Grado Department of Industrial and Systems Engineering

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Browsing Grado Department of Industrial and Systems Engineering by Subject "0906 Electrical and Electronic Engineering"

Now showing 1 - 4 of 4
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    An Autonomous Task Assignment Paradigm for Autonomous Robotic In-Space Assembly
    Hildebrand, Robert; Komendera, Erik; Moser, Joshua; Hoffman, Julia (Frontiers, 2022-02-25)
    The development of autonomous robotic systems is a key component in the expansion of space exploration and the development of infrastructures for in-space applications. An important capability for these robotic systems is the ability to maintain and repair structures in the absence of human input by autonomously generating valid task sequences and task to robot allocations. To this end, a novel stochastic problem formulation paired with a mixed integer programming assembly schedule generator has been developed to articulate the elements, constraints, and state of an assembly project and solve for an optimal assembly schedule. The developed formulations were tested with a set of hardware experiments that included generating an optimal schedule for an assembly and rescheduling during an assembly to plan a repair. This formulation and validation work provides a path forward for future research in the development of an autonomous system capable of building and maintaining in-space infrastructures.
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    Clustered Discriminant Regression for High-Dimensional Data Feature Extraction and Its Applications in Healthcare and Additive Manufacturing
    Shen, Bo; Xie, Weijun; James Kong, Zhenyu (IEEE, 2021-10-01)
    The recent increase in applications of high-dimensional data poses a severe challenge to data analytics, such as supervised classification, particularly for online applications. To tackle this challenge, efficient and effective methods for feature extraction are critical to the performance of classification analysis. The objective of this work is to develop a new supervised feature extraction method for high-dimensional data. It is achieved by developing a clustered discriminant regression (CDR) to extract informative and discriminant features for high-dimensional data. In CDR, the variables are clustered into different groups or subspaces, within which feature extraction is performed separately. The CDR algorithm, which is a greedy approach, is implemented to obtain the solution toward optimal feature extraction. One numerical study is performed to demonstrate the performance of the proposed method for variable selection. Three case studies using healthcare and additive manufacturing data sets are accomplished to demonstrate the classification performance of the proposed methods for real-world applications. The results clearly show that the proposed method is superior over the existing method for high-dimensional data feature extraction. Note to Practitioners - This article forwards a new supervised feature extraction method termed clustered discriminant regression. This method is highly effective for classification analysis of high-dimensional data, such as images or videos, where the number of variables is much larger than the number of samples. In our case studies on healthcare and additive manufacturing, the performance of classification analysis based on our method is superior over the existing feature extraction methods, which is confirmed by using various popular classification algorithms. For image classification, our method with elaborately selected classification algorithms can outperform a convolutional neural network. In addition, the computation efficiency of the proposed method is also promising, which enables its online applications, such as advanced manufacturing process monitoring and control.
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    Coverage Path Planning for Robotic Quality Inspection With Control on Measurement Uncertainty
    Liu, Yinhua; Zhao, Wenzheng; Liu, Hongpeng; Wang, Yinan; Yue, Xiaowei (2022-01-01)
    The optical scanning gauges mounted on the robots are commonly used in quality inspection, such as verifying the dimensional specification of sheet structures. Coverage path planning (CPP) significantly influences the accuracy and efficiency of robotic quality inspection. Traditional CPP strategies focus on minimizing the number of viewpoints or traveling distance of robots under the condition of full coverage inspection. The measurement uncertainty when collecting the scanning data is less considered in the free-form surface inspection. To address this problem, a novel CPP method with the optimal viewpoint sampling strategy is proposed to incorporate the measurement uncertainty of key measurement points (MPs) into free-form surface inspection. At first, the feasible ranges of measurement uncertainty are calculated based on the tolerance specifications of the MPs. The initial feasible viewpoint set is generated considering the measurement uncertainty and the visibility of MPs. Then, the inspection cost function is built to evaluate the number of selected viewpoints and the average measurement uncertainty in the field of views of all the selected viewpoints. Afterward, an enhanced rapidly exploring random tree algorithm is proposed for viewpoint sampling using the inspection cost function and CPP optimization. Case studies, including simulation tests and inspection experiments, have been conducted to evaluate the effectiveness of the proposed method. Results show that the scanning precision of key MPs is significantly improved compared with the benchmark method.
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    A Robust Asymmetric Kernel Function for Bayesian Optimization, With Application to Image Defect Detection in Manufacturing Systems
    AlBahar, Areej; Kim, Inyoung; Yue, Xiaowei (IEEE, 2021-09-29)
    Some response surface functions in complex engineering systems are usually highly nonlinear, unformed, and expensive to evaluate. To tackle this challenge, Bayesian optimization (BO), which conducts sequential design via a posterior distribution over the objective function, is a critical method used to find the global optimum of black-box functions. Kernel functions play an important role in shaping the posterior distribution of the estimated function. The widely used kernel function, e.g., radial basis function (RBF), is very vulnerable and susceptible to outliers; the existence of outliers is causing its Gaussian process (GP) surrogate model to be sporadic. In this article, we propose a robust kernel function, asymmetric elastic net radial basis function (AEN-RBF). Its validity as a kernel function and computational complexity are evaluated. When compared with the baseline RBF kernel, we prove theoretically that AEN-RBF can realize smaller mean squared prediction error under mild conditions. The proposed AEN-RBF kernel function can also realize faster convergence to the global optimum. We also show that the AEN-RBF kernel function is less sensitive to outliers, and hence improves the robustness of the corresponding BO with GPs. Through extensive evaluations carried out on synthetic and real-world optimization problems, we show that AEN-RBF outperforms the existing benchmark kernel functions.