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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 l.szl. 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

Development of an ultrathin liquid sheet target for laser ion acceleration at high repetition rates in the kilohertz range

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High Power laser Science and Engineering 2024年第3期 139-150页

作者： M.Füle A.P.kovács T.Gilinger M.Karnok P.Gaál S.Figul G.Marowsky K.Osvay National laser-Initiated Transmutation laboratory University of Szeged Department of Experimental Physics University of Szeged ElI AlPS ELI-HU Non-Profit Ltd. Department of Optics and Quantum Electronics University of Szeged Advanced Microfluidic Systems GmbH

A colliding microjet liquid sheet target system was developed and tested for pairs of round nozzles of 10, 11 and 18 μm in diameter. The sheet's position stability was found to be better than a few micrometers. Upon interaction with 50 mJ laser pulses, the 18 μm jet has a resonance amplitude of 16 μm at a repetition rate of 33 Hz, while towards 100 Hz it converges to 10 μm for all nozzles. A white-light interferometric system was developed to measure the liquid sheet thickness in the target chamber both in air and in vacuum, with a measurement range of 182 nm±1 μm and an accuracy of±3%. The overall shape and 3D shape of the sheet follow the Hasson±Peck model in air. In vacuum versus air, the sheet gradually loses 10% of its thickness, so the thinnest sheet achieved was below 200 nm at a vacuum level of 10±4mbar,and remained stable for several hours of operation.

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On the neutrality of two symmetric TSP solvers toward instance specification

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Science China(Information Sciences) 2019年第11期62卷 198-200页

作者： Gloria Cerasela CRI?AN l.szl. Barna IANTOVIcs l.szl. kovács Faculty of Sciences Vasile Alecsandri University Faculty of Sciences and letters University of MedicinePharmacy Sciences and Technology Faculty of Mechanical Engineering and Informatics University of Miskolc

Dear editor,Currently, many computationally difficult problems can be solved using very efficient *** of these state-of-the-art methods have online implementations. The research question addressed herein is how sensit... 详细信息

关键词： On the neutrality of two symmetric TSP solvers toward instance specification

How to explore a new environment:exploratory tactics of the black rat(Rattus rattus)

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Current Zoology 2024年第3期70卷 371-382页

作者： Iveta Štolhoferová Veronika Rudolfová Hana Skalíková Barbora Vobrubová Daniel Frynta Department of Zoology Faculty of ScienceCharles UniversityViničná712843 Prague 2Czechia

The black rat(Rattus rattus)is a unique model for studying exploratory tactics due to its enormous colonizing *** behavioral variability and consistent interindividual differences might help populations inhabit new environments and persist there even under intense ***,the affnity of the black rat for climbing might be another advantage,widening their potential *** this study,we describe the exploratory tactics of the black rats when introduced to a novel *** the frst experiment,we tested 12 rats and calculated repeatability of their behaviors across 12 sessions of an enriched open-feld *** concluded that climbing is a highly repeatable behavior that serves as an important source of interindividual *** the second experiment,we tested 24 black rats in a unique l-shaped *** rat was tested *** found that the majority of rats distributed their activity evenly,exploring each part of the apparatus for a similar amount of time,thus maximizing their chances of fnding ***,these“even”explorers still greatly differed in their level of activity,orderliness and affnity for climbing,generating large *** contrast,the minority of rats concentrated their activity only on a section of the new environment and were therefore characterized as selective ***,we concluded that a combination of such exploratory tactics as well as a bias for even explorers enables black rats to quickly colonize new environments and persist there even under unfavorable conditions.

关键词： 3D behavior climbing repeatability strategy.

Stability case study of the ACROBOTER underactuated service robot

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Theoretical & Applied Mechanics letters 2012年第4期2卷 27-33页

作者： l.szl. l.kovács l.szl. Bencsik HAS-BME Research Group on Dynamics of Machines and Vehicles Budapest H-1521Hungary Department of Applied Mechanics Budapest University of Technology and EconomicsBudapest H-1521Hungary

The dynamics of classical robotic systems are usually described by ordinary differential equations via selecting a minimum set of independent generalized coordinates. However, different parameterizations and the use of a nonminimum set of （dependent） generalized coordinates can be advantageous in such cases when the modeled device contains closed kinematic loops and/or it has a complex structure. On one hand, the use of dependent coordinates, like natural coordinates, leads to a different mathematical representation where the equations of motion are given in the form of differential algebraic equations. On the other hand, the control design of underactuated robots usually relies on partial feedback linearization based techniques which are exclusively developed for systems modeled by independent coordinates. In this paper we propose a different control algorithm formulated by using dependent coordinates. The applied computed torque controller is realized via introducing actuator constraints that complement the kinematic constraints which are used to describe the dynamics of the investigated service robotic system in relatively simple and compact form. The proposed controller is applied to the computed torque control of the planar model of the ACROBOTER service robot. The stability analysis of the digitally controlled underactuated service robot is provided as a real parameter case study for selecting the optimal control gains.

关键词： stability underactuation natural coordinates control constraints

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Association between autoimmune pancreatitis and systemic autoimmune diseases

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World Journal of Gastroenterology 2012年第21期18卷 2649-2653页

作者： Viktória Terzin Imre Fldesi l.szl. kovács Gyula Pokorny Tibor Wittmann l.szl. Czakó First Department of Medicine University of SzegedH-6701 Szeged Hungary Department of Rheumatology University of SzegedH-6701 Szeged Hungary

AIM: To investigate the association between autoimmune pancreatitis (AIP) and systemic autoimmune diseases (SAIDs) by measurement of serum immunoglobulin G4 (IgG4). METHODS: The serum level of IgG4 was measured in 61 patients with SAIDs of different types who had not yet participated in glucocorticosteroid treatment. Patients with an elevated IgG4 level were examined by abdominal ultrasonography (US) and, in some cases, by computer tomography (CT). RESUlTS: Elevated serum IgG4 levels (919 ± 996 mg/l) were detected in 17 (28%) of the 61 SAID patients. 10 patients had Sj gren's syndrome (SS) (IgG4: 590 ± 232 mg/l), 2 of them in association with Hashimoto's thyroiditis, and 7 patients (IgG4: 1388 ± 985.5 mg/l) had systemic lupus erythematosus (SlE). The IgG4 level in the SlE patients and that in patients with SS were not significantly different from that in AIP patients (783 ± 522 mg/l). Abdominal US and CT did not reveal any characteristic features of AIP among the SAID patients with an elevated IgG4 level. CONClUSION: The serum IgG4 level may be elevated in SAIDs without the presence of AIP. The determination of serum IgG4 does not seem to be suitable for the differentiation between IgG4-related diseases and SAIDs.

关键词： Autoimmune pancreatitis Serum immunoglobulin G4 level Systemic lupus erythematosus Sj gren’s syndrome Mikulicz’s disease

Efficiency of local minima and GlM techniques in sinkhole extraction from a liDAR-based terrain model

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International Journal of Digital Earth 2019年第9期12卷 1067-1082页

作者： Péter Enyedi Melinda Pap Zoltán kovács l.szl. Takács-Szilágyi Szilárd Szabó a Department of Physical Geography and Geoinformatics University of DebrecenDebrecenHungary Internet of Things Research Institute Eszterházy Károly University of Applied SciencesEgerHungary

The aim of this paper was to study reliable automated delineationpossibilities of karst sinkholes using a liDAR-based digital terrain model(DTM) with pixel-based classifications. We applied two approaches toextract sinkholes: (1) general linear modeling (GlM) with morphometricindices derived from DTM;(2) and a local minima-based delineationusing only liDAR DTM as the input layer. The outcome of the localminima was significantly different from the reference ones but found allthe sinkholes without previous knowledge of the area. The GlM-basedoutcome did not differ statistically from the reference. Results showedthat these approaches were efficient in detecting sinkholes based onlIDAR derivatives, and can be used for risk assessment and hazardpreparedness in karst areas: GlM had an overall accuracy of 89.5% andlocal minima had an accuracy of 92.3%;both methods identifiedsinkholes but also had commission errors, identifying depressions assinkholes.

关键词： Karst mapping sinkhole identification general linear model statistical evaluation sink fill

l-arginine-induced experimental pancreatitis

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World Journal of Gastroenterology 2004年第14期10卷 2003-2009页

作者： PéterHegyi ZoltánRakonczayJr RékaSári csabaGóg Jánoslonovics TamásTakács l.szl.Czakó First Department of Medicine Faculty of MedicineUniversity of SzegedSzegedH6722Hungary School of Cell and Molecular BiosciencesMedical SchoolUniversity of NewcastleNewcastle upon TyneNE2 4HHUnited Kingdom First Department of Medicine Faculty of MedicineUniversity of SzegedSzegedH6722Hungary First Department of Medicine Faculty of MedicineUniversity of SzegedSzegedH6722HungarySchool of Cell and Molecular BiosciencesMedical SchoolUniversity of NewcastleNewcastle upon TyneNE2 4HHUnited Kingdom

Despite medical treatment,the lethality of severe acute pancreatitis is still high (20-30%).Therefore,it is very important to find good animal models to characterise the events of this severe *** 1984,Mizunuma et al. developed a new type of experimental necrotizing pancreatitis by intraperitoneal administration of a high dose of l-arginine in *** non-invasive model is highly reproducible and produces selective,dose-dependent acinar cell necrosis. Not only is this a good model to study the pathomechanisms of acute necrotizing pancreatitis,but it is also excellent to observe and influence the time course changes of the *** writing this review we iluminate some new aspects of cell physiology and pathology of acute necrotizing ***,the reviews about acute experimental pancreatitis usually did not discuss this model. Therefore,the aim of this manuscript was to summarise the observations and address some challenges for the future in l-arginine-induced pancreatitis.

关键词： Arginine dosage Disease Models, Animal Animals Injections, Intraperitoneal Pancreatitis, Acute Necrotizing Regeneration Research Support, Non-U.S. Gov't

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 l.szl. 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