoming popular among many research groups all over the world, the construction of simulation plants capable of implementing the main EPS properties are not that easy. This paper describes a purpose of a Didactic Evolvable Production System, based on an open architecture, constructed purpose at the Federal University of Amazonas in Manaus - Brazil.
随着工业的发展,新的生产模式被提出,试图解决产品定制、在同一生产工厂(甚至生产线)中进行低数量的工业制造和产品品种多的问题。为了实现最佳的解决方案,已经使用了不同的架构和设备。值得注意的是,可进化生产系统(EPS)被证明是处理大规模定制问题的有趣替代方案。这些系统利用机电一体化和软件代理来构建制造工厂,其中前者可能与系统的肌肉(执行器和其他机械设备)相关,而后者则是系统的智能(软件)。虽然这种系统在世界各地的许多研究小组中越来越受欢迎,但能够实现EPS主要特性的模拟工厂的建设并不是那么容易。本文描述了在巴西马瑙斯的亚马逊联邦大学建立的基于开放架构的教学可进化生产系统的目的。
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引用次数: 2
Estimation of thermal conductivity for model with radiative heat transfer by extended Kalman filter 用扩展卡尔曼滤波估计辐射传热模型的导热系数
A. Yanou, N. Hosoya, K. Wada, M. Minami, T. Matsuno
This paper deals with estimation of thermal conductivity for temperature control of an aluminum plate considering radiative heat transfer. Aiming at accurate control results, model-based control method needs true values of plant parameters. In our previous research, the nominal values of plant parameters have been used for temperature control experiment. However, for the actual environment in industrial field, physical parameters such as thermal conductivity will change. Therefore this paper reports the estimation result of thermal conductivity of aluminum plate considering radiative heat transfer through experimental data.
本文研究了考虑辐射传热的铝板温度控制的导热系数估算。为了获得准确的控制结果,基于模型的控制方法需要对象参数的真实值。在我们之前的研究中,植物参数的标称值被用于温度控制实验。但对于工业现场的实际环境,导热系数等物理参数会发生变化。因此,本文报告了通过实验数据对考虑辐射传热的铝板导热系数的估算结果。
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引用次数: 1
Eboracum: An extensible framework for high-level modeling and evaluation of reactive and adaptable WSNs Eboracum:一个可扩展的框架,用于高级建模和评估反应性和适应性无线传感器网络
M. Marques, L. Brisolara, P. Ferreira, L. Indrusiak
Eboracum is an extensible modeling simulation framework for evaluation of reactive and adaptable wireless sensor networks (WSN), which provides high-level primitives for modeling platform and application aspects of WSNs. Combining application to environment-generated workload and computing/communication infrastructure, this framework allows to evaluate the efficiency of WSN configurations with regards to metrics that are meaningful to specific application domains and respective end-users. In this work, we demonstrate that Eboracum can be easily extended to support different types of nodes, events, as well as dynamic adaptability strategies. Moreover, this work discusses how to employ Eboracum to evaluate load balancing strategies and describe two different realistic scenarios, extending its primitives, for instance, to support mobile nodes and trigger events.
Eboracum是一个可扩展的用于评估响应式和自适应无线传感器网络(WSN)的建模仿真框架,它为WSN的建模平台和应用方面提供了高级原语。将应用程序与环境生成的工作负载和计算/通信基础设施相结合,该框架允许根据对特定应用领域和各自最终用户有意义的指标来评估WSN配置的效率。在这项工作中,我们证明了Eboracum可以很容易地扩展到支持不同类型的节点、事件以及动态自适应策略。此外,本工作还讨论了如何使用Eboracum来评估负载平衡策略并描述两种不同的现实场景,扩展其原语,例如,支持移动节点和触发事件。
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引用次数: 2
期刊
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)
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