Pub Date : 2018-08-01DOI: 10.1109/COASE.2018.8560528
Sican Cao, Long Wen, Xinyu Li, Liang Gao
Fault diagnosis has attracted great attention on preventing the serious consequences from happening and guaranteeing the stability and reliability of machinery equipment. With the rapid development of artificial intelligence, Deep Learning (DL) based approaches begin to play great importance in the field of fault diagnosis. In this research, we proposed an image conversion pre-processing method to transform the time-domain signals of fault diagnosis into 2D images. And a designed structure of Generative Adversarial Networks (GAN) modeled by Convolutional Neural Network (CNN) is proposed to make the classification of fault. Datasets with different capacities are also experimented to study the performance of GAN on limited data. The results illustrate the potential of GAN on the small sample classification of fault diagnosis.
{"title":"Application of Generative Adversarial Networks for Intelligent Fault Diagnosis","authors":"Sican Cao, Long Wen, Xinyu Li, Liang Gao","doi":"10.1109/COASE.2018.8560528","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560528","url":null,"abstract":"Fault diagnosis has attracted great attention on preventing the serious consequences from happening and guaranteeing the stability and reliability of machinery equipment. With the rapid development of artificial intelligence, Deep Learning (DL) based approaches begin to play great importance in the field of fault diagnosis. In this research, we proposed an image conversion pre-processing method to transform the time-domain signals of fault diagnosis into 2D images. And a designed structure of Generative Adversarial Networks (GAN) modeled by Convolutional Neural Network (CNN) is proposed to make the classification of fault. Datasets with different capacities are also experimented to study the performance of GAN on limited data. The results illustrate the potential of GAN on the small sample classification of fault diagnosis.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"15 1","pages":"711-715"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73025201","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560437
Xiaolong Yu, Rongchuan Wang, Yungao Shi, K. Zhu
The adaptive and on-line tool wear monitoring is of great importance to improve the milling precision and efficiency. In traditional tool wear monitoring, feature extraction of cutting force signal by time-frequency method was usually off-line and needed signal reconstruction. In this paper, a novel online tool wear monitoring method is proposed. In the method, the sparse coefficients is measured by sparse coding based on DCT and WPD and then utilized to indicate the tool wear level without signal reconstruction. Experiments of tool wear monitoring are conducted for high speed CNC manufacturing. The simulation results show that the proposed method is capable to indicate tool wear level and robust to cutting conditions
{"title":"On-line Tool Wear Monitoring via Sparse Coding Based on DCT and WPD","authors":"Xiaolong Yu, Rongchuan Wang, Yungao Shi, K. Zhu","doi":"10.1109/COASE.2018.8560437","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560437","url":null,"abstract":"The adaptive and on-line tool wear monitoring is of great importance to improve the milling precision and efficiency. In traditional tool wear monitoring, feature extraction of cutting force signal by time-frequency method was usually off-line and needed signal reconstruction. In this paper, a novel online tool wear monitoring method is proposed. In the method, the sparse coefficients is measured by sparse coding based on DCT and WPD and then utilized to indicate the tool wear level without signal reconstruction. Experiments of tool wear monitoring are conducted for high speed CNC manufacturing. The simulation results show that the proposed method is capable to indicate tool wear level and robust to cutting conditions","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"418 1","pages":"1046-1051"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79508333","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560434
Efe C. Balta, D. Tilbury, K. Barton
In most industrial additive manufacturing (AM) applications a set of AM machines (AM-Fleet) are used in parallel. An AM-Fleet often consists of machines from various vendors and may include different AM processes. AM processes often suffer from poor repeatability within a single build, between builds on the same machine, and from machine to machine. AM's lack of robustness is often attributed to insufficient in-process monitoring and feedback control, as well as unknown modeling dynamics, and a lack of process standards. To effectively monitor and control AM-Fleets, system-level approaches must be devised. In this work, a centralized approach is proposed for the system-level control and management of AM-Fleets. Integrating such an approach has advantages in terms of system-level intelligent decision making for AM-Fleets. Key problems that needs to be solved and the challenges for a centralized approach are discussed in this work. The architecture of the proposed framework is presented with discussions on the individual components. A discrete event model for the system-level monitoring and control of AM machines is also proposed to support the presented framework. The use of discrete event models creates an abstract representation of the AM machine that enables the supervision of the physical system. An illustrative example that demonstrates a system-level run-to-run anomaly detection case is discussed. The proposed framework will provide an analytical foundation for systematic anomaly detection, scheduling, and decision making in AM-Fleets.
{"title":"A Centralized Framework for System-Level Control and Management of Additive Manufacturing Fleets","authors":"Efe C. Balta, D. Tilbury, K. Barton","doi":"10.1109/COASE.2018.8560434","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560434","url":null,"abstract":"In most industrial additive manufacturing (AM) applications a set of AM machines (AM-Fleet) are used in parallel. An AM-Fleet often consists of machines from various vendors and may include different AM processes. AM processes often suffer from poor repeatability within a single build, between builds on the same machine, and from machine to machine. AM's lack of robustness is often attributed to insufficient in-process monitoring and feedback control, as well as unknown modeling dynamics, and a lack of process standards. To effectively monitor and control AM-Fleets, system-level approaches must be devised. In this work, a centralized approach is proposed for the system-level control and management of AM-Fleets. Integrating such an approach has advantages in terms of system-level intelligent decision making for AM-Fleets. Key problems that needs to be solved and the challenges for a centralized approach are discussed in this work. The architecture of the proposed framework is presented with discussions on the individual components. A discrete event model for the system-level monitoring and control of AM machines is also proposed to support the presented framework. The use of discrete event models creates an abstract representation of the AM machine that enables the supervision of the physical system. An illustrative example that demonstrates a system-level run-to-run anomaly detection case is discussed. The proposed framework will provide an analytical foundation for systematic anomaly detection, scheduling, and decision making in AM-Fleets.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"32 2 1","pages":"1071-1078"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75785596","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560540
M. Saadatzi, S. Das, Indika B. Wijayasinghe, D. Popa, J. Baptist
Grippers equipped with tactile sensors are very important in high performance robotic manipulation tasks, where the robot must adapt to shape and characteristics of unknown objects. Such adaptability reduces cycle time and cost, eliminates the need for customization and tool changers, and enhances the automation process. In addition, while handling fragile objects, it may be necessary to regulate the grip force to avoid slipping, dropping, or breaking the object being manipulated. In this study, a pneumatic gripper was augmented with a novel custom-fabricated compliant skin sensor packaged in the gripper fingertip. The sensor is a strain gauge printed onto a Kapton substrate, patterned with a polymer piezo-resistive material, and encased in an elastic Silicone encapsulant. Using feedback from this sensor, a model-free explicit force control scheme was implemented and compared to the native pressure regulation scheme to control gripping force. Experiments were performed to investigate the performance of this gripper compared against similar data obtained from a commercial load cell. Results indicate that the augmented gripper can maintain a more precise control of the force applied and can better accommodate grasp transitions.
{"title":"Precision Grasp Control with a Pneumatic Gripper and a Novel Fingertip Force Sensor","authors":"M. Saadatzi, S. Das, Indika B. Wijayasinghe, D. Popa, J. Baptist","doi":"10.1109/COASE.2018.8560540","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560540","url":null,"abstract":"Grippers equipped with tactile sensors are very important in high performance robotic manipulation tasks, where the robot must adapt to shape and characteristics of unknown objects. Such adaptability reduces cycle time and cost, eliminates the need for customization and tool changers, and enhances the automation process. In addition, while handling fragile objects, it may be necessary to regulate the grip force to avoid slipping, dropping, or breaking the object being manipulated. In this study, a pneumatic gripper was augmented with a novel custom-fabricated compliant skin sensor packaged in the gripper fingertip. The sensor is a strain gauge printed onto a Kapton substrate, patterned with a polymer piezo-resistive material, and encased in an elastic Silicone encapsulant. Using feedback from this sensor, a model-free explicit force control scheme was implemented and compared to the native pressure regulation scheme to control gripping force. Experiments were performed to investigate the performance of this gripper compared against similar data obtained from a commercial load cell. Results indicate that the augmented gripper can maintain a more precise control of the force applied and can better accommodate grasp transitions.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"82 1","pages":"1454-1459"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78914991","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560412
Teng Wan, Xingzheng Chen, C. Li, Ying Tang
In a CNC batch process, excessive tool wear will lead to a bad surface quality of the final product. On-line tool wear monitoring is recognized as an effective method to reduce the impact of the tool wear on surface quality. In this paper, a cutting power model is firstly established with the consideration of tool wear and cutting parameters. A novel on-line tool wear monitoring approach for CNC batch processing is then proposed and a monitoring system is developed. Result of the case study shows that the proposed approach is effective in tool wear on-line monitoring.
{"title":"An on-line tool wear monitoring method based on cutting power","authors":"Teng Wan, Xingzheng Chen, C. Li, Ying Tang","doi":"10.1109/COASE.2018.8560412","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560412","url":null,"abstract":"In a CNC batch process, excessive tool wear will lead to a bad surface quality of the final product. On-line tool wear monitoring is recognized as an effective method to reduce the impact of the tool wear on surface quality. In this paper, a cutting power model is firstly established with the consideration of tool wear and cutting parameters. A novel on-line tool wear monitoring approach for CNC batch processing is then proposed and a monitoring system is developed. Result of the case study shows that the proposed approach is effective in tool wear on-line monitoring.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"211 1","pages":"205-210"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80691323","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560478
S. Reveliotis
Guidepath-based transport systems is a pertinent abstraction for the traffic that is generated in many contemporary applications, ranging from industrial material handling and robotics, to computer game animations and the qubit transport systems that are employed in quantum computing. In some recent works of ours, we have proposed the traffic coordination in this class of systems according to a model predictive control (MPC) scheme that seeks to maximize the traffic throughput while retaining computational tractability for the corresponding scheduling problem. In this work we perform a more systematic investigation of the conditions that must be observed by the adopted MPC scheme in order to ensure the liveness of the resulting traffic. The presented results span a number of possible configurations of the underlying guidepath-based transport systems, and integrate and extend a variety of past results concerning the liveness-enforcing supervision of AGV and other complex resource allocation systems.1
{"title":"Preservation of Traffic Liveness in MPC Schemes for Guidepath-based Transport Systems","authors":"S. Reveliotis","doi":"10.1109/COASE.2018.8560478","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560478","url":null,"abstract":"Guidepath-based transport systems is a pertinent abstraction for the traffic that is generated in many contemporary applications, ranging from industrial material handling and robotics, to computer game animations and the qubit transport systems that are employed in quantum computing. In some recent works of ours, we have proposed the traffic coordination in this class of systems according to a model predictive control (MPC) scheme that seeks to maximize the traffic throughput while retaining computational tractability for the corresponding scheduling problem. In this work we perform a more systematic investigation of the conditions that must be observed by the adopted MPC scheme in order to ensure the liveness of the resulting traffic. The presented results span a number of possible configurations of the underlying guidepath-based transport systems, and integrate and extend a variety of past results concerning the liveness-enforcing supervision of AGV and other complex resource allocation systems.1","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"5 1","pages":"520-527"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75140864","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560421
Felix Lorenz, H. Schlingloff
In this paper, we introduce real-valued temporal logic (RVTL) for online monitoring of reactive and cyber-physical systems. Our approach is based on classical metric temporal logic (MTL) with a real-valued semantics, where the truth value of a formula with respect to a finite trace depends on the distance between the end of the trace and the bound of the temporal operators in the formula. The assumed time model is dense and pointwise, i.e., the basic propositions refer to events reported by the system at specific times. We show that our logic is applicable for collaborating cyber-physical systems by giving example formulae from a case study of autonomous transport robots in a factory. We sketch an algorithm for monitoring RVTL formulae at runtime, and report on experiences with this algorithm in an actual industrial deployment of the case study.
{"title":"Online-Monitoring Autonomous Transport Robots with an R-valued Temporal Logic","authors":"Felix Lorenz, H. Schlingloff","doi":"10.1109/COASE.2018.8560421","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560421","url":null,"abstract":"In this paper, we introduce real-valued temporal logic (RVTL) for online monitoring of reactive and cyber-physical systems. Our approach is based on classical metric temporal logic (MTL) with a real-valued semantics, where the truth value of a formula with respect to a finite trace depends on the distance between the end of the trace and the bound of the temporal operators in the formula. The assumed time model is dense and pointwise, i.e., the basic propositions refer to events reported by the system at specific times. We show that our logic is applicable for collaborating cyber-physical systems by giving example formulae from a case study of autonomous transport robots in a factory. We sketch an algorithm for monitoring RVTL formulae at runtime, and report on experiences with this algorithm in an actual industrial deployment of the case study.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"133 1","pages":"1093-1098"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77976961","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560486
Lim Byung
By using Virtual Reality(VR) technology which is one of the core technologies 4th industry revolution, we are developing VR System development for Nuclear power plants from April 2018 to March 2021. This Research and Development(R&D) project includes VR based “Walk-down System development”, “optimal path tracking system development”, “major equipment transfer and installation simulation”, etc. When fully developed, These R&D results will be applied the construction of the Shin-Kori unit 5,6 nuclear power plant construction to check design interference, to establish work planning, and to effectively collect construction experience knowledges to improve our future construction projects in the future. This paper will introduce major technological developments contents of this R&D project. It is expected that the results of this study will contribute dramatically to enhance the efficiency of nuclear power plant design process and the method of construction by simulating installation method of major equipment such as reactor, steam generators and turbine before installing them in the Shin-Kori unit 5,6.
{"title":"The introduction of VR System development for Nuclear Power Plant(NPP) in Korea*","authors":"Lim Byung","doi":"10.1109/COASE.2018.8560486","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560486","url":null,"abstract":"By using Virtual Reality(VR) technology which is one of the core technologies 4th industry revolution, we are developing VR System development for Nuclear power plants from April 2018 to March 2021. This Research and Development(R&D) project includes VR based “Walk-down System development”, “optimal path tracking system development”, “major equipment transfer and installation simulation”, etc. When fully developed, These R&D results will be applied the construction of the Shin-Kori unit 5,6 nuclear power plant construction to check design interference, to establish work planning, and to effectively collect construction experience knowledges to improve our future construction projects in the future. This paper will introduce major technological developments contents of this R&D project. It is expected that the results of this study will contribute dramatically to enhance the efficiency of nuclear power plant design process and the method of construction by simulating installation method of major equipment such as reactor, steam generators and turbine before installing them in the Shin-Kori unit 5,6.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"21 1","pages":"152-155"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78058627","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560388
Arne Muxfeldt, Jochen J. Steil
A novel approach for recovering from errors during automated assembly in typical mating operations is presented. It is based on automated error detection w.r.t. a predefined process model, followed by choosing a recovery strategy from an optimized repository. The latter comprises successful strategies that were recorded from human demonstration during a large scale user study. This paper shows how to enhance the process model with additional data, how to record new strategies in case where no suitable strategy is found, how to optimize a set of strategies, and how to select the most appropriate recovering strategy. A particular focus is the fusion of various human demonstrations in order to optimize them. The added value of the new approach is demonstrated by an experimental validation.
{"title":"Fusion of Human Demonstrations for Automatic Recovery during Industrial Assembly","authors":"Arne Muxfeldt, Jochen J. Steil","doi":"10.1109/COASE.2018.8560388","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560388","url":null,"abstract":"A novel approach for recovering from errors during automated assembly in typical mating operations is presented. It is based on automated error detection w.r.t. a predefined process model, followed by choosing a recovery strategy from an optimized repository. The latter comprises successful strategies that were recorded from human demonstration during a large scale user study. This paper shows how to enhance the process model with additional data, how to record new strategies in case where no suitable strategy is found, how to optimize a set of strategies, and how to select the most appropriate recovering strategy. A particular focus is the fusion of various human demonstrations in order to optimize them. The added value of the new approach is demonstrated by an experimental validation.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"18 1","pages":"1493-1500"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73928484","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560402
Rawan Kalawoun, S. Lengagne, Y. Mezouar
Robotic coverage problem is addressed in several fields: painting, stripping, grist-blasting, etc. In multi-robot systems, the collaboration between robots reduces the cycle time and increases the coverage task accuracy. However, the robot base placement must be deeply studied to attend those goals. In this article, we propose a new approach in order to assign tasks within a multiple robots system. In addition, we develop an optimization strategy to find the optimal number of robots with their optimal poses required to cover the entire surface. To assess our method, our algorithm was tested on regular surfaces such as cylinder and hemisphere, and on a complex surface represented in a car shell.
{"title":"Optimal robot base placements for coverage tasks","authors":"Rawan Kalawoun, S. Lengagne, Y. Mezouar","doi":"10.1109/COASE.2018.8560402","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560402","url":null,"abstract":"Robotic coverage problem is addressed in several fields: painting, stripping, grist-blasting, etc. In multi-robot systems, the collaboration between robots reduces the cycle time and increases the coverage task accuracy. However, the robot base placement must be deeply studied to attend those goals. In this article, we propose a new approach in order to assign tasks within a multiple robots system. In addition, we develop an optimization strategy to find the optimal number of robots with their optimal poses required to cover the entire surface. To assess our method, our algorithm was tested on regular surfaces such as cylinder and hemisphere, and on a complex surface represented in a car shell.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"102 1","pages":"235-240"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81689798","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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