Isolation forests and deep autoencoders for industrial screw tightening anomaly detection

Within the context of Industry 4.0, quality assessment procedures using data-driven techniques are becoming more critical due to the generation of massive amounts of production data. In this paper, we address the detection of abnormal screw tightening processes, which is a key industrial task. Since labeling is costly, requiring a manual effort, we focus on unsupervised detection approaches. In particular, we assume a computationally light low-dimensional problem formulation based on angle–torque pairs. Our work is focused on two unsupervised machine learning (ML) algorithms: isolation forest (IForest) and a deep learning autoencoder (AE). Several computational experiments were held by assuming distinct datasets and a realistic rolling window evaluation procedure. First, we compared the two ML algorithms with two other methods, a local outlier factor method and a supervised Random Forest, on older data related with two production days collected in November 2020. Since competitive results were obtained, during a second stage, we further compared the AE and IForest methods by adopting a more recent and larger dataset (from February to March 2021, totaling 26.9 million observations and related to three distinct assembled products). Both anomaly detection methods obtained an excellent quality class discrimination (higher than 90%) under a realistic rolling window with several training and testing updates. Turning to the computational effort, the AE is much lighter than the IForest for training (around 2.7 times faster) and inference (requiring 3.0 times less computation). This AE property is valuable within this industrial domain since it tends to generate big data. Finally, using the anomaly detection estimates, we developed an interactive visualization tool that provides explainable artificial intelligence (XAI) knowledge for the human operators, helping them to better identify the angle–torque regions associated with screw tightening failures.This work is supported by: European Structural and Investment Funds in the FEDER component, through the Operational Competitiveness and Internationalization Programme (COMPETE 2020) [Project n 39479; Funding Reference: POCI-01-0247-FEDER-39479]. The work of Diogo Ribeiro is supported the grant FCT PD/BDE/135105/2017

Towards Fault Diagnosis in Reconfigurable Robot

東京電機大学201

Proceedings of the NASA Conference on Space Telerobotics, volume 1

The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty

Human-Robot Collaborations in Industrial Automation

Technology is changing the manufacturing world. For example, sensors are being used to track inventories from the manufacturing floor up to a retail shelf or a customer’s door. These types of interconnected systems have been called the fourth industrial revolution, also known as Industry 4.0, and are projected to lower manufacturing costs. As industry moves toward these integrated technologies and lower costs, engineers will need to connect these systems via the Internet of Things (IoT). These engineers will also need to design how these connected systems interact with humans. The focus of this Special Issue is the smart sensors used in these human–robot collaborations

Technology 2002: The Third National Technology Transfer Conference and Exposition, volume 2

Proceedings from symposia of the Technology 2002 Conference and Exposition, December 1-3, 1992, Baltimore, MD. Volume 2 features 60 papers presented during 30 concurrent sessions

Error minimising gradients for improving cerebellar model articulation controller performance

In motion control applications where the desired trajectory velocity exceeds an actuator’s maximum velocity limitations, large position errors will occur between the desired and actual trajectory responses. In these situations standard control approaches cannot predict the output saturation of the actuator and thus the associated error summation cannot be minimised.An adaptive feedforward control solution such as the Cerebellar Model Articulation Controller (CMAC) is able to provide an inherent level of prediction for these situations, moving the system output in the direction of the excessive desired velocity before actuator saturation occurs. However the pre-empting level of a CMAC is not adaptive, and thus the optimal point in time to start moving the system output in the direction of the excessive desired velocity remains unsolved. While the CMAC can adaptively minimise an actuator’s position error, the minimisation of the summation of error over time created by the divergence of the desired and actual trajectory responses requires an additional adaptive level of control.This thesis presents an improved method of training CMACs to minimise the summation of error over time created when the desired trajectory velocity exceeds the actuator’s maximum velocity limitations. This improved method called the Error Minimising Gradient Controller (EMGC) is able to adaptively modify a CMAC’s training signal so that the CMAC will start to move the output of the system in the direction of the excessive desired velocity with an optimised pre-empting level.The EMGC was originally created to minimise the loss of linguistic information conveyed through an actuated series of concatenated hand sign gestures reproducing deafblind sign language. The EMGC concept however is able to be implemented on any system where the error summation associated with excessive desired velocities needs to be minimised, with the EMGC producing an improved output approximation over using a CMAC alone.In this thesis, the EMGC was tested and benchmarked against a feedforward / feedback combined controller using a CMAC and PID controller. The EMGC was tested on an air-muscle actuator for a variety of situations comprising of a position discontinuity in a continuous desired trajectory. Tested situations included various discontinuity magnitudes together with varying approach and departure gradient profiles.Testing demonstrated that the addition of an EMGC can reduce a situation’s error summation magnitude if the base CMAC controller has not already provided a prior enough pre-empting output in the direction of the situation. The addition of an EMGC to a CMAC produces an improved approximation of reproduced motion trajectories, not only minimising position error for a single sampling instance, but also over time for periodic signals

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)