64 research outputs found

    Fault diagnosis by multisensor data: A data-driven approach based on spectral clustering and pairwise constraints

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    This paper deals with clustering based on feature selection of multisensor data in high-dimensional space. Spectral clustering algorithms are efficient tools in signal processing for grouping datasets sampled by multisensor systems for fault diagnosis. The effectiveness of spectral clustering stems from constructing an embedding space based on an affinity matrix. This matrix shows the pairwise similarity of the data points. Clustering is then obtained by determining the spectral decomposition of the Laplacian graph. In the manufacturing field, clustering is an essential strategy for fault diagnosis. In this study, an enhanced spectral clustering approach is presented, which is augmented with pairwise constraints, and that results in efficient identification of fault scenarios. The effectiveness of the proposed approach is described using a real case study about a diesel injection control system for fault detection

    Developing a Silicon Pixel Detector for the Next Generation LHCb Experiment

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    The second long shutdown of the LHC presents an opportunity for the LHCb experiment to upgrade its detector systems and switch to a fully software triggered readout. Its first tracking layer, the VELO detector, is no exception to this and is undergoing an upgrade increasing the number of sensitive channels from 180 thousand silicon microstrips to about 41 million pixels. The new system will operate with zero-suppressed readout at 40 MHz, while cooled down using evaporative liquid CO2_2 in silicon microchannel plates. The VELO Upgrade will consist of 52 modules, placed around the beam-pipe, built at the University of Manchester and Nikhef. The construction of the modules is a complex process that consists of a number of tight tolerance steps, their results verified both in metrology and in the electrical and thermal performance testing. In order to store data and track the performance a database has been developed, used to automatically analyse the uploaded values as well as compute the grades and quality of the individual steps and final modules. By the end of August 2021, 42 modules have been produced in Manchester, 37 of them with high quality and no issues present. Due to the nature of the harsh radiation environment, the sensors have to withstand a fluence up to 1e16 1 MeV neqcm2_\mathrm{eq} \mathrm{cm^{-2}} and still provide a good signal to noise ratio. A new method of a charge collection scan has been proposed, linking the commonly used voltage scan with a threshold scan and using the extrapolated tracking information to estimate the amount of collected charge. The simulation indicates that the scan of a subset of modules will take about 8 min, a feasible duration despite the impact on the physics data taking. A further upgrade of the LHCb is planned for Long Shutdown four of the LHC. This will operate at higher luminosities leading to a significant increase in the pile-up of the collisions from a single proton-proton bunch crossing. For this reason a precise time stamping O\mathcal{O}(50 ps) is to be added. This could be achieved in silicon detectors by using O\mathcal{O}(10) internal gain in the sensor. Simulations of the expected performance of a recently produced batch of sensors are presented. These characterise the anticipated performance of these O\mathcal{O}(50 μ\mum) segmented devices in a test beam, providing the impact of charge sharing and device response to an angular scan

    Mechatronic Systems

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    Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools

    Volume 2 – Conference

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    We are pleased to present the conference proceedings for the 12th edition of the International Fluid Power Conference (IFK). The IFK is one of the world’s most significant scientific conferences on fluid power control technology and systems. It offers a common platform for the presentation and discussion of trends and innovations to manufacturers, users and scientists. The Chair of Fluid-Mechatronic Systems at the TU Dresden is organizing and hosting the IFK for the sixth time. Supporting hosts are the Fluid Power Association of the German Engineering Federation (VDMA), Dresdner Verein zur Förderung der Fluidtechnik e. V. (DVF) and GWT-TUD GmbH. The organization and the conference location alternates every two years between the Chair of Fluid-Mechatronic Systems in Dresden and the Institute for Fluid Power Drives and Systems in Aachen. The symposium on the first day is dedicated to presentations focused on methodology and fundamental research. The two following conference days offer a wide variety of application and technology orientated papers about the latest state of the art in fluid power. It is this combination that makes the IFK a unique and excellent forum for the exchange of academic research and industrial application experience. A simultaneously ongoing exhibition offers the possibility to get product information and to have individual talks with manufacturers. The theme of the 12th IFK is “Fluid Power – Future Technology”, covering topics that enable the development of 5G-ready, cost-efficient and demand-driven structures, as well as individual decentralized drives. Another topic is the real-time data exchange that allows the application of numerous predictive maintenance strategies, which will significantly increase the availability of fluid power systems and their elements and ensure their improved lifetime performance. We create an atmosphere for casual exchange by offering a vast frame and cultural program. This includes a get-together, a conference banquet, laboratory festivities and some physical activities such as jogging in Dresden’s old town.:Group 1 | 2: Digital systems Group 3: Novel displacement machines Group 4: Industrial applications Group 5: Components Group 6: Predictive maintenance Group 7: Electro-hydraulic actuatorsDer Download des Gesamtbandes wird erst nach der Konferenz ab 15. Oktober 2020 möglich sein.:Group 1 | 2: Digital systems Group 3: Novel displacement machines Group 4: Industrial applications Group 5: Components Group 6: Predictive maintenance Group 7: Electro-hydraulic actuator

    Characterizing the specifications of a 6 DoF industrial robotic arm

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    En aquest projecte es presenta l’estudi i la caracterització de les especificacions més importants del braços robòtics de sis graus de llibertat. El document presenta un protocol replicable de proves vàlid per a qualsevol tipus de robot industrial, però està centrat en el braç robòtic CM607-L de CM robotics. L’objectiu principal del projecte és crear i presentar un protocol de tests i alguns possibles equipaments necessaris per realitzar les proves per a què en un futur es pugui utilitzar en la caracterització de diversos robots, tot i això es crearan alguns setups i es realitzaran de forma pràctica algunes de les proves per comprovar que el protocol és correcte. Degut a la curta durada del projecte, i la gran quantitat de proves necessàries per a la total caracterització del robot, en aquest document es presentaran els resultats de les proves de velocitat de cada eix, la velocitat total i el màxim rang de funcionament de cada eix. El document està dividit en diverses seccions. En el primer apartat es poden trobar la motivació i els objectius del projecte, el segon apartat comenta les principals característiques del robot utilitzat (CM607-L), el tercer apartat presenta les diferents alternatives estudiades i el protocol de test definitiu, el quart apartat mostra els setups dissenyats per a realitzar les proves pràctiques i en el cinquè apartat estan recollits els resultats de les proves. Finalment, es poden trobar l’estudi ambiental, l’econòmic i les conclusions.En este proyecto se presenta el estudio y caracterización de las especificaciones más importantes de los brazos robóticos de seis grados de libertad. El documento presenta un protocolo replicable de pruebas válido para cualquier tipo de robot industrial, pero está centrado en el brazo robótico CM607-L de CM robotics. El objetivo principal del proyecto es crear y presentar un protocolo de tests y algunos posibles equipamientos necesarios para realizar las pruebas para que en un futuro se pueda utilizar en la caracterización de varios robots, sin embargo, se crearán algunos setups y se realizarán de forma práctica algunas de las pruebas para comprobar que el protocolo es correcto. Debido a la corta duración del proyecto, y la gran cantidad de pruebas necesarias para la total caracterización del robot, en este documento se presentarán los resultados de las pruebas de velocidad de cada eje, la velocidad total y el máximo rango de funcionamiento de cada eje. El documento está dividido en varias secciones. En el primer apartado se puede encontrar la motivación y los objetivos del proyecto, el segundo apartado comenta las principales características del robot utilizado (CM607-L), el tercer apartado presenta las diferentes alternativas estudiadas y el protocolo de test definitivo, el cuarto apartado muestra los setups diseñados para realizar las pruebas prácticas y en el quinto apartado están recogidos los resultados de las pruebas. Por último, se pueden encontrar el estudio ambiental, el económico y las conclusiones.This project presents the study and characterization of the most important specifications of the robotic arm with six degrees of freedom. The paper presents a replicable test protocol valid for any type of industrial robot, but is focused on the CM robotics CM607-L robotic arm. The main objective of the project is to create and present a test protocol and some possible equipment needed to carry out the tests so that in the future it can be used in the characterization of several robots, although some setups will be created and carried out to practice some of the tests to verify that the protocol is correct. Due to the short duration of the project, and the large number of tests necessary for the full characterization of the robot, this document will present the results of the speed tests of each axis, the total speed and the maximum operating range of each shaft The document is divided into several sections. In the first section you can find the motivation and objectives of the project, the second section comments on the main characteristics of the robot used (CM607-L), the third section presents the different alternatives studied and the definitive test protocol, the fourth section shows the setups designed to carry out the practical tests and in the fifth section the results of the tests are collected. Finally, you can find the environmental study, the economic study and the conclusions

    Advanced Sensors for Real-Time Monitoring Applications

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    It is impossible to imagine the modern world without sensors, or without real-time information about almost everything—from local temperature to material composition and health parameters. We sense, measure, and process data and act accordingly all the time. In fact, real-time monitoring and information is key to a successful business, an assistant in life-saving decisions that healthcare professionals make, and a tool in research that could revolutionize the future. To ensure that sensors address the rapidly developing needs of various areas of our lives and activities, scientists, researchers, manufacturers, and end-users have established an efficient dialogue so that the newest technological achievements in all aspects of real-time sensing can be implemented for the benefit of the wider community. This book documents some of the results of such a dialogue and reports on advances in sensors and sensor systems for existing and emerging real-time monitoring applications

    Proceedings of the 17th Nordic Process Control Workshop

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    Data Acquisition Applications

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    Data acquisition systems have numerous applications. This book has a total of 13 chapters and is divided into three sections: Industrial applications, Medical applications and Scientific experiments. The chapters are written by experts from around the world, while the targeted audience for this book includes professionals who are designers or researchers in the field of data acquisition systems. Faculty members and graduate students could also benefit from the book

    Fault-detection on an experimental aircraft fuel rig using a Kalman filter-based FDI screen

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    Reliability is an important issue across industry. This is due to a number of drivers such as the requirement of high safety levels within industries such as aviation, the need for mission success with military equipment, or to avoid monetary losses (due to unplanned outage) within the process and many other industries. The application of fault detection and identification helps to identify the presence of faults to improve mission success or increase up-time of plant equipment. Implementation of such systems can take the form of pattern recognition, statistical and geometric classifiers, soft computing methods or complex model based methods. This study deals with the latter, and focuses on a specific type of model, the Kalman filter. The Kalman filter is an observer which estimates the states of a system, i.e. the physical variables, based upon its current state and knowledge of its inputs. This relies upon the creation of a mathematical model of the system in order to predict the outputs of the system at any given time. Feedback from the plant corrects minor deviation between the system and the Kalman filter model. Comparison between this prediction of outputs and the real output provides the indication of the presence of a fault. On systems with several inputs and outputs banks of these filters can used in order to detect and isolate the various faults that occur in the process and its sensors and actuators. The thesis examines the application of the diagnostic techniques to a laboratory scale aircraft fuel system test-rig. The first stage of the research project required the development of a mathematical model of the fuel rig. Test data acquired by experiment is used to validate the system model against the fuel rig. This nonlinear model is then simplified to create several linear state space models of the fuel rig. These linear models are then used to develop the Kalman filter Fault Detection and Identification (FDI) system by application of appropriate tuning of the Kalman filter gains and careful choice of residual thresholds to determine fault condition boundaries and logic to identify the location of the fault. Additional performance enhancements are also achieved by implementation of statistical evaluation of the residual signal produced and by automatic threshold calculation. The results demonstrate the positive capture of a fault condition and identification of its location in an aircraft fuel system test-rig. The types of fault captured are hard faults such sensor malfunction and actuator failure which provide great deviation of the residual signals and softer faults such as performance degradation and fluid leaks in the tanks and pipes. Faults of a smaller magnitude are captured very well albeit within a larger time range. The performance of the Fault Diagnosis and Identification was further improved by the implementation of statistically evaluating the residual signal and by the development of automatic threshold determination. Identification of the location of the fault is managed by the use of mapping the possible fault permutations and the Kalman filter behaviour, this providing full discrimination between any faults present. Overall the Kalman filter based FDI developed provided positive results in capturing and identifying a system fault on the test-rig
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