Robot kinematic structure classification from time series of visual data

In this paper we present a novel algorithm to solve the robot kinematic structure identification problem. Given a time series of data, typically obtained processing a set of visual observations, the proposed approach identifies the ordered sequence of links associated to the kinematic chain, the joint type interconnecting each couple of consecutive links, and the input signal influencing the relative motion. Compared to the state of the art, the proposed algorithm has reduced computational costs, and is able to identify also the joints' type sequence

Anomaly Detection Approaches for Semiconductor Manufacturing

Abstract Smart production monitoring is a crucial activity in advanced manufacturing for quality, control and maintenance purposes. Advanced Monitoring Systems aim to detect anomalies and trends; anomalies are data patterns that have different data characteristics from normal instances, while trends are tendencies of production to move in a particular direction over time. In this work, we compare state-of-the-art ML approaches (ABOD, LOF, onlinePCA and osPCA) to detect outliers and events in high-dimensional monitoring problems. The compared anomaly detection strategies have been tested on a real industrial dataset related to a Semiconductor Manufacturing Etching process

Adversarial Training Reduces Information and Improves Transferability

Recent results show that features of adversarially trained networks for classification, in addition to being robust, enable desirable properties such as invertibility. The latter property may seem counter-intuitive as it is widely accepted by the community that classification models should only capture the minimal information (features) required for the task. Motivated by this discrepancy, we investigate the dual relationship between Adversarial Training and Information Theory. We show that the Adversarial Training can improve linear transferability to new tasks, from which arises a new trade-off between transferability of representations and accuracy on the source task. We validate our results employing robust networks trained on CIFAR-10, CIFAR-100 and ImageNet on several datasets. Moreover, we show that Adversarial Training reduces Fisher information of representations about the input and of the weights about the task, and we provide a theoretical argument which explains the invertibility of deterministic networks without violating the principle of minimality. Finally, we leverage our theoretical insights to remarkably improve the quality of reconstructed images through inversion

Energy recovery of the biomass from livestock farms in Italy: the case of Modena Province

The energy recovery from manure of different Italian livestock farms is analysed by means of numerical simulation using an in-house developed code. In particular, the animal farming in the province of Modena is taken into account and biomass is exploited in an integrated system including different waste to energy technologies. In the considered system, the manure of a number of types of animals is fed into an anaerobic digester, while the digested sludge is separated into the solid and liquid fractions. The former is employed as a fuel in a downdraft gasifier, while the latter is purified by means of both forward and inverse osmosis. Finally, the obtained bio-gas and syngas are used in a cogeneration system based on a spark ignition internal combustion engine to produce electric and thermal power. The potential power production of the considered territory is estimated and compared with the energy requirements of the animal farms. Different strategies for the distributed exploitation of the manure versus a centralized solution are investigated and the relating plant size and production of electric energy and thermal energy are evaluated

Data-driven assessment of wind turbine performance decline with age and interpretation based on comparative test case analysis

n increasing amount of wind turbines, especially in Europe, are reaching the end of their expected lifetimes; therefore, long data sets describing their operation are available for scholars to analyze the performance trends. On these grounds, the present work is devoted to test case studies for the evaluation and the interpretation of wind turbine performance decline with age. Two wind farms were studied, featuring widely employed wind turbine models: the former is composed of 6 Senvion MM92 and the latter of 11 Vestas V52 wind turbines, owned by the ENGIE Italia company. SCADA data spanning, respectively, 10 and 7 years were analyzed for the two test cases. The effect of aging on the performance of the test case wind turbines was studied by constructing a data-driven model of appropriate operation curves, selected depending on the working region. For the Senvion MM92, we found that it is questionable to talk about performance aging because there is no evident trend in time: the performance variation year by year is in the order of a few kW and is therefore irrelevant for practical applications. For the Vestas V52 wind turbines, a much wider variability is observed: two wind turbines are affected by a remarkable performance drop, after which the behavior is stable and under-performing with respect to the rest of the wind farm. Particular attention is devoted to the interpretation of the results: the comparative discussion of the two test cases indicates that the observed operation curves are compatible with the hypothesis that the worsening with age of the two under-performing Vestas V52 can be ascribed to the behavior of the hydraulic blade pitch. Furthermore, for both test cases, it is estimated that the gearbox-aging contributes negligibly to the performance decline in time