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Enabling Technologies for Autonomous Robotic Systems in Manufacturing

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Transactions of Nanjing University of Aeronautics and Astronautics 2024年第4期41卷 403-431页

作者： ERDŐS gábor ABAI Kristóf BEREgI Richárd CSEMPESZ János CSERTEg Tamás gODÓgábor HAJÓS Mátyás HÁY Borbála horvÁth Dániel horvÁth gergely JUNIKIÁdám KEMÉNY Zsolt KOVÁCS András NACSA János PANITI Imre PEDONE gianfranco TAKÁCS Emma TIPARY Bence ZAHORÁN László VÁNCZA József Institute for Computer Science and Control Hungarian Research Network(HUN-REN SZTAKI)BudapestHungary Department of Manufacturing Science and Technology Budapest University of Technology and Economics(BME)BudapestHungary EPIC InnoLabs Nonprofit Ltd. BudapestHungary Eötvös Loránd University(ELTE) BudapestHungary

Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the *** operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication *** enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by *** paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such *** case studies will be presented from recent practice at HUN-REN SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and *** various solutions have in common that they use a generic digital twin concept as their *** making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.

关键词： industrial robotics autonomy digital twin enabling technology

A single micro-LED manipulation system based on micro-gripper

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Nanotechnology and Precision Engineering 2024年第2期7卷 45-52页

作者： Jie Bai Pingjuan Niu Erdan gu Jianming Li Clarence Augustine th Tee School of Mechanical Engineering Tiangong University School of Electronic and Information Engineering Tiangong University Institute of Photonics University of Strathclyde Tianjin Key Laboratory of Micro Low gravity Environment Simulation Technology Tianjin Aerospace Electromechanical Equipment Research Institute Department of Electrical and Information Engineering School of Physics and Electrical Information EngineeringZhejiang Normal University

Micro-LEDs(μLEDs) have advantages in terms of brightness, power consumption, and response speed. In addition, they can also be used as micro-sensors implanted in the body via flexible electronic skin. One of the key techniques involved in the fabrication of μLED-based devices is transfer printing. Although numerous methods have been proposed for transfer printing, improving the yield of μLED arrays is still a formidable task. In this paper, we propose a novel method for improving the yield of μLED arrays transferred by the stamping method, using an innovative design of piezoelectrically driven asymmetric micro-gripper. Traditional grippers are too large to manipulate μLEDs, and therefore two micro-sized cantilevers are added at the gripper tips. A μLED manipulation system is constructed based on the micro-gripper together with a three-dimensional positioning system. Experimental results using this system show that it can be used successfully to manipulate μLED arrays.

关键词： Micro-gripper Micro-LED Transfer printing Manipulation

自主机器人使能技术在制造业中的应用（英文）

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Transactions of Nanjing University of Aeronautics and Astronautics 2024年第4期 403-431页

作者： ERD?S gábor ABAI Kristóf BEREgI Richárd CSEMPESZ János CSERTEg Tamás gODó gábor HAJóS Mátyás HáY Borbála horváth Dániel horváth gergely JUNIKI ádám KEMéNY Zsolt KOVáCS András NACSA János PANITI Imre PEDONE gianfranco TAKáCS Emma TIPARY Bence ZAHORáN László VáNCZA József 匈牙利研究网络计算机科学与控制研究所布达佩斯经济与技术大学制造科学与技术系 EPIC非盈利创新实验室厄特沃什·罗兰大学

自主制造系统的研究既受益于信息物理融合系统这一新技术的推动，也响应工业实际需求的号召。目前，先进的传感器技术、数字孪生、人工智能和新型通信技术可以支持半结构化工业环境中的自主操作，可实现对生产过程的实时监控、情况识别... 详细信息

自主制造系统的研究既受益于信息物理融合系统这一新技术的推动，也响应工业实际需求的号召。目前，先进的传感器技术、数字孪生、人工智能和新型通信技术可以支持半结构化工业环境中的自主操作，可实现对生产过程的实时监控、情况识别和预测、自动和自适应（重新）规划、团队合作，以及通过学习提高性能。本文总结了实现自主工业机器人技术的主要需求，提出了实现此类系统的通用工作流程，并介绍了HUN-REN SZTAKI最近在装配、焊接、打磨、拾取和放置以及机械加工等多个应用领域的广泛实践。这些解决方案的共同点是以通用的数字孪生概念为核心。最后，本文提出实现工业自主机器人解决方案的一般建议，并讨论了未来要研究的一些开放性问题。

关键词：工业机器人自动化数字孪生使能技术

Information schema constructs for defining warehouse databases of genotypes and phenotypes of system manifestation features

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信息与电子工程前沿：英文版 2016年第9期17卷 862-884页

作者： Shahab POURTALEBI Imre horváth Faculty of Industrial Design Engineering Delft University of Technology

Our long-term objective is to develop a software toolbox for pre-embodiment design of complex and heterogeneous systems, such as cyber-physical systems. the novelty of this toolbox is that it uses system manifestation features(SMFs) for transdisciplinary modeling of these systems. the main challenges of implementation of the toolbox are functional design- and language-independent computational realization of the warehouses, and systematic development and management of the various evolving implements of SMFs(genotypes, phenotypes, and instances). therefore, an information schema construct(ISC) based approach is proposed to create the schemata of the associated warehouse databases and the above-mentioned SMF implements. ISCs logically arrange the data contents of SMFs in a set of relational tables of varying semantics. In this article we present the ISCs necessary for creation of genotypes and phenotypes. they increase the efficiency of the database development process and make the data relationships transparent. Our follow-up research focuses on the elaboration of the SMF instances based system modeling methodology.

关键词： Cyber-physical systems Software toolbox Pre-embodiment design System manifestation features(SMFs) Warehouses Database schemata SMF genotypes SMF phenotypes SMF instances Information schema constructs

Algorithm fusion to improve detection of lung cancer on chest radiographs

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International Journal of Intelligent Computing and Cybernetics 2012年第1期5卷 111-144页

作者： gergely Orbán gábor horváth Department of Measurement and Information Systems Budapest University of Technology and EconomicsBudapestHungary Intelligent Systems Research group Budapest University of Technology and EconomicsBudapestHungary

Purpose-the purpose of this paper is to show an efficient method for the detection of signs of early lung *** image processing algorithms are presented for different types of lesions,and a scheme is proposed for the combination of ***/methodology/approach-A computer aided detection(CAD)scheme was developed for detection of lung *** enables different lesion enhancer algorithms,sensitive to specific lesion subtypes,to be used *** image processing algorithms are presented for the detection of small nodules,large ones,and infiltrated *** outputs are merged,the false detection rate is reduced with four separated support vector machine(SVM)*** classifier input comes from a feature selection algorithm selecting from various textural and geometric features.A total of 761 images were used for testing,including the database of the Japanese Society of Radiological Technology(JSRT).Findings-the fusion of algorithms reduced false positives on average by 0.6 per image,while the sensitivity remained 80 per *** the JSRT database the system managed to find 60.2 per cent of lesions at an average of 2.0 false positives per *** effect of using different result evaluation criteria was tested and a difference as high as 4 percentage points in sensitivity was *** system was compared to other published ***/value-the study described in the paper proves the usefulness of lesion enhancement decomposition,while proposing a scheme for the fusion of ***,a new algorithm is introduced for the detection of infiltrated areas,possible signs of lung cancer,neglected by previous solutions.

关键词： Programming and algorithm theory Image processing Cancer Radiography Medical diagnosis Lung nodule Infiltrated area Chest radiograph Lung cancer Early detection

Challenges and opportunities in the production of magnesium parts by directed energy deposition processes

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Journal of Magnesium and Alloys 2024年第5期12卷 1663-1686页

作者： gürel Cam Ali günen Iskenderun Technical University Faculty of Engineering and Natural SciencesDepartment of Mechanical Engineering31200 Iskenderun-HatayTurkey Iskenderun Technical University Faculty of Engineering and Natural SciencesDepartment of Metallurgy and Materials Engineering31200 Iskenderun-HatayTurkey

Mg-alloys have gained considerable attention in recent years for their outstanding properties such as lightweight,high specific strength,and corrosion resistance,making them attractive for applications in medical,aerospace,automotive,and other transport ***,their widespread application is hindered by their low formability at room temperature due to limited slip *** Mg-alloys have low mechanical properties due to the presence of casting defects such as porosity and anisotropy in addition to the high *** casting methods benefit from established process optimization techniques for these problems,additive manufacturing methods are increasingly replacing casting methods in Mg alloys as they provide more precise control over the microstructure and allow specific grain orientations,potentially enabling easier optimization of anisotropy properties in certain *** metal additive manufacturing(MAM)technology also results in some manufacturing defects such as inhomogeneous microstructural evolution and porosity and additively manufactured Mg alloy parts exhibit lower properties than the wrought parts,they in general exhibit superior properties than the cast ***,MAM is a promising technique to produce Mg alloy *** energy deposition processes,particularly wire arc directed energy deposition(WA-DED),have emerged as an advantageous additive manufacturing(AM)technique for metallic materials including magnesium alloys,offering advantages such as high deposition rates,improved material efficiency,and reduced production costs compared to subtractive ***,the inherent challenges associated with magnesium,such as its high reactivity and susceptibility to oxidation,pose unique hurdles in the application of this *** review paper delves into the progress made in the application of DED technology to Mg-alloys,its challenges,and ***,the predominant imperfections,notably inhomo

关键词： Additive manufacturing DED processes Arc-DED Wire arc additive manufacturing(WAAM) 3-D printing High deposition rate

Recent research in mechanical properties of geopolymer-based ultrahigh-performance concrete:A review

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Defence Technology（防务技术） 2024年第2期32卷 67-88页

作者： g.Murali Division of Research&Innovation Uttaranchal UniversityDehradun 248007India

Due to the growing need for sustainable and ultra-high-strength construction materials,scientists have created an innovative ultra-high-performance concrete called geopolymer based ultra-highperformance concrete(gUHPC).Besides,in the last few decades,there have been a lot of explosions and ballistic attacks around the world,which have killed many civilians and fighters in border *** this context,this article reviews the fresh state and mechanical properties of ***,the ingredients of gUHPC and fresh properties such as setting time and flowability are briefly ***,the review of compressive strength,flexure strength,tensile strength and modulus of elasticity of fibrous ***,the blast and projectile impact resistance performance was ***,the microstructural characteristics were reviewed using the scanning electron microscope and X-ray Powder *** review outcome reveals that the mechanical properties were increased when 30%silica fume was added to a higher dose of steel fibre to improve the microstructure of *** is hypothesized that the brittleness of gUHPC was mitigated by adding 1.5%steel fibre reinforcement,which played a role in the decrease of contact explosion cratering and *** the need for cement in gUHPC was a key factor in the review,indicating a promising potential for lowering carbon ***,gUHPC research is still in its early stages,so more study is required before its full potential can be utilized.

关键词： Mechanical properties Blast Projectile impact Fibre geopolymer Silica fume Alkaline activators

New Approach to Rock Classification Based on Sparse Representations

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Open Journal of Applied Sciences 2024年第1期14卷 145-158页

作者： Wognin Joseph Vangah Bi g. théodore Toa Alico Nango Jerôme Ouattara Sie Alain Clément Unité de Recherche et d’expertise Numérique (UREN) Université Virtuelle de C&#244te d’Ivoire (UVCI) Abidjan C&#244te d’Ivoire UFR Sciences et technologique Département de Physique Université polytechnique de Man (UPM) Man C&#244te d’Ivoire Classe Préparatoire des grandes Ecoles (CPgE) Université de San Pédro (USP) San Pédro C&#244te d’Ivoire Institut National Polytechnique Houphouë t (INPHB) Yamoussoukro C&#244te d’Ivoire Laboratoire Angevin de Recherche en Ingénierie des Systèmes (LARIS) Institut Universitaire de Technologie (IUT) Université d’Angers Angers France

In geology, classification and lithological recognition of rocks plays an important role in the area of oil and gas exploration, mineral exploration and geological analysis. In other fields of activity such as construction and decoration, this classification makes sense and fully plays its role. However, this classification is slow, approximate and subjective. Automatic classification curbs this subjectivity and fills this gap by offering methods that reflect human perception. We propose a new approach to rock classification based on direct-view images of rocks. the aim is to take advantage of feature extraction methods to estimate a rock dictionary. In this work, we have developed a classification method obtained by concatenating four (4) K-SVD variants into a single signature. this method is based on the K-SVD algorithm combined with four (4) feature extraction techniques: DCT, gabor filters, D-ALBPCSF and g-ALBPCSF, resulting in the four (4) variants named K-gabor, K-DCT, KD-ALBPCSF and KD-ALBPCSF respectively. In this work, we developed a classification method obtained by concatenating four (4) variants of K-SVD. the performance of our method was evaluated on the basis of performance indicators such as accuracy with other 96% success rate.

关键词： Rock Recognition Dictionary Signature Color Texture K-SVD Variants KD-ALBPCSF Et Kg-ALBPCSF

Effects of frothers on bubbles size and flotation performance of hydrophobic minerals

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Journal of Central South University 2024年第7期31卷 2280-2299页

作者： gülşah gÜVEN Berivan TUNÇ ŞBeste AYDIN gülay BULUT Mineral Processing Engineering Department Faculty of MinesIstanbul Technical UniversityMaslak 34469IstanbulTurkey Research Center Metso OutotecKuparitie 1028101 PoriFinland

Frothers facilitate the reduction of bubbles size by preventing bubbles coalescence and produce more stable *** collision probability of the bubbles and particles substantially increases by decreasing bubble *** the same volume system,fewer bubbles result from a distribution of large-sized bubbles,and more bubbles result from a distribution of small-sized *** this research,fundamental two-phase frother characterization parameters were aimed to link with three-phase coal and talc flotation *** this purpose,the effect of single and dual frother systems on inhibiting bubble coalescence was investigated with methyl isobutyl carbinol(MIBC),isooctanol(2 ethyl hexanol),pine oil,and Dowfroth *** on the results of single frothers,isooctanol at the lowest critical coalescence concentration(CCC)value of 6×10^(−6) achieved the smallest bubbles with Sauter mean diameter of 0.80 *** blending Dowfroth 250 and pine oil,the bubbles size decreased significantly,reaching 0.45 *** the highest recoveries in coal flotation were obtained in single and frother blends where the bubbles size was measured as the smallest in two-phase system,and such a relationship was not found for talc flotation.

关键词： flotation frother blends bubble size coal and talc flotation