Forthcoming and Online First Articles
International Journal of Mechatronics and Manufacturing Systems
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International Journal of Mechatronics and Manufacturing Systems (7 papers in press)
Abstract: Current political, economic, and ecological developments put severe pressure on European industries. Significant value chains depend uniliteral on single suppliers for many industrial resources including raw materials, semi-finished goods as well as whole components. At the very same time the European industry needs to get carbon neutral within an unprecedented short time frame. To address these challenges flexibility, adaptivity and resilience based on adaptive assembly and disassembly systems acting autonomous are key. Existing systems lack crucial capabilities as they focus on output volumes and economic criteria excluding part variance. Furthermore, these systems are unsuitable for small and medium batches due to the necessary investment. The paper presents a novel concept for hybrid-autonomous assembly and disassembly systems based on robot cells added with manual stations. A batch-individual allocation of sub-tasks to the autonomous robot-based system and the manual assembly on-site will lead to maximum flexibility while utilize the advantages of both.
Keywords: Autonomous assembly; autonomous disassembly; cognition; intelligent robotics; machine learning; mathematical optimization; human-in-the-loop.
Robust Learning Tracking Control Design for Soft Actuators
by Adnan Alamili, Ali Al-Ghanimi, Mukhalad Al-nasrawi
Abstract: This paper proposes a recursive sliding-mode control strategy for motion-tracking control of ionic polymer-metal composite soft actuator systems. The suggested controller is distinctive in that it can continuously modify the closed-loop response to maintain system stability. Accordingly, Lyapunov criteria have been used to establish the stability of the provided control technique. Additionally, since controller design does not require any prior knowledge of parameter uncertainties or system hysteresis, it is appropriate for ionic polymer-metal composites since its model changes depending on working conditions. Simulation investigations are conducted to validate the performance of the developed controller. The results demonstrate superior performance compared to the conventional sliding mode control approach.
Keywords: sliding mode control; SMC; ionic polymer-metal composites; soft actuator; robust learning control; tracking control.
A novel robust online sustainable adaptation dynamics control method for robot movement by wheel type
by Nguyen Minh Quang, Le Thi Phuong Thanh, Nguyen Tien Tung
Abstract: A novel robust control algorithm called reinforcement learning online sustainable adaptive dynamic control (RLOSADC) was developed to solve the problem of approximation for nonlinear systems with absolutely no information about internal dynamics. The proposed control model was built based on the new algorithm called optimise cooperation many nonlinear systems (OCMNO) with powerful features and convergence capabilities. New and unique features of the proposed model are shown through a highly flexible design and control procedure. The traditional robot dynamic model is transformed into a tight feedback nonlinear system model for designing integrated kinetic and dynamic control laws to overcome the disadvantages of the previous method. The RLOSADC model has been applied to cling control robust, sustainable adaptation for optimising the kinematic and dynamic clinging quality indicators for robot movement by wheel type (RMWT). Numerical and experimental simulation results on RMWT show the effectiveness of the proposed RLOSADC control model. Future studies can extend the RLOSADC model to control more general nonlinear systems such as nonlinear systems with unknown structures.
Keywords: OCMNO; RLOSADC; RMWT; Adaptive control; Nonlinear system.
Design and Real-time Implementation of a Distributed-Delay Input Shaper for Sway Control of a Double-Pendulum Overhead Crane
by Wasiu Adebayo Balogun, Zaharuddin Mohamed, Auwalu M. Abdullahi, S. M. Fasih Ur Rehman
Abstract: Control of a double-pendulum overhead crane (DPOC) is challenging as the system is highly nonlinear with multi-mode behaviour. This paper investigates the real-time implementation of a distributed-delay input shaper for sway control of a DPOC with parameter uncertainty. A distributed-delay zero vibration (DZV) shaper is designed based on the system's dynamic behaviour and is applied in an open-loop configuration. To test the proposed method's effectiveness, experiments are carried out on a laboratory crane with different cable lengths and under payload hoisting with varying cable lengths. For the payload sway, the DZV shaper outperformed the conventional Zero Vibration (ZV) and Zero Vibration Derivative-Derivative (ZVDD) shapers with improvements of at least 73% and 32% respectively. It also shows a higher robustness for the case of payload hoisting.
Keywords: Distributed-delay shaper; Input shaper; Double-pendulum; Overhead crane; Sway control.
A study on high ablation threshold laser processing of grooves fabricated on PcBN material
by Tu?rul Özel
Abstract: Laser processing and ablation for fabricating grooves as a surface texture can be applied to difficult-to-process engineering materials such as advanced carbides, polycrystalline diamond, and polycrystalline cubic boron nitride (PcBN) to enhance their tribological performance in tooling applications. This paper presents a summary of various laser processing techniques to obtain surface textures. It also provides basic investigations on fabricating grooves on PcBN material using high ablation threshold laser processing. A particular focus is given on the effect of processing parameters on surface morphology and integrity in the presence of low and high ablation threshold processing. Different laser pulse energy levels are tested to determine the ablation threshold of PcBN material using nanosecond laser processing and their effect on the morphology of resultant surface texture. Main types of defects are noted on laser ablated and their adjacent surfaces including partial ablation, heat affected zone, partial edge melting, spatter and runoff.
Keywords: Laser processing; laser ablation; laser induced periodic surface structures (LIPSS); surface integrity; surface texture; polycrystalline cubic boron (PcBN).
Hybrid fuzzy logic approach for multi-objective optimization in laser-based processes
by Aristeidis Tsiolikas, John Kechagias, Stefanos Zaoutsos
Abstract: This research paper proposes a hybrid methodology that integrates experimental design, grey relational analysis, and fuzzy logic for multi-objective optimization of laser-based processes. The aim is to optimize the laser speed and power during laser cutting to improve the surface quality and dimensional accuracy of cutting 3D-printed thin plates. The research methodology employs a systematic experimental design approach, statistical analysis, grey relational analysis and artificial intelligence model to identify the optimal process parameters and improve laser process efficiency. Integrating laser-based post-processing with additive manufacturing offers an effective solution to address the challenges of achieving high-quality products created by budget 3D printing technologies. The results of this study contribute to the development of efficient and robust hybrid manufacturing processes such as laser-based processing and 3D printing and provide valuable insights for enhancing the quality of additive manufactured parts.
Keywords: Experimental design; Gray relational analysis; Fuzzy logic; Laser-based processing; Material extrusion; Optimization; Surface quality.
Embedded Open Platform Communications Unified Architecture server-based online error motion measurement system
by Yuanchen Zhao, Fabian Stoop, Steffen Wurm, Konrad Wegener
Abstract: This paper tracks the ongoing evolution in communication interoperability and standardised data modeling for the integration of devices into Industry 4.0 networks. It proposes an innovative design methodology for a spindle error motion measurement system, enabling its establishment on a cost-efficient platform, such as microcontrollers. The methodology encompasses signal processing algorithm design in accordance with ISO 230-7 and the implementation of an embedded Open Platform Communications Unified Architecture (OPC UA) server. Leveraging the recently released OPC UA companion specification for Geometric Measurement Systems (GMS), the system's standardised information model is formulated. Furthermore, to achieve real-time communication, FreeRTOS is employed to coordinate task execution. Finally, this paper constructs a prototype to validate the system's capability to measure and transmit spindle error motion signals. Implementation of this methodology results in reduced system requirements compared to existing error motion measurement systems and facilitates interoperable communication through a standardised information model.
Keywords: OPC UA; Industry 4.0; Sensors; Embedded System; Error Motion; Geometric Measurement; Interoperability; Internet of Things; Smart Manufacturing.