Friction-based slip detection in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Appuhamillage, Gayan , Choudhury, Tanveer
- Date: 2015
- Type: Text , Conference paper
- Relation: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
- Full Text: false
- Reviewed:
- Description: A functional prototype of a friction-based object slippage detection gripper for robotic grasping and manipulation has been designed and built. Object grasping and manipulation experiments have been successfully performed to study the appropriateness of the methodology and the newly built slippage detection gripper. The main advantage of this slippage detection method is that slippage detection is an inherent capability of the sensing element, and not a derived capability like that of sensors based on vibration. This slippage detection and control strategy is simple by design and low in cost, but robust in function. It has the potential to be used in a variety of environments such as high temperatures, low temperatures and underwater. The robustness of the design makes it highly suitable for grasping and manipulating safely a large range of object weights and sizes.
Friction-based slippage and tangential force detection in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Choudhury, Tanveer , Appuhamillage, Gayan
- Date: 2015
- Type: Text , Conference paper
- Relation: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
- Full Text: false
- Reviewed:
- Description: This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.
Optimum grasp force and resistance to slippage
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Choudhury, Tanveer , Appuhamillage, Gayan
- Date: 2017
- Type: Text , Conference paper
- Relation: 2017 IEEE International Conference on Mechatronics (ICM) p. 297-302
- Full Text: false
- Reviewed:
- Description: This paper presents an analysis and experimental results as part of the research into the optimal rate of grasp force application in precision grasping. It also offers the concept of resistance to object rotation in the robot gripper, which in turn contributes to the resistance to object slippage during robotic object manipulation. It is envisaged that this knowledge will be useful to researchers and designers of robotic grippers, especially those for industrial applications.
Assessing transformer oil quality using deep convolutional networks
- Authors: Alam, Mohammad , Karmakar, Gour , Islam, Syed , Kamruzzaman, Joarder , Chetty, Madhu , Lim, Suryani , Appuhamillage, Gayan , Chattopadhyay, Gopi , Wilcox, Steve , Verheyen, Vincent
- Date: 2019
- Type: Text , Conference proceedings , Conference paper
- Relation: 29th Australasian Universities Power Engineering Conference, AUPEC 2019
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- Reviewed:
- Description: Electrical power grids comprise a significantly large number of transformers that interconnect power generation, transmission and distribution. These transformers having different MVA ratings are critical assets that require proper maintenance to provide long and uninterrupted electrical service. The mineral oil, an essential component of any transformer, not only provides cooling but also acts as an insulating medium within the transformer. The quality and the key dissolved properties of insulating mineral oil for the transformer are critical with its proper and reliable operation. However, traditional chemical diagnostic methods are expensive and time-consuming. A transformer oil image analysis approach, based on the entropy value of oil, which is inexpensive, effective and quick. However, the inability of entropy to estimate the vital transformer oil properties such as equivalent age, Neutralization Number (NN), dissipation factor (tanδ) and power factor (PF); and many intuitively derived constants usage limit its estimation accuracy. To address this issue, in this paper, we introduce an innovative transformer oil analysis using two deep convolutional learning techniques such as Convolutional Neural Network (ConvNet) and Residual Neural Network (ResNet). These two deep neural networks are chosen for this project as they have superior performance in computer vision. After estimating the equivalent aging year of transformer oil from its image by our proposed method, NN, tanδ and PF are computed using that estimated age. Our deep learning based techniques can accurately predict the transformer oil equivalent age, leading to calculate NN, tanδ and PF more accurately. The root means square error of estimated equivalent age produced by entropy, ConvNet and ResNet based methods are 0.718, 0.122 and 0.065, respectively. ConvNet and ResNet based methods have reduced the error of the oil age estimation by 83% and 91%, respectively compared to that of the entropy method. Our proposed oil image analysis can calculate the equivalent age that is very close to the actual age for all images used in the experiment. © 2019 IEEE.
- Description: E1
Cybersecurity risks in meat processing plant and impacts on total productive maintenance
- Authors: Chundhoo, Vickram , Chattopadhyay, Gopinath , Karmakar, Gour , Appuhamillage, Gayan
- Date: 2021
- Type: Text , Conference paper
- Relation: 2021 International Conference on Maintenance and Intelligent Asset Management; ICMIAM 2021, Ballarat; 12-15 December 2021
- Full Text: false
- Reviewed:
- Description: Technological changes have been happening in production facilities including food manufacturing industries in an ever-increasing rate. This includes advancement in data capture devices, signal processing, communication capabilities and automated process control systems such as Internet of Things. It is more challenging where production systems are highly reliant on automation and robotics. Remote performance monitoring and controls are becoming progressively vulnerable due to risks associated with cyber security and corporate espionage. May 2021 cyber-Attack forced JBS meats USA to pay 11m in ransom money to stop any further disruptions in services. This heavily impacted JBS global operations including JBS Australian food manufacturing facilities. Food production facilities in Australia have critical control points supported by smart technologies as part of their food safety management systems. Cyber-Attacks on production facilities could result in financial, operational, health and safety consequences. As survey by the Australian Cyber Security Centre in 2020 revealed that Australian small businesses are impacted by cybercime each year with a loss of 300m. To present the potential cyber security threats and their associated risk level, a case study is presented based on the processing and manufacture of meat products in Australia. From this case study, to protect the meat industries from attacks, we identify cyber security attacks and their possible mitigation strategies. This research shows cyber security attacks can severely affect Overall Equipment Effectiveness which motivate us to embed cyber security as an additional pillar in existing 8 pillars Total Productive Maintenance. If cyber security is added as additional pillar, it will improve the quality of end products and overall productivity of manufacturing industries. © 2021 IEEE.
E-Learning in Industrial Electronics during Covid-19
- Authors: Dunai, Larisa , Martins, Joao , Umetani, Kazuhiro , Lucia, Oscar , Ibrahim, Yousef , Appuhamillage, Gayan
- Date: 2021
- Type: Text , Conference paper
- Relation: 22nd IEEE International Conference on Industrial Technology, ICIT 2021 Vol. 2021-March, p. 1227-1233
- Full Text: false
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- Description: The educational methodologies employed in Industrial Electronics have been affected by Covid-19. In many cases, conventional learning methods relying on face-to-face lectures have been replaced by online methodologies. The whole process has required a fast adaptation and development of the e-learning tools to ensure a quality of theoretical, practical and laboratory lectures, as well as the development of new methods for the reliable assessment of the learning process. From this perspective, the present paper deals with the different strategies that have been implemented in institutions of several countries located in different geographical areas, including Portugal, Spain, Japan and Australia. It is shown that the use of methodologies, such as flip teaching, has provided a wide variety of possibilities to adapt to the new educational context. Moreover, for Industrial Electronics degrees, the use of virtual or remote laboratories, portable learning tools and advanced information and communication technologies have also risen as valuable resources. The paper also reports the problems arising during the development of the e-learning tools, their implementation constraints, and the evaluation of their results. © 2021 IEEE.
Artificial intelligence enabled digital twin for predictive maintenance in industrial automation system : a novel framework and case study
- Authors: Siddiqui, Mustafa , Appuhamillage, Gayan , Hewawasam, Hasitha
- Date: 2023
- Type: Text , Conference paper
- Relation: 2023 IEEE International Conference on Mechatronics, ICM 2023, Leicestershire UK, 15-17 March 2023, Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
- Full Text: false
- Reviewed:
- Description: Industrial automation systems are excessively used in advanced manufacturing environments. These systems are always prone to failure which not only disturbs smooth manufacturing operations but can also cause injuries to operators. Therefore, in this research, a novel predictive maintenance algorithm is proposed that can be used to detect anomalies in the automation system to avoid asset failure. Artificial Intelligence enabled Digital Twin model was used to detect early anomalies to avoid catastrophic effects of equipment failure. Real-time sensor data were used to validate the proposed novel algorithm. The data were recorded via sensors mounted on the physical system. This paper presents the effectiveness of the proposed algorithm to detect anomalies in industrial automation systems under faulty conditions. © 2023 IEEE.
Time-minimum motion handling of open liquid-filled objects using sparse sequential quadratic programming
- Authors: Le, Hieu , Appuhamillage, Gayan , Nguyen, Linh
- Date: 2023
- Type: Text , Conference paper
- Relation: 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023, Sivas, Turkey, 11-13 October 2023, 2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023
- Full Text: false
- Reviewed:
- Description: The paper presents an efficient approach to minimize motion time of an industrial robot so that it can successfully manipulate an open and liquid-filled object in pick-and-place operations. It is first proposed a motion planning optimization problem, where the total motion duration is considered as a cost function. Moreover, the robot physical limits such as its joint positions, velocities and accelerations are used as the optimization constrains. On the other hand, to ensure an open and liquidfilled object always upright, orientation constraints of the robot end-effector are taken into account. More specifically, roll and pitch of the end-effector are proposed to be fixed during the transportation, which ensures there is no tipping over in the object. The formulated motion planning optimization problem is then efficiently solved by using the sparse sequential quadratic programming method. Our approach excels in optimizing the motion trajectory by leveraging its flexibility, accommodating various trajectory shapes that satisfy the kinematic conditions. The optimization leads to more efficient and effective motion execution, resulting in a substantial reduction in the overall motion profile duration. Extensive evaluation of the proposed approach on a KUKA robot model demonstrates its effectiveness. © 2023 IEEE.