Learning robotic milling strategies based on passive variable operational space interaction control

This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and uncertainty in the parameters (e.g. hardness) of materials which the robot must cut. To address this challenge, we propose a learning-based approach incorporating elements of interaction control, in which the robot can adapt key parameters, such as feed rate, depth of cut, and mechanical compliance during task execution. We show how a mathematical model of cutting mechanics, embedded in a simulation environment, can be used to rapidly train the system without needing large amounts of data from physical cutting trials. The simulation approach was validated on a real robot setup based on four case study materials with varying structural and mechanical properties. We demonstrate the proposed method minimises process force and path deviations to a level similar to offline optimal planning methods, while the average time to complete a cutting task is within 25% of the optimum, at the expense of reduced volume of material removed per pass. A key advantage of our approach over similar works is that no prior knowledge about the material is required.Comment: 15 pages, 14 figures, accepted for publication in IEEE Transactions on Automation Science and Engineering (T-ASE

A review on analysis and synthesis of nonlinear stochastic systems with randomly occurring incomplete information

Copyright q 2012 Hongli Dong et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.In the context of systems and control, incomplete information refers to a dynamical system in which knowledge about the system states is limited due to the difficulties in modeling complexity in a quantitative way. The well-known types of incomplete information include parameter uncertainties and norm-bounded nonlinearities. Recently, in response to the development of network technologies, the phenomenon of randomly occurring incomplete information has become more and more prevalent. Such a phenomenon typically appears in a networked environment. Examples include, but are not limited to, randomly occurring uncertainties, randomly occurring nonlinearities, randomly occurring saturation, randomly missing measurements and randomly occurring quantization. Randomly occurring incomplete information, if not properly handled, would seriously deteriorate the performance of a control system. In this paper, we aim to survey some recent advances on the analysis and synthesis problems for nonlinear stochastic systems with randomly occurring incomplete information. The developments of the filtering, control and fault detection problems are systematically reviewed. Latest results on analysis and synthesis of nonlinear stochastic systems are discussed in great detail. In addition, various distributed filtering technologies over sensor networks are highlighted. Finally, some concluding remarks are given and some possible future research directions are pointed out. © 2012 Hongli Dong et al.This work was supported in part by the National Natural Science Foundation of China under Grants 61273156, 61134009, 61273201, 61021002, and 61004067, the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant GR/S27658/01, the Royal Society of the UK, the National Science Foundation of the USA under Grant No. HRD-1137732, and the Alexander von Humboldt Foundation of German

Automated post-fault diagnosis of power system disturbances

In order to automate the analysis of SCADA and digital fault recorder (DFR) data for a transmission network operator in the UK, the authors have developed an industrial strength multi-agent system entitled protection engineering diagnostic agents (PEDA). The PEDA system integrates a number of legacy intelligent systems for analyzing power system data as autonomous intelligent agents. The integration achieved through multi-agent systems technology enhances the diagnostic support offered to engineers by focusing the analysis on the most pertinent DFR data based on the results of the analysis of SCADA. Since November 2004 the PEDA system has been operating online at a UK utility. In this paper the authors focus on the underlying intelligent system techniques, i.e. rule-based expert systems, model-based reasoning and state-of-the-art multi-agent system technology, that PEDA employs and the lessons learnt through its deployment and online use

A LightGBM-Based EEG Analysis Method for Driver Mental States Classification

Fatigue driving can easily lead to road traffic accidents and bring great harm to individuals and families. Recently, electroencephalography- (EEG-) based physiological and brain activities for fatigue detection have been increasingly investigated. However, how to find an effective method or model to timely and efficiently detect the mental states of drivers still remains a challenge. In this paper, we combine common spatial pattern (CSP) and propose a light-weighted classifier, LightFD, which is based on gradient boosting framework for EEG mental states identification. ,e comparable results with traditional classifiers, such as support vector machine (SVM), convolutional neural network (CNN), gated recurrent unit (GRU), and large margin nearest neighbor (LMNN), show that the proposed model could achieve better classification performance, as well as the decision efficiency. Furthermore, we also test and validate that LightFD has better transfer learning performance in EEG classification of driver mental states. In summary, our proposed LightFD classifier has better performance in real-time EEG mental state prediction, and it is expected to have broad application prospects in practical brain-computer interaction (BCI)

Fuzzy-logic-based control, filtering, and fault detection for networked systems: A Survey

This paper is concerned with the overview of the recent progress in fuzzy-logic-based filtering, control, and fault detection problems. First, the network technologies are introduced, the networked control systems are categorized from the aspects of fieldbuses and industrial Ethernets, the necessity of utilizing the fuzzy logic is justified, and the network-induced phenomena are discussed. Then, the fuzzy logic control strategies are reviewed in great detail. Special attention is given to the thorough examination on the latest results for fuzzy PID control, fuzzy adaptive control, and fuzzy tracking control problems. Furthermore, recent advances on the fuzzy-logic-based filtering and fault detection problems are reviewed. Finally, conclusions are given and some possible future research directions are pointed out, for example, topics on two-dimensional networked systems, wireless networked control systems, Quality-of-Service (QoS) of networked systems, and fuzzy access control in open networked systems.This work was supported in part by the National Natural Science Foundation of China under Grants 61329301, 61374039, 61473163, and 61374127, the Hujiang Foundation of China under Grants C14002 andD15009, the Engineering and Physical Sciences Research Council (EPSRC) of the UK, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany