A randomized kinodynamic planner for closed-chain robotic systems

Kinodynamic RRT planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, cooperating arms manipulating an object, or legged robots keeping their feet in contact with the environ- ment. The state space of such systems is an implicitly-defined manifold, which complicates the design of the sampling and steering procedures, and leads to trajectories that drift away from the manifold when standard integration methods are used. To address these issues, this report presents a kinodynamic RRT planner that constructs an atlas of the state space incrementally, and uses this atlas to both generate ran- dom states, and to dynamically steer the system towards such states. The steering method is based on computing linear quadratic regulators from the atlas charts, which greatly increases the planner efficiency in comparison to the standard method that simulates random actions. The atlas also allows the integration of the equations of motion as a differential equation on the state space manifold, which eliminates any drift from such manifold and thus results in accurate trajectories. To the best of our knowledge, this is the first kinodynamic planner that explicitly takes closed kinematic chains into account. We illustrate the performance of the approach in significantly complex tasks, including planar and spatial robots that have to lift or throw a load at a given velocity using torque-limited actuators.Peer ReviewedPreprin

Kerangka rekabentuk Carta Selak Rangkaian Berintegrasi Teori Gagne Sembilan Peristiwa Pembelajaran

Kajian ini merupakan sebuah kajian terhadap Kerangka Rekabentuk Carta Selak Rangkaian Berintegrasi Teori Gagne Sembilan Peristiwa Pembelajaran. Tujuan kajian ini dilakukan adalah bagi mencadangkan sebuah Kerangka Rekabentuk Carta Selak Rangkaian Berintegrasi Teori Gagne Sembilan Peristiwa Pembelajaran yang sesuai diaplikasikan oleh bakal guru dan juga guru bagi sebuah sesi pengajaran dan pembelajaran yang berkesan dan seterusnya meningkatkan kefahaman dan pengetahuan pelajar dalam mata pelajaran yang diajar oleh guru. Metodologi yang digunakan adalah berdasarkan Model ADDIE iaitu peringkat analisis, peringkat rekabentuk, peringkat pembangunan, peringkat implimentasi dan peringkat penilaian. Hasil daripada dapatan kajian yang menggunakan model TAM melihat persepsi dari kebergunaan (tahap tinggi dan min 3.02), kesenangan mengguna (tahap tinggi dan min 3.03) dan sikap penggunaan ( diterima dan min 2.65) terhadap Kerangka Rekabentuk Carta Selak Rangkaian Berintegrasi Teori Gagne Sembilan Peristiwa Pembelajaran. Dapatan tersebut menunjukkan bahawa ia digunakan dalam sesi pengajaran dan pembelajaran di bilik darjah oleh responden pada masa hadapan. Cadangan kajian pada masa hadapan adalah berkaitan spesifikasi dan teknikal kerangka rekabentuk supaya dapat memudahkan pembinaan kerangka, menjimatkan kos dan masa

Komponenttien luokittelu ja parhaat käytännöt tuotantosimulaation mallinnuksessa

Production simulation software plays a major role in validation, optimization and illustration of production systems. Operation of production simulation is generally based on components and their interaction. Components typically represent factory floor devices, but in addition, there can be components to provide visualization, statistics, control or other input to simulation. The demand for having high-quality, easy-to-use and compatible components emphasizes the importance of component modelling. The objectives of this thesis were to develop component classes based on industrial devices, to standardize component modelling solutions and best practices in component modelling. Other objectives were to identify and analyse future prospects of production simulation. This focuses on the concept of digital twin, which could be described as reflective real-time simulation model from the physical system. In addition, focus is also set on formal modelling languages. The outcome of this thesis presents component classes and best practices in component modelling. In component classification, the focus was set to development of generic components, which can be controlled with signal-based logic. This enables components from the software to be externally controlled. In addition, automatic model creation tool wizard, is implemented to instantly generate components based on the defined component classes. Best practices were based on the selected modelling fields that are most relevant for general use. In the development of best practices, interviewing method was utilized to receive input from simulation experts.Tuotantosimulaatio on tärkeässä osassa tuotantojärjestelmien validoinnissa, optimoinnissa ja visualisoinnissa. Tuotantosimulaation toiminta perustuu yleisesti komponentteihin ja niiden väliseen vuorovaikutukseen. Komponentit esittävät tyypillisesti tehtaasta löytyviä laitteita ja esineitä, mutta komponentteja voidaan käyttää myös visualisointiin, statistiikan keräämiseen, järjestelmän ohjaukseen tai muuhun tarpeeseen simuloinnissa. Tämän diplomityön tavoitteita oli kehittää komponenttiluokkia teollisuudesta valittujen laitteiden perusteella, mikä mahdollistaa mallinnusratkaisujen standardoinnin. Sen lisäksi tavoitteena oli kehittää parhaat käytännöt komponenttimallinnukseen. Muita tavoitteita oli tunnistaa ja analysoida tulevaisuuden näkymiä tuotantosimulaatiolle. Tämä keskittyi pääosin digitaaliseen kaksoseen, jota voidaan kuvata reaaliaikaisesti peilautuvaksi simulaatiomalliksi todellisesta järjestelmästä. Tämän lisäksi työssä keskityttiin formaaleihin mallinnuskieliin. Diplomityön lopputulos esittää kehitetyt komponenttiluokat ja parhaat käytännöt komponenttimallinnuksessa. Komponenttien luokittelussa keskityttiin kehittämään geneerisiä komponentteja, joita voidaan ohjata signaalipohjaisilla komennoilla. Tämä mahdollistaa komponentin ohjaamisen myös simulointiohjelman ulkopuolelta. Tämän lisäksi automaattista komponenttien luomistyökalua käytettiin luokiteltujen komponenttien luomisessa. Parhaat käytännöt komponenttimallinnuksessa pohjautuivat mallinnuksen oleellisimpiin osa-alueisiin tavanomaisissa mallinnustilanteissa. Parhaiden käytäntöjen kehityksessä haastateltiin simulointiammattilaisia, joiden mielipiteistä muodostettiin perusta käytäntöjen kehitykselle

Komponenttien luokittelu ja parhaat käytännöt tuotantosimulaation mallinnuksessa

Production simulation software plays a major role in validation, optimization and illustration of production systems. Operation of production simulation is generally based on components and their interaction. Components typically represent factory floor devices, but in addition, there can be components to provide visualization, statistics, control or other input to simulation. The demand for having high-quality, easy-to-use and compatible components emphasizes the importance of component modelling. The objectives of this thesis were to develop component classes based on industrial devices, to standardize component modelling solutions and best practices in component modelling. Other objectives were to identify and analyse future prospects of production simulation. This focuses on the concept of digital twin, which could be described as reflective real-time simulation model from the physical system. In addition, focus is also set on formal modelling languages. The outcome of this thesis presents component classes and best practices in component modelling. In component classification, the focus was set to development of generic components, which can be controlled with signal-based logic. This enables components from the software to be externally controlled. In addition, automatic model creation tool wizard, is implemented to instantly generate components based on the defined component classes. Best practices were based on the selected modelling fields that are most relevant for general use. In the development of best practices, interviewing method was utilized to receive input from simulation experts.Tuotantosimulaatio on tärkeässä osassa tuotantojärjestelmien validoinnissa, optimoinnissa ja visualisoinnissa. Tuotantosimulaation toiminta perustuu yleisesti komponentteihin ja niiden väliseen vuorovaikutukseen. Komponentit esittävät tyypillisesti tehtaasta löytyviä laitteita ja esineitä, mutta komponentteja voidaan käyttää myös visualisointiin, statistiikan keräämiseen, järjestelmän ohjaukseen tai muuhun tarpeeseen simuloinnissa. Tämän diplomityön tavoitteita oli kehittää komponenttiluokkia teollisuudesta valittujen laitteiden perusteella, mikä mahdollistaa mallinnusratkaisujen standardoinnin. Sen lisäksi tavoitteena oli kehittää parhaat käytännöt komponenttimallinnukseen. Muita tavoitteita oli tunnistaa ja analysoida tulevaisuuden näkymiä tuotantosimulaatiolle. Tämä keskittyi pääosin digitaaliseen kaksoseen, jota voidaan kuvata reaaliaikaisesti peilautuvaksi simulaatiomalliksi todellisesta järjestelmästä. Tämän lisäksi työssä keskityttiin formaaleihin mallinnuskieliin. Diplomityön lopputulos esittää kehitetyt komponenttiluokat ja parhaat käytännöt komponenttimallinnuksessa. Komponenttien luokittelussa keskityttiin kehittämään geneerisiä komponentteja, joita voidaan ohjata signaalipohjaisilla komennoilla. Tämä mahdollistaa komponentin ohjaamisen myös simulointiohjelman ulkopuolelta. Tämän lisäksi automaattista komponenttien luomistyökalua käytettiin luokiteltujen komponenttien luomisessa. Parhaat käytännöt komponenttimallinnuksessa pohjautuivat mallinnuksen oleellisimpiin osa-alueisiin tavanomaisissa mallinnustilanteissa. Parhaiden käytäntöjen kehityksessä haastateltiin simulointiammattilaisia, joiden mielipiteistä muodostettiin perusta käytäntöjen kehitykselle

Multilevel Converters: An Enabling Technology for High-Power Applications

| Multilevel converters are considered today as the state-of-the-art power-conversion systems for high-power and power-quality demanding applications. This paper presents a tutorial on this technology, covering the operating principle and the different power circuit topologies, modulation methods, technical issues and industry applications. Special attention is given to established technology already found in industry with more in-depth and self-contained information, while recent advances and state-of-the-art contributions are addressed with useful references. This paper serves as an introduction to the subject for the not-familiarized reader, as well as an update or reference for academics and practicing engineers working in the field of industrial and power electronics.Ministerio de Ciencia y Tecnología DPI2001-3089Ministerio de Eduación y Ciencia d TEC2006-0386

Applications of Dynamic Modeling in Crushing Plants

Modeling is a tool to describe phenomena in a simplified way, and the models can then be used to simulate these phenomena. Models of equipment used in the mining and aggregate industries can be used for process simulations of the processes in those industries to improve the operations. To study processes and the operation of processes, time dynamic models are a great tool. This thesis focuses on applications of time dynamic modeling in crushing plants. The time dynamic models predict the output of the equipment as a function of time. The work presented within this thesis focuses on three areas; Unit modeling, process modeling, and control modeling.Unit modeling refers to developing models of single processing units, which could be a comminution unit, classification unit, or materials handling unit. The new models presented in this thesis are for jaw crushers, high pressure grinding rolls (HPGR), and storage units (e.g., bin, silo, or stockpile). The developed models are based on the fundamental insight of the physics that happens within the unit. The validity of the models is aimed to be broad and cover many operating points and uses. The models are intended for high fidelity process simulation applications.Process modeling refers to the modeling of many interconnected units, and the modeling presented in this thesis has been done with both high-fidelity unit models and with simplified models. Both high fidelity and simple simulations are demonstrated within the thesis. The simpler models are used to try new concepts of plant design or control and study plant robustness or ability to handle variations. Meanwhile, the high-fidelity models can be used to study topics such as particle size distribution, debottlenecking and specific control issues.Control modeling refers to developing controller models to control plants like those modeled within the process modeling section. Optimal control, such as model predictive control (MPC), relies on models to steer processes optimally relative to some objective. The models within those controllers have been discussed in this thesis. Additionally, being able to move between the various fidelity domains of models is beneficial for this application. In this thesis, multiple new models and methods are presented, along with how they can be applied within the minerals processing and aggregate industry, ultimately improving the efficiency and performance of the industries

PLC-CONTROLLED OF A CONVEYOR SYSTEM (SYSTEM III)

This project entitled PLC-Controlled of a Conveyor System (System III), which is an integrated system that is operated and controlled by the PLC used itself. A project that made to study the capabilities of the conveyor system installed in one of UTP’s laboratory. Besides that, this project also requires study for developing the set of PLC programming routines using structured method as to allow the modifications of the system operation that is proper and preferable. This system has been rarely used and only operated for the demonstration purposes, which lead to the inflexibility of the system. In addition, none of work to develop and understand the system’s programming routines ever conducted which also cause no research activities made for quite some time. As a solution, the study to develop the programming routines for the system through structured method is implemented. This method is a step-by-step method to develop the PLC programming routines using ladder diagram, which begins with the program description, to the timing / sequence diagram until the PLC ladder diagram is developed. Based on this method, the system capabilities can be studied in details and the system operation is successfully being modified along the project is conducted. In conclusion, the project was successful, and in future it is believed the development of PLC programming routines could be easily done for advance or complex operation. The system also could be improved to cope with the modern technological growth in the Flexible Manufacturing System (FMS) field, as well to assist the possible project and research activities later

Efficient modeling and control of crushing processes in minerals processing

Modeling and simulation is a tool to explore and increase the understanding of a phenomenon. This thesis focuses on developing models of crushers and equipment used in the mining industry. Specifically, the focus is on a branch of modeling called time dynamic modeling which is a model that gives an output as a function of time. The work is divided into three areas: physical modeling, control modeling, and circuit modeling. Physical modeling deals with how to develop high fidelity unit models of equipment, in this thesis, a model of a jaw crusher and of an HPGR are presented. These models are aimed to be predictive and should predict the process variables under a specific set of operating conditions. The models are developed with the process parameters that are used in the physical unit, in the case of the HPGR, roller speed, and hydraulic pressure. The parameters within the models are parameters with units and have real physical meaning; for example, a dimension of the machine. The topic of control modeling focuses on how to apply the knowledge from modeling in the control domain to improve operations. An example of setting up a model predictive controller and using it to control a crushing circuit simulation is demonstrated. Model predictive control is an optimal control strategy that can be used to drive the circuit towards a specific goal. As the demand is increased on the mining companies to perform better these types of controllers and operation improving actions are important. This thesis aims to target some of the challenges involved in improving plant operation and control. Within circuit modeling, a broader perspective is taken to study the operations of an entire circuit or plant. The study presented in this thesis focuses on how sensitive a plant is to variations and how the plant design itself will affect the plant\u27s ability to cope with variations. The approach has been to simulate faster and to use less complex models many times to determine limits and ranges. The method shows potential to understand a circuit better before it is built.The outcome of the research is a better understanding of how to model machinery, such as the HPGR and the jaw crusher. By developing high fidelity models, insights are gained on how to move between the different modeling domains. The knowledge is useful for studies of circuits, and how to set up optimal controllers. Especially controllers that require models of a specific type or models that have to be fast to simulate

Energy-Efficient Robot Configuration and Motion Planning Using Genetic Algorithm and Particle Swarm Optimization

The implementation of Industry 5.0 necessitates a decrease in the energy consumption of industrial robots. This research investigates energy optimization for optimal motion planning for a dual-arm industrial robot. The objective function for the energy minimization problem is stated based on the execution time and total energy consumption of the robot arm configurations in its workspace for pick-and-place operation. Firstly, the PID controller is being used to achieve the optimal parameters. The parameters of PID are then fine-tuned using metaheuristic algorithms such as Genetic Algorithms and Particle Swarm Optimization methods to create a more precise robot motion trajectory, resulting in an energy-efficient robot configuration. The results for different robot configurations were compared with both motion planning algorithms, which shows better compatibility in terms of both execution time and energy efficiency. The feasibility of the algorithms is demonstrated by conducting experiments on a dual-arm robot, named as duAro. In terms of energy efficiency, the results show that dual-arm motions can save more energy than single-arm motions for an industrial robot. Furthermore, combining the robot configuration problem with metaheuristic approaches saves energy consumption and robot execution time when compared to motion planning with PID controllers alone

BUSCS Development using AUTOMGEN and PLC Ladder Support Software

This project of "BUSCS Development using AUTOMGEN and PLC Ladder Support Software" is basically controlling a simplified process based on an actual production line of Bulk Urea Storage Control System (BUSCS) of Asean Bintulu Fertilizer Sdn. Bhd. using Programmable Logic Controller (PLC) and AUTOMGEN7 software. In this project, the student has developed a hardware system using PLC as the main controller and AUTOMGEN7 software which is used to control as well as monitor the operation ofthe whole system. The designing comprises three major elements that need to be developed. First, to develop PLC program using ladder diagrams as the main controller. Then, developing the hardware system using the input and output devices required in controlling the whole process. Lastly, to develop the Human Machine Interface (HMI) using AUTOMGEN7 to simulate the whole operation ofthe system. The hardware system is based on the actual production line of Bulk Urea Storage Extension Project ofASEAN Bintulu Fertilizer Sdn. Bhd. Therefore, the initial stage of the project has been focused on studying the production line and also produces the complete sequence of operations. This is a crucial phase of the project since the student need to have detailed understanding of the complete operation and the control logic ofthe BUSCS. The main objective for this project is to compare the existing system of using relay logics with the use of Programmable Logic Controller (PLC) system in controlling industrial processes. Both systems have been compared in terms of advantages and disadvantages and also in terms of system configuration and complexity. Based on this study, it has been found that PLC is a viable method in controlling an industrial process due to its reliability and maintainability. Supported by industrial standard software like AUTOMGEN7 and other PLC support components, the future ofPLC in industrial control is borderless